JPH02164662A - Manual torque amplification device - Google Patents

Abstract

PURPOSE:To simplify the constitution and improve safety during shutting off the power, etc., by forming a manual torque amplification device better suited for an electric power handle, etc., so that it drives load by a reluctance type motor. CONSTITUTION:The upper end of an elastic bar spring (torsion spring) 18 is fixed to the lower end of a rotary shaft 4a of a manual handle 4 of a mini car, and the upper end of a rotary shaft 5 of a reluctance type motor S is fitted on the lower end of the spring 18. A substrate of the motor S is fixed to a body, and the rotary shaft 5 is interlocked with and connected to a steering means of a wheel C or a load through a reduction gear (not shown). The motor S has a rotor 1 provided with salient-poles 1a, 1b,... and a fixed armature 16 provided with magnetic poles 16a, 16b,... opposed to the above salient -poles, and exciting coils 17a, 17b,... are wound respectively around each magnetic pole 16a, 16b,... when exciting currents are fed to the exciting coils 17a, 17b,... in response to load or driving torque, auxiliary steering force can be obtained.

Description

[Detailed description of the invention] [Industrial application field] Used in electric/ξ-way handles of small cars.

In addition, it is used to drive a large load by rotating a manual handle, such as a manual handle for opening and closing a large flow control valve in a chemical factory.

[Conventional technology]

2. Description of the Related Art Electrically powered ξ-wheel handles for small vehicles are known.

[Problems to be Solved by the Present Invention] The drawbacks of the above-mentioned electric power I/Handle will be explained.

First disadvantage: The DC motor uses a reduction gear to obtain a large drive torque, and this torque reduces the drive torque of the manual engine, so when the motor stops due to an accident, Manual operation becomes impossible. This is because the reduction gear becomes a speed increase gear and the driven DC motor uses a magnet, so there is cogging torque, and a significantly large torque is required to drive the manual knob.

In order to eliminate this drawback, a device has been added that inserts a large electromagnetic crack to separate the motor from the reduction gear when the motor stops.

Second Disadvantage: Even if the electromagnetic clutch described above is provided, the manual throttle cannot be operated when the reduction gear is unable to rotate once due to a mechanical accident.

Third disadvantage: It is necessary to detect the load torque of the drive system, but since all the members from the manual handle to the load are rotating, the device that electrically detects the load torque also rotates synchronously. .

Therefore, it is necessary to take out the load torque detection signal using a sliding contact.

Sliding contacts have the disadvantage that they are prone to many accidents, are unreliable, and require complicated equipment.

Disadvantages of the No. 1 Hiro: Because the rotational speed of the electric motor is high, the responsiveness deteriorates, making it impossible to respond to rapid operation of the manual handle.

Daihiro's drawbacks Many parts are used, making it large and expensive.

First mentioned above. The problem we are trying to solve is to eliminate the drawbacks of ~Daihiro.

[Means to solve problems]

First means.

Since the rotor of the reluctance motor directly drives the load or drives it with the same effect, the first drawback is eliminated.

Second means.

Since no reduction gear is used, the second disadvantage is eliminated.

Third means.

Arrow Q2 a of the ring 19 shown in FIGS. 3(a) and (b),
Since torque is detected by movement in the direction of 22 b, the amount of movement is cylinder/7. It can be detected regardless of the rotation of the rod-shaped ・ζ-ne/za.

The amount of reciprocating motion can be converted into an electrical signal by ζ-20 or coil r.

Therefore, the third drawback is eliminated.

Measures V.

In the case of a direct drive mechanism that does not use a reduction gear, the speed of the rotor of the electric motor is synchronized with the handle (symbol Hiroshi in FIG. 3(a)).

Therefore, the Vth defect is eliminated. Also, any means similar to this will have the same effect.

Hiro's means.

The configuration of the device is simplified.

Therefore, the drawbacks of No. 1 are eliminated.

[Effect]

Effect by the first means.

Since the load is driven by the rotor of a reluctance motor, even if the power is cut off due to an accident, or if the set speed is exceeded and the wheel is no longer needed, the power will be automatically supplied. The means of cutting off can be removed.

Even in the event of an accident, the rotor and manual handle can rotate freely, ensuring safe steering operation.

Action by second means.

The electromagnetic clutch can be removed and accidents caused by reduction gears can be prevented.

Action by third means.

Arrow 2 of circular ring iq in FIG. 3 (aHb). La, 2
．． Since the amount of movement in the direction of Z b is detected and converted to an electrical signal by ζ-20 or coil ♂, forward and reverse electrical signals can be obtained separately, and by using the coil end, non-contact can be converted into

The amount of movement of the round tomb/te can be detected regardless of the rotation of the manual handle.

