JPH0469092A - Operation controller having direct-current motor as drive source - Google Patents

Abstract

PURPOSE:To control the specified physical quantity by determining timing of phase controls with the specified maximum resolution to the half waves of a commercial alternating current based on an interruption signal, combining the timing of phase controls in the half waves, and controlling the phases with the specified resolution. CONSTITUTION:A phase controlling means M7 reads out patterns one by one and drives a phase controller M6 with phases determined according to the patterns. The phase controller M6 combines the timing of phase controls determined with maximum resolution of 1/N with a control timing determiner M5 to each of the M number of the half waves of a commercial alternating current and resolution 1/MN controls the phases of the commercial alternating current. The commercial alternating current after the phase controls is rectified with a rectification circuit M8 and supplied to a DC motor M1. Therefore, the power supplied to the DC motor M1 is controlled with resolution of 1/MN only by controlling the phases of the half waves of the commercial alternating current with resolution of 1/N.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is a motion control device that uses a DC motor as a drive source to change the motion characteristics of a driven object such as a diaphragm of a pine surge machine or a fan of an electric fan over time. Regarding.

[Prior Art] A device is known that uses a DC motor as a drive source to control the movement of various driven objects, such as the diaphragm of a pine surge machine or the fan of an electric fan. Massage machines used to relieve stiff shoulders and lower back pain and eliminate fatigue include, for example, those that use a DC motor to rotate rollers, those that eccentrically rotate the head called a massaging ball, and those that have protrusions on the surface. There are those that vibrate a diaphragm or a spherical head, and those that place a low-frequency vibrator in close contact with the human body and perform pine surgery using low-frequency vibrations.

In addition, among these pine surge machines and electric fans, some have been proposed that change the magnitude of vibration, direction of rotation, etc. at predetermined intervals so that the vibrations and rotation applied to the human body, or the state of the air flow, do not become monotonous.

(Problem to be Solved by the Invention 1) However, even if the magnitude of vibration and the direction of rotation are varied at predetermined intervals, the user of the pine serge machine will eventually get used to the movement and get tired of pine surge, which is the 11ff problem. Therefore, with a pine surge machine that moves monotonously, the comfort provided by pine surge will not last long, and the user will tend to cut off the pine surge in a short period of time, making it impossible to fully demonstrate the function of pine surge.Even with an electric fan, It has been pointed out that compared to natural wind, the air flow is monotonous and lacks comfort.

In addition, when trying to vary the magnitude of vibration or rotation in multiple stages, the resolution of control must be increased, but there is also the problem that fine-grained control cannot be achieved with a microprocessor with limited functionality.

The present invention has been made with the object of solving the above-mentioned problems and providing a motion control device using a DC motor as a drive source to control predetermined physical quantities so as to create a comfortable experience that the user will never get tired of.

The configuration of the present invention that achieves this object will be described below.

[Means for Solving the Problems] As illustrated in FIG. 1, the motion control device of the present invention uses a DC motor M1 as a drive source, and controls the diaphragm of a pine surge machine or the air blower of an electric fan. A control device that drives a driven body M2, such as a fan, and controls physical quantities that affect bodily sensations, such as the vibration state and the amount of air flow, and includes the number of rotations, amplitude, etc. included in the movement of the driven body M2 within a predetermined time. a storage means M3 for storing in advance a pattern in which the magnitude of each frequency component present in a change in the characteristics of the circuit is approximately inversely proportional to the frequency; an interrupt signal generation circuit M4 to be used for generating an interrupt signal, and a control timing for determining the timing of phase control with a maximum resolution of 1/N (N is an integer of 2 or more) for a half wave of commercial AC based on the interrupt signal. a determining means M5, and a unit of M half-waves (M is an integer of 2 or more),
a phase control means M6 that combines the timings of the phase control in each half-wave of the individual and performs phase control with a resolution of 1/(N-M); a phase control execution means M7 for driving the phase control means M6 with a phase #; rectifying the commercial AC after controlling the phase #;
The gist is that the rectifier circuit M8 is provided with a rectifier circuit M8 that supplies power to the circuit.

(Function l) The motion control device using a DC motor as a drive source of the present invention having the above configuration has a configuration in which a driven body M2 such as a diaphragm of a pine surge machine or a fan of an electric fan is driven by a DC motor Ml. Driven body M2 by controlling M1
The characteristics of the motion of the object are changed over time with high resolution as follows.

The storage means M3 stores in advance a pattern in which the magnitude of each frequency component present in changes in characteristics such as rotation speed and amplitude included in the movement of the driven body M2 within a predetermined time is approximately inversely proportional to the frequency. 0 phase control execution means M
7 sequentially reads out this pattern and drives the phase control means M6 with a phase determined according to the pattern. Here, the phase control means M6 has a control timing determination means M5 with a maximum resolution of 1/2 for each half-wave among M half-waves of commercial AC.
The phase control timing determined by N is combined to perform phase control of commercial alternating current with a resolution of 1/(NM). In addition,
The control timing determining means M5 includes an interrupt signal generating circuit M4.
determines the timing of phase control based on an interrupt signal generated every half wave of commercial AC.