If the rod-shaped nose/piece breaks, turn the cylinder 17.
Since the load is roughly moved, there will be no major inconvenience to the handle operation.

Action by means of No.

Since it is a direct drive by the rotor of an electric motor or similar means, the rotation speed is the same as that of a manual handle. Therefore, the rotational speed is slow, the inertia is small, and the responsiveness of steering wheel operation is improved.

Since the configuration is simplified, it can be made smaller and less expensive. The occurrence of failures is also reduced.

〔Example〕

Next, details of an embodiment according to the present invention will be explained with reference to FIG. 1 and subsequent figures. Items with the same symbol in each drawing are the same parts, so
Duplicate explanations will be omitted.

FIG. 1 is a plan view of the salient poles of the rotor, the magnetic poles of the fixed armature, and the excitation coil of a co-phase reluctance type electric motor used in the present invention. All angles shown below are in electrical angles.

In FIG. 1, the symbol l is a rotor whose salient poles /a, /
The width of b, . . . is 110 degrees, and they are arranged at equal pitches with a phase difference of 31.0 degrees. Salient poles having the same configuration are also provided in other portions indicated by dotted lines, but are not shown in the drawings.

The rotor 1 is made by known means of laminating silicon steel plates. The fixed armature 16 has a magnetic pole /Aa.

/6b + /6 cr.../6h have the same width and are arranged at equal angles apart.

The exploded view of FIG. 1 is shown in FIG. 2 with the same symbols. In FIG. 2, only the half circumference of FIG. 1 is shown. That is, mechanical angles up to /♂0 degrees are shown. The other half circles have the same configuration.

At the open end of the magnetic path of the magnetic poles /Aa, /Ab,..., there are teeth a-
/, a-2, . . . b-/, b-2, . . . are arranged. In FIG. 1, these teeth are shown in dotted lines, with those other than the magnetic pole /Aa omitted.

The teeth of magnetic pole/6b in Fig. 2 are symbol 1)-/, b-2゜b
−j.

The width of each tooth is 110 degrees, and the distance between the teeth is also iro degrees.

Magnetic pole /Aa, /At) T..., //;h,
Excitation coil / 7 a e / 7 b *・
..., /7h is wound.

The symbol y is the rotating shaft of the rotor 1, which is supported by a bearing (not shown).

The symbol 2 in FIG. 1 is a board fitted on the outer periphery of the armature/6, and the above-mentioned bearing is provided on the board λ.

The holes 2a, Jb, . . . are for fastening the substrate 2 to the main body with screws.

The armature 16 is made by known means of laminating silicon steel plates. Coils ♂a, /b in Fig. 2 are (11O+
90) degrees apart, the salient poles / a , / b , ”・
facing the side of The coils Ia and rb serve as position detection elements that detect the position of the salient pole.

The coils a and J'b are air-core with a diameter of j millimeters and about 100 turns.

Figure ≠(b) shows a device for obtaining position detection signals from coils ♂a and ffb. In Fig. ≠(b), coil ♂a, resistance/4'a*/≠b,
/Hiroc and /va are bridge circuits. symbol 7a
is an oscillation circuit whose output frequency is about 1-5 megacycles.

Coils lra and zab are air-core coils fixed to the fixed armature side, and when they face the salient poles /a, /b, etc. in Fig. 2, their impedance becomes small due to eddy current loss.
The voltage drop across the resistor/hiroa increases.

When the coil za faces the salient pole, an electrical signal smoothed by a low-pass filter consisting of a diode C and a capacitor 10c is input to the + terminal of the operational amplifier llb.

The voltage drop across the resistor /44b is also converted into a direct current by a low-pass filter consisting of a diode ryd and a capacitor lOd, and an electrical signal is input to the ten terminal of the operational amplifier //c. Since the bridge circuit is adjusted so as to be balanced when the coil fa does not face the salient pole, there is no output from the operational amplifier //1) at this time.

coil! When a faces the salient pole, the output of the operational amplifier //b becomes a rectangular wave with a width of /♂0 degrees, and this signal is shown in the time chart of Figure 2 as a curve! ;Oa.

5 as lb,... This signal is output from terminal 15a.

The output signal of the terminal 15b via the inverting circuit is also a rectangular wave with a width of 0 degrees, and a curve in figure r! ;2a, 32b.

...It is shown closed. Also, the voltage drop of the resistor/Hirod.

The signal is input to one terminal of the operational amplifiers //b and //c via a Rono ξ filter consisting of a diode and a capacitor.

Similarly, when the coil rb faces the salient pole, the voltage drop across the resistor/Hirosu is smoothed to direct current and becomes the input to the ten terminals of the operational amplifier//C, so the high level of the operational amplifier//C The output of terminal 15c of is the curve ! in figure r. /a,
j/b, . . . and the terminal /jd via the inverting circuit.
The output is the song [jja, j, 7b, . . .

If we obtain the overlapping portion of the output of terminal /ja and the output of terminal 15d using an AND circuit, we get the curve shown in Figure ♂! Qa.

The position detection signals are shown as job, . . . . By similar means, from the outputs of terminals /ja and /jc, the outputs of terminals /jb and terminals 15c, and terminals 15b and 15d, the curves jja, ! fjb, ”・and curve !Aa, 3Ab.

... and position detection signals of curves j7a, j7b, ... are obtained.

The above-mentioned position detection signal is used to control the energization of the excitation coil, and the details will be described later.

FIG. 2 is a developed view of the salient poles, magnetic poles, and excitation coil of FIG. 1, but only half the circumference is shown.

The principle of rotation will be explained using FIGS. 1 and 2.

Excitation coil /7b, /7f, /7c, /7g
When energized, salient poles /d, /θ, /f, . . . and salient poles /g.

/h, /1. ... is attracted and rotates in the direction of arrow A.

When rotated by 90 degrees, the excitation coils /7b and /7f are de-energized and the excitation coils /7d and /7h are energized, so that torque is generated by the teeth of the salient poles and the magnetic poles.

The N and S symbols of the magnetic poles indicate excitation polarity rotated by 90 degrees from the illustrated state, and the magnetic poles /Ab and /Ac are N poles.

The magnetic poles /Af and /6g become S poles. The purpose of this change in polarity is to reduce the counter torque caused by leakage of magnetic flux. The order of the magnetic poles to be excited is: with a rotation of 90 degrees, the magnetic poles /l, b, /Af, /Ac, 16g-+
Magnetic pole/6c.

16g, /Ad, /Ah-+i pole/Ad, /6
h, /6a, /Ae→magnetic pole /6a, /A
e, /A b , /A f , →, resulting in a two-phase electric motor whose rotor is driven in the direction of the arrow.

The driving torque is tooth a-/, a-co* a ”-j +
b-/ , b-u , 1>-J , --... and salient pole/
Since it is obtained by the magnetic attractive force between a, / b, ..., a large output torque proportional to the number of teeth can be obtained.

It is common knowledge for this type of motor that until the tooth magnetic flux is saturated, the output torque is proportional to the second power of the excitation current, but according to actual measurements, after saturation, the output torque is directly proportional to the excitation current. Therefore, even larger output torque can be obtained. The output torque is increased (then the rotational speed decreases, but the decrease is suppressed by the energization control circuit described later).

Therefore, according to the electric motor of this embodiment, an effective means is provided as a driving source for a direct one-live power handle.

Although this embodiment uses a λ phase motor, the object can also be achieved by configuring a three-phase reluctance motor using similar means. Although this embodiment uses an internal rotation type, an even larger output torque can be obtained by using an external rotation type.

Reluctance type electric motors have the following drawbacks.

First, the song 11il in the time chart in Figure 6! As shown by ≠ 3, the torque is extremely large at the beginning when the salient pole begins to oppose the teeth of the magnetic pole (and becomes smaller at the end. Therefore, there is a drawback that the resultant torque is also large and includes sol torque.To eliminate this drawback, is valid by the following means:

Figure 7 illustrates the state in which magnetic attractive force is generated between the salient pole /a and the tooth a-/ of the magnetic pole /Aa, and since the other salient poles and the teeth of the magnetic pole have the same configuration, , salient pole/a and tooth a-
For /, the output torque will be explained.

The torque that drives the salient pole /a in the direction of arrow A is the magnetic flux shown by arrow E and dotted arrow F. This size is the salient pole/a
When the opposing area of and tooth a-/ is small, that is, initially large,
In the final stage, it becomes smaller. Therefore, the output torque becomes asymmetrical. For example, the curve becomes like the curve 3 in FIG. However, the lines of magnetic force indicated by arrows G and H are small at the beginning and many at the end, so the torque increases more at the end than at the beginning when the two face each other.

Therefore, the output torque curve becomes symmetrical, and becomes the curve indicated by the dotted line tAJa in FIG.

Since the same means is adopted between the other salient poles and the teeth of the magnetic pole, the output torque is also symmetrical. Second, there is a drawback that efficiency deteriorates.