After the phase has been controlled in this way, the commercial alternating current is transferred to the rectifier circuit M8.
The current is rectified by the DC motor Ml and supplied to the DC motor Ml. Therefore, by simply controlling the phase with a resolution of 1/N for each half wave of the commercial AC, the power supplied to the DC motor Ml can be reduced to
/(MN) resolution. As a result, the driven body M2 moves according to the pattern stored in the storage means M3, that is, a pattern in which the magnitude of each frequency component included in the movement within a predetermined time is approximately inversely proportional to the frequency, and changes over time. The movements you do will be fine-grained.

In addition, various factors can be considered as the physical quantities to be controlled in this way, such as the frequency and amplitude of the pine surge machine mentioned above, the amount of air blown by the electric fan, the flow rate of water in the bath, the amount of bubbles generated, etc.

(Embodiments) In order to further clarify the configuration and operation of the present invention described above, preferred embodiments of a motion control device using a DC motor as a drive source of the present invention will be described below. Fig. 2 is a schematic perspective view showing the external shape of a pine surge machine which is an embodiment of the present invention, and Fig. 3 is a partially cutaway side view thereof. is used to control the magnitude of this frequency change.

As shown in FIGS. 2 and 3, this pine surge machine includes a synthetic resin case 1 formed into a substantially flat rectangular shape.

Handles 2 are integrally molded on the left and right sides of the case l. Further, a diaphragm 3 as a pine surge effecting body is disposed on the surface of the case 1, and an operation panel 4 is further provided on the right front side of the surface. As shown in FIG. 3, the case 1 is divided into a case main body 1a forming the bottom of the case 1 and a case main body 1b forming the upper surface from the side to facilitate assembly. Legs 5 are retractably provided in the case body 1a, and when the pine surge machine is placed on the floor or the like at an angle, the legs 5 can be pulled out and used as shown in FIG.

The diaphragm 3 is made of synthetic resin and has a substantially rectangular shape, and a plurality of substantially hemispherical protrusions 7 are provided at approximately equal intervals on its surface, that is, the contact surface 6 on which the user's body such as feet is placed. The contact surface 6 has its front side bent inward to form an inclined surface 6a, and two protrusions 8 having a diameter larger than the protrusion 7 are formed on the ridgeline 6b formed by the inclined surface 6a. has been done.

The diaphragm 3 has elastic struts lO near each corner of the diaphragm 3.
It is connected to the case main body 1a by.

The elastic support 10 is made of an elastic body such as rubber and has a cylindrical shape, and both ends are fixed to the diaphragm 3 and the case body 1a, respectively. Therefore, the diaphragm 3 can swing within the deformable range of the elastic struts 10.

Next, a structure corresponding to a driving means for vibrating the diaphragm 3 will be briefly described. A DC motor 12 is housed in the case 1 , and its output shaft 14 is connected to approximately the center of the diaphragm 3 via an eccentric bearing 15 . DC motor 12
and eccentric bearing 15, as shown in FIG.
Fit the bearing 16 and sleeve 20 to the output shaft 1.
4 is assembled by screwing a female screw 18 formed at the tip of the eccentric bearing 15 into a female screw 36 provided on the crankshaft 28 of the eccentric bearing 15. Note that when the output shaft 14 is screwed onto the crankshaft 28, a fan 22 for cooling the motor is integrally assembled. That is, the output shaft 14 is screwed onto the crankshaft 28 by fitting the opening 26 provided at the base of the fan 22 into the boss 34 having an oval cross section provided on the crankshaft 28 . As a result, as the DC motor 12 rotates, the fan 22 also rotates, cooling the DC motor 12 with air.

The female screw 36 of the eccentric bearing 15 is located at a position offset by several millimeters when viewed from the axis of the crankshaft 28, and
The axial center of the main body portion 30 protruding from the opposite side of the female screw 36 is shifted from the axial center of the female screw 36. Therefore, DC motor 1
2 rotates, the main body 30 of the rerank shaft 28 rotates in an eccentric state, and the bearing 38 of the eccentric bearing 15 also moves in the same manner. Since the bearing 38 of the eccentric bearing 15 is fitted into the fitting portion 43 of the diaphragm 3 as shown in FIG. 3, this movement causes the diaphragm 3 to move against the elastic support of the elastic struts 10. , it will oscillate.