The excitation@current curve looks like the curve axis in FIG.

At the beginning of energization, the current value is small due to the inductance of the armature coil, and becomes even smaller in the center due to the back electromotive force. In the final stage, the back electromotive force is small, so it rises rapidly,
It becomes like the song Ml. This final peak value is equal to the current value at startup. In this section, since there is no output torque, there is only a joule loss, which has the disadvantage of greatly reducing efficiency. song? Since tMψ2 has a width of iro degrees, the magnetic energy is discharged as shown by the dotted line 2a, and this becomes a counter torque, further degrading the efficiency.

Thirdly, when the output torque is increased, that is, when the number of teeth of the salient poles and magnetic poles is increased and the excitation current is increased, there is a drawback that the rotational speed becomes extremely small.

Generally, in a reluctance type electric motor, in order to increase the output torque, it is necessary to increase the number of teeth and salient poles of the magnetic poles shown in FIGS. 1 and 2, and to reduce the gap between them. At this time, if the rotation speed is maintained at the required value of T9T, i etc./
Due to the magnetic energy accumulated in A a , /6 b , ..., the rising slope of the excitation current becomes relatively gentle, and even if the current is cut off, the time it takes for the discharge current due to magnetic energy to disappear is relatively short. Therefore, a large counter torque is generated.

Due to these circumstances, the peak value of the excitation current value becomes small (and counter torque is also generated, so the rotational speed becomes a small value. The circuit in Figure j is the control circuit for the electric motor S, which is the source of the behavior of the . Explain.

In FIG. 3(a), symbol G indicates a manual steering wheel of a small automobile, and its rotating shaft a is rotatably supported by a bearing≠b of the main body.

The center part of the upper bottom surface of the metal cylinder/7 is fixed to the lower end of the rotating shaft a, and the cylinder 17 and the rotating shaft ≠a rotate synchronously.

A rod-shaped spring made of stainless steel elastic material is attached to the lower end of the rotating shaft.
Twisting/ζne)/The upper end of the za is fixed.

The upper end of a rotating shaft j of an electric motor S (shown in FIGS. 1 and 2) is fitted into the lower end of the rod-shaped groove. electric@
The board S is fixed to the main body, and the rotating shaft j is changed in direction by driving a wheel C serving as a load via a reduction gear (not shown) by known means, as shown by point lsB. ing.

As the load C, the present invention can also be implemented using a large fluid valve, for example.

Details of the metal ring are shown in FIG. 3 (1,).

In Fig. 3(b), the central hole of circle ffl/q has the following:
The lower end of the rod-shaped spring/socket is loosely fitted, and protrusions/sockets a and b are provided as shown in FIG. 3(c). Projection/Za.

71b fits into the guide groove provided in the longitudinal direction in the center hole of the ring lq, and the circle m/? rotates in synchronization with the bar spring, but is configured to slide in the direction of arrow 22a or )Zb.

Diagonal grooves /qa, /9b are provided along the outer peripheral surface of the ring 19 as shown in the figure, and the guide pin /7a is fastened to the cylinder 17.
, /7b are configured so that the ends thereof slide into contact with each other.

Since the configuration is as described above, the lower end of the rod-shaped spring and the cylinder/7
is rotating synchronously, the arrow u a of the ring /q
, J, 2 There is no movement of b. However, if there is a difference in the rotation of the two, the ring lq will change to the arrow: ua or n in proportion to the difference.
Move in direction b.

Therefore, when the handlebar is rotated from side to side, the rod-shaped S/S twists in proportion to the required torque of the load C, so the ring/9 moves in the direction of arrow: 12a or 22b. .

The wheel A-xo in FIG. 3(a) is supported by a support shaft 20a of the main body so as to be freely rotatable, and its left end is in contact with the lower surface of the ring /q, and is elasticized in the direction of the arrow by a spring (not shown). It has been repelled.

Reference numeral 21 denotes a resistance box, which is constructed so that its resistance changes in response to the rotation of A-2o in the direction of arrow P.

These resistors are resistors 33a and 33b in FIG.
The slider 36 slides in proportion to the rotation of the slider 20.

Next, FIG. 5 will be explained.

In FIG. 5, M indicates the excitation coils /7a, /7e, /7c, /7g in FIG. 1, respectively, and the two sets of excitation coils are connected in series or in parallel.

Transistors 2 are connected to the excitation coil and to both ends of M.
Hiroa, J4'b and evaluation θ, 2hirof are inserted. Excitation coils L and N are excitation coils/7b in Fig. 1, respectively.
, /7f and excitation coils /7d, /7h are connected in series or in parallel, and energization control is performed by transistors 2hiroc, 2hirod, kohirog, and Jth.

The terminals 30h, 30b, 30c, 30d are provided with the position detection signal curves 5μa, lb, . . . and the curves 33a, 33b, . Aa, 3;A
b, -, and song #1lj7a.

57b, . . . are respectively input.

In figure W16, terminals JOa, 30b, 30c,
Position detection signal curve 5hiroa, jj input to 30d
a, , tAa, and j7a are indicated by the same symbols as in Fig. g.

When the output of operational amplifier J/a is 7.

The inputs of the terminals 30a, 30b, 30c, and JOd are input through OR circuits 2a, 2gd, and AND circuits 27a, 27b, 27c, and 27d.
The conduction of transistors a, Wb, . . . 24'h is controlled.

When the output of the operational amplifier j/a becomes low level, it becomes a bell, so the phase of the conduction control of the transistors 2'Aa, 2'Aa, 2'Aa, 2'Aa, 2'Aa, 2'Aa, 2'Aa, 2'Aa, etc. changes and is reversed.
Details will be described later.

Symbols 23a and 23b are positive and negative terminals of the DC power supply.

When the output of the operational amplifier 7/a is at a high level, when the electrical signal of the curve A is input to the terminal 30th, the transistors 211a and JIlb become conductive, and the excitation coil is connected to the dotted line in FIG. ? The excitation current increases as shown in a.

If the input voltage at the child terminal of the operational amplifier 31b is V, then the voltage drop across the resistor 2 proportional to the excitation current, that is, the operational amplifier J/
When the input voltage at one terminal of b exceeds V, the output changes to low level and the lower input of AND circuit core a also becomes low level, so transistor 2-a becomes non-conductive.

The magnetic energy stored in the excitation coil K is discharged through the transistor 2, the diode t'jja, and the resistor, and is released. ! Current decreases. This curve is shown by the dotted line 37b.

When it drops to a predetermined value, the hysteresis characteristic of the operational amplifier (J/l) causes the output to change to normal again.
Transistor Qa becomes conductive. Therefore, the excitation current increases again, and when it increases to the set value, the operational amplifier 31
The output of b becomes low level, and the transistor 21Ats
becomes non-conductive, and the excitation current decreases.

Two circuits are configured to repeat this cycle. Terminal? □ Song a # When the input signal of C a disappears,
Since there is a continuous input signal of curve GA from terminal 3010, AND circuit 2fb and OR circuit 2 are connected.

Through the AND circuit J7b, the transistors 2'Ac, 2
'td is made conductive, and energization of the exciting coil L is started. At this time, the magnetic energy accumulated in the excitation coil K charges the capacitor via the diodes 25b and Ba.

Since the capacitor has a small capacity, the charging voltage rises rapidly, and since there is one diode, the charging energy of the capacitor does not flow into the power supply side and is transferred to the excitation coil L.
is converted into magnetic energy. Therefore, the discharge current of magnetic energy in the exciting coil rapidly drops as shown by the dotted line 37c.

At the same time, the current in the exciting coil L, to which a voltage several times higher than the power supply voltage is applied, also rises rapidly.

The current increases as shown by the dotted line 31r.

When the voltage increases to the set value, the chopping action of the operational amplifier 31b is performed in exactly the same way as in the case of the excitation coil. This chopper pulsating current is shown as three dotted lines, and the pulsating current is omitted from the illustration.

The feature is that the magnetic energy stored in the excitation coil is rapidly converted into the magnetic energy of the excitation coil L by the diode n.

Capacitor Chiang is not necessarily necessary.

Next, when the electric signal of curve -96a is input to the terminal 300, the current of the exciting coil M becomes as shown by the dotted line 3q under the same circumstances.

Next, when the electric signal of the curve j7a is input to the terminal 30d, the excitation coil N is energized as indicated by the dotted line. A pulsating action by the operational amplifier J/l) is also performed, and the excitation V&current becomes the set value.The pulsating flow portion due to the chotting action is omitted in the illustration.

At the boundary between the planes ja and -S6a and the curves 5Aa and j7a, the conversion of magnetic energy from the energized excitation coil to the next excitation coil to be energized is as follows:
It has the characteristic of being carried out rapidly due to the presence of diode power.

When the width of the excitation current drop portion (for example, dotted line 37c) exceeds 5 degrees, anti-torque occurs, making it impossible to achieve high speed and deteriorating efficiency. As the width of the rising portion increases, the output torque decreases.

In the device of the present invention, the width of the descending portion is small, so even if the widths of the salient poles /a, /b, . . . in FIG.

Since the number of salient poles increases, the output torque can be increased, and furthermore, there is an effect of preventing a decrease in speed.

Since only the width of the arrow Hiroshi/a in FIG. 6 is energized, only the most efficient portion is energized. As mentioned above, i
If the current is applied only for the width of 0 degrees, that is, the width of the arrow, the efficiency will deteriorate and the motor will run at a low speed.

Because of the diode F'n, the power supply voltage is low, so that it can be used even when powered by a battery, for example.

When the output of operational amplifier 3/a is low level.

AND circuit J? e, 29f, 2'/g, 2
Since the lower input of 9h becomes high level, terminal 30a
, 30b, excitation, i~p, d, respectively.
The energization of the excitation coils Jζ and K is controlled by input signals to the terminals 30c and 30tl, respectively, and the motor can be reversed.

In FIG. 5, symbols 1+5a, Hirojb, and 3tA are reference voltages and indicate positive and negative terminals.

The resistors 33a, . . . , j3b are sliding force resistors, which are housed in the resistance box 21 shown in FIG. 6 is made up of 4 so that it can slide left and right.

When the manual handle l in Fig. 3 Ca> starts to rotate clockwise while the vehicle aX is stopped, the load C is extremely large, so only the cylinder 17 rotates and the rod-shaped spring 15 is twisted.
The guide bins /7a, t7b (Fig. 3(b)) have oblique grooves /γa, /? Since it slides along b, the circle Tjliq
descends in the direction of arrow 72a. Since the reno-J rotates counterclockwise, the slider 3t in FIG. 5 moves to the left of the neutral point R.

Therefore, the input voltage at the ten terminals of the operational amplifier J/a is higher than the one terminal (earth level), and the input voltage of the operational amplifier J/a
Since the output of is converted to high level, the mode is converted to normal rotation mode. At the same time, the voltage drop across the resistor 33b is rectified by three absolute value circuits (rectifier circuits) and input to the terminal of the operational amplifier J/c. exceeds the set value, the input voltage of the ten-rotor of the operational amplifier J/c becomes the reference voltage of one terminal, ? Since the positive output of the operational amplifier J/c is configured to exceed μ, the positive output of the operational amplifier J/c rises rapidly. Therefore, the operational amplifier 31b (functions as an error amplification circuit).

) to increase the input voltage of terminal 10.

Therefore, as described above, the current in the exciting coil due to the chopper circuit increases correspondingly, and the output torque increases, so that the rotor l of the electric motor S in FIG. 3(a) rotates and rotates in a circle!
/? The ring 19 also rotates synchronously to raise the ring 19 in the direction of the arrow zb.

At this time, the load C is driven by the rotation @j.

The wheel begins to turn in the desired direction, but at this time, due to the rotation of the rotating shaft j, the ring lq also rotates, and this same direction is the direction in which the ring lq returns to the upward direction. There is a servo action that reduces the output torque. Therefore, the torque required for one manual handle≠ becomes a small set value, and the direction of the wheel can be changed to correspond to the clockwise rotation angle of the manual handle.

In response to the subsequent left and right rotation of the manual handle Hiroshi, the direction of the wheel is changed, and the required torque of the manual handle Hiroshi becomes small (which allows for light steering operation).

By changing the terminal, 1140 reference voltage, the required torque of 1 manual handle can be changed.

When the manual handle is rotated rapidly, operational amplifier 3
The output voltage of 1a increases rapidly, the excitation current also increases rapidly, and the motor S may burn out.

In order to prevent such inconvenience, the Zener diode 33
Is there an op amp? /c output voltage.

When the predetermined value is exceeded, the Zener diode 33 becomes conductive, and the excitation current is operated at a predetermined value or less. When the manual handle ≠ is rotated counterclockwise, the ring 19 rises in the direction of the arrow ub, and the lever 20 rotates clockwise, so the slider 36 moves to the right beyond the neutral point R. It moves to the position of point #36a.

Therefore, the input voltage at the ten terminals of the operational amplifier J/a becomes lower than that at the one terminal, and the output of the operational amplifier j/a becomes a low level, so that the motor S rotates in reverse.

Resistance by absolute value circuit 32, ? Since the voltage drop across ja becomes a positive voltage, the wheels are turned in the opposite direction.

The servo action at this time is the same as in the case of clockwise rotation, and the effect is also the same.

As can be seen from the above description, the device of the present invention serves as a torque amplification device.

Since repeated strain occurs in the rod-shaped spring shown in FIG. 3(a), accidents such as breakage rarely occur. It is not acceptable for the handle to become impossible to operate at this point. The inconvenience caused will be removed.

In other words, when the manual rotation is rotated left and right, the ends of the guide pins /7a and /7b come into contact with the ends of the diagonal grooves /qa and /9b, so can directly drive the load C. Therefore, the handle can be operated normally.

At this time, if the electric motor S is energized, the wheel will also change direction in response to the rotation of the manual handle, but since the thermal action will be incomplete, breakage of the rod-shaped spring 15 will be detected. , it is preferable to cut off the voltage applied to the electric motor S.

When the electric motor S is de-energized due to an accident, the guide pins /7a, /7b may fall into the diagonal grooves /? By abutting against the ends of a and /qb, the nozzle operation can be performed without causing any trouble.Instead of the rod-shaped springs, plate springs can also be used.

In FIG. 3(a), a direct drive system is used in which a load C is driven by a rotating shaft j of an electric motor S.

As described above, in the reluctance type electric motor S, by increasing the number of teeth of the salient poles and magnetic poles, the output torque increases proportionally, and a reduction in speed can be avoided.

Therefore, since a direct drive can be adopted, there is no need for a reduction gear as in the well-known means, and in the event of an accident,
From the steering wheel operation system! It has the feature that there is no need for a means to disconnect the drive and reduction gear using an electromagnetic clutch. Also, since the rotation speed of the motor rotor is small and the rotational inertia is small,
The feature is that the correspondence between manual steering wheel operation and the action of changing the direction of the wheels is faster.

The electric FMS can be downsized by slowing down the above-mentioned response within a reasonable range. Next, I will explain it.

A gear is fixed to the rotating shaft j in Fig. 3(a), an electric motor S is attached externally, and the gear fixed to the rotating shaft of the electric motor S meshes with the gear mentioned above, so that the ratio of λ to 7 to 3 to 1 is achieved. The objective is achieved by driving at reduced speed.

Although the rotation of the electric motor S is two to three times the rotation of the manual handle, problems caused by inertial resistance are eliminated.

In addition, reluctance type electric motors do not have field magnets, commutators, brushes, or reduction gears with large reduction ratios.
Even if the electric motor is de-energized due to an accident, the steering wheel operation remains the same as normal operation, making it an effective means.

Next, referring to FIG. μ(a), another means for detecting the movement of the ring lq will be explained.

The coil g in Fig. 3(b) has a diameter of about 10 mm and about 100 turns, and is opposed to an aluminum plate attached to the lower end of the circle 11/9 with a gap of about ≠ mm. is fixed to the main body.

As shown in Fig. 1, an alternating current of about 1 megacycle is coupled to the coil t. Symbol 7 is an excavation circuit (oscillator).

When the coil approaches the aluminum plate, the vortex # and the loss increase, so the position of the circular pit is detected by utilizing the decrease in impedance.

Coil r, resistors 3, 3a, and 31o form a bridge circuit, and guide pins /7a and /7b in Fig. 3(b) are connected to diagonal groove /q.
Balanced when at the center of a, /qb, the operational amplifier /
Various constants are set so that the output of the output terminal /Ja of /a is at the ground level.

When the circle fjl/Y falls, the impedance of the coil r decreases and the voltage drop of the resistor 3 increases, so the terminal /
The output of ja increases in positive voltage proportionately.

As the ring 19 rises, the negative output voltage at terminal /Ja increases proportionally.

The above-mentioned positive and negative voltages are rectified by the absolute value circuit 12 and outputted from the terminal /3b.

The output voltage of the terminal /Ja is the resistor 33 a in FIG.
33b and the voltage obtained from the slider 36, and the output voltage of the terminal /3b has the same characteristics as the output of the absolute value circuit 32 shown in FIG.

Therefore, the output voltages of terminals /Ja and /Jb can be used for the same purpose. Diode a in Fig. q (a),
5i'b and capacitors 10a and 10b are both ronos ξ filters.

In FIG. 2, coils ffa and ♂b are used as position detection elements for the salient poles /a, /b, . . . , but other position detection means can be used. For example, it is possible to provide a magnetic rotor that rotates synchronously with the rotor l, and to detect the position of the rotor l using a magnetoresistive element.

During high-speed driving, if only the I-phase excitation coil is energized due to an accident, the rotor of the electric motor S is electromagnetically locked and the orientation of the wheels is also fixed.

In order to eliminate this inconvenience, it is necessary to install a circuit that cuts off the power when the set speed is exceeded.

Even if it becomes difficult to operate the steering wheel at low speeds, there will be no major inconvenience to driving. In this case, normal steering operation can be performed by turning off the power.

〔effect〕

First effect.

Since a reluctance type electric motor is used as the drive source, a reduction gear and an electromagnetic clutch are not required, and the configuration is simplified, making it compact and inexpensive.

Second effect.

Since the mechanism shown in FIG. 3(a) is adopted to detect the torque of the drive system, it becomes easy to detect an electric signal proportional to the torque, and sliding contacts that frequently fail are eliminated.

Third effect.

Since the rotational speed of the electric motor is low, the responsiveness of the direction change of the wheels to the rotation of the manual handle is good.

Effect of ≠th.

Even if the rod-shaped gune/I for torque detection breaks, the handle operation can be automatically switched to manual torque.

[Brief explanation of the drawing]

Fig. 1 is a plan view of a reluctance type electric motor used in the device of the present invention, Fig. 2 is the same (its salient poles), a developed view of the excitation coil and teeth of the magnetic pole, and Fig. 3 is the mechanism of the device of the present invention. 1 is an electric circuit diagram of the position detection device, FIG. 5 is an excitation current control circuit diagram, FIG. 6 is a time chart of the position detection signal, output torque, and excitation current, and FIG. 7 is an electric circuit diagram of the position detection device. Figure r, an explanatory diagram of the means for flattening the output torque, shows a time chart of the position detection signal, respectively. /, /a, /b, - rotor and salient poles, /A, /A
a, /Ab, - armature and magnetic pole, /7a, /7b
, −, L, M, N... excitation coil, j,
μa... Rotation axis % a-/, a-1, a-j, t)
-/, t) -J, b-j,...teeth, K...board, Hiroshi...manual handle, 17...cylindrical,
/l...rod-shaped? Ne, Hirob...Bearing,
/de...circle, 20...reno-21...
Resistance box, S...motor, C...load,
/7a, /7b-guide pin, /9a, /9b-
・Diagonal groove, /? a, /za b...protrusion, t, ♂a
,♂b...Coil, /2,32-...Absolute value circuit, //a, //b. //c, J/a, j/b, 3/c--- operational amplifier, 7°7a... oscillator, Q? a, 2
3 b...DC power supply voltage negative pole, Jqa, 2 deb,
=-, J9h, 27a, 2ob,
−, J7d...AND circuit, 21a, 2 points,・
..., JJd...OR circuit, 2 hiroa, 2μb,...
..., 244h...Transistor,≠2. Hiro 2a
,,? 7a...? 7b, j7c, 3g, 3
q, tAo--excitation current curve, ≠3. Hiro 3a
...Torque curve, 5Qa, 50b, -, 3/a
,j/b ,-,! ;2a, 3;2b,...j,
? a,3Jb,-,j4La,jfb,=・,
Jja, jjb. -,36a,job,-,j7a,j7b,
...Position detection signal curve. Ditch 2 times Sheep 1 time Tea map (4) Name θ Map procedure amendment (voluntary) February 27, 1995 The following sentence is added next to the statement "There is a U that is rapidly implemented." Record

Claims (1)

[Claims] (1) A manual handle whose rotating shaft is rotatably supported by a bearing, a cylinder whose bottom center part is fixed to the end of the rotating shaft and rotates synchronously on the same axis, and a cylinder whose one end is rotatably supported by the rotating shaft. A rod-shaped spring fixed to one end and having the other end interposed inside a cylinder; a circular ring having a center portion loosely fitted therein so as to rotate synchronously with the spring and slide in the longitudinal direction of the spring; and the circular ring. The outer peripheral surface of the cylinder fits loosely into the inner peripheral surface of the opening of the cylinder, and the plurality of protrusions of the cylinder that fit into the plurality of diagonal grooves provided on the outer peripheral surface of the ring cause the ring to be bent along the cylinder due to the distortion of the spring. and a first device proportional to the amount of forward movement of the reciprocating ring.
a reciprocating motion detection device capable of obtaining an electric signal of 1 and a second electric signal proportional to the amount of backward movement; , an electric circuit that rotates a reluctance type electric motor in forward and reverse directions by a second electric signal, a load driven by a rotating shaft of the reluctance type electric motor, and a first electric circuit when the driving torque of the load increases; A manual control device comprising: an energization control circuit that energizes an excitation coil of a reluctance motor with an excitation current corresponding to the amount of increase in the second electric signal to maintain the drive torque of the manual handle at a set value. Torque amplification device.