Note that a counterweight 2 is attached to one end of the fan 22.
4 is installed. The weight of this counterweight 24 is adjusted to a position and weight that cancels out the reaction caused by the swinging of the diaphragm 3. Therefore, the vibration of the entire pine surge machine caused by the swinging of the diaphragm 3 is suppressed, and the pine surge effect is fully exerted. Furthermore, the center of gravity of the diaphragm 3 and the centers of the counterweight 24 and the eccentric bearing 15 are approximately the same, and the points of application of force in the axial direction when the diaphragm 3 swings are approximately the same. Therefore, the output shaft 14 does not deviate in the axial direction.

Next, the configuration of the electric circuit of this pine serge machine will be explained. As shown in Figure 5, inside this pine surge machine that operates using a commercial AC power supply (AClooV),
Low voltage circuit 50 that generates low voltage for control from AC power supply
, a 4-bit CPU 51 that operates at the oscillation frequency of the crystal A phase control circuit 57 that rectifies the current and supplies DC power to the DC motor 12 is incorporated.

The low voltage circuit 50 includes a transformer TS that reduces the commercial AC input from the outlet 58 through the 11i source switch 59 to 6 volts, a stack SD that is connected to the secondary side of the transformer TS and performs full-wave rectification of the AC, and an output of the stack SD. a diode Dl for reverse current prevention connected to the side, a three-terminal regulator TT to stabilize the voltage after full-wave rectification, an electrolytic and tantalum capacitor CI to C3 connected to stabilize the operation of the three-terminal regulator TT, power switch 5
It is composed of a light emitting diode LD1 and a current limiting resistor R1 for indicating the on/off status of 9. In the low voltage circuit 50, a 5-volt DC power source for operating the CPU 51 and the like is generated from commercial AC power.

The CPU 51 is an l-deep microprocessor that includes a ROM in which operating programs and vibration time series data are written in advance, a RAM that temporarily stores data, etc., and a timer, and also has multiple input/output boards. We are prepared. Among these input/output boats, parallel input boat F
Eight push button type keys 61 to 68 for setting provided on the operation panel 4 are connected to O, Fl, DO, Dl, SO to S3, and parallel output ports D3 to D8 are connected to Six display lamps 71 to 76 are connected to display the current settings.

“○N” key 61. The FFJ key 62 turns the power on and off using software, the Timer key 63 turns off the power after about 30 minutes, and the l/f key 64 turns the power off in vibration mode. to switch between manual mode and automatic mode, and key 6
5 to 68 indicate the vibration characteristics of the pine surge machine as “strong” or “
This is for setting in four levels: medium, weak, and soft.

The other ends of these switches 61 to 68 are connected to ground level. Further, the other ends of the display lamps 71 to 76 are all connected to a power supply line via a pull-up resistor Rup.

A piezoelectric buzzer Bz that generates a sound for confirming key operations is connected to the output port D2 of the CPU 51.

Further, the output signal of the interrupt signal output circuit 55 is input to the input port F2 of the CPU 51.The 0 interrupt signal output circuit 55 receives the output signal of the interrupt signal output circuit 55, which is full-wave rectified and divided by the voltage dividing resistors R6 and R7. This circuit inputs a volt signal to the base of the transistor Tr and outputs a pulse signal every half wave of commercial AC from the collector of the transistor Tr connected to the pull-up resistor R5. A Zener diode Dz for voltage limiting is connected to the ground level at the base of the transistor Tr. Commercial alternating current and interrupt signals output for each half wave are shown in FIGS. 6(A) and 6(B).

The CPU 51 executes phase control processing, which will be described later, based on this interrupt signal, but the actual switching of the commercial AC is performed by the phase control circuit 57. The connection between the CPU 51 and the phase control circuit 57 is photoisolated by a photocoupler PC. The light emitting diode side of the photocoupler PC is connected to the output port F3 of the CPU 51 via a resistor R2, while the output side of the photocoupler PC, which is a photodiac, is connected to a current limiting resistor R.
3 to the gate of the triac TA. A noise prevention layer resistor R is installed at both ends of the triac TA.
4 and a capacitor C4 are connected, and a triac TA and a full-wave rectification stack SB are connected in series and connected between a commercial alternating current.

A DC motor 12 as a drive source for the diaphragm 3 is connected to the output side of the rectifying stack SB.

Therefore, when the CPU 51 turns on and off the output boat F3, the phase of the commercial alternating current is controlled via the photocoupler PC, and the rotation of the direct current motor 12 is controlled by the rectified direct current.

That is, in this embodiment, the CPU 51 and the phase control circuit 57 are the timing determining means 2 and the phase control means.

It functions as a phase control execution means and a rectifier circuit, and controls the vibration characteristics of the diaphragm 3. Next, the processing executed by the CPU 51 will be explained with reference to the flowcharts of FIGS. 7, 8, and 9.

When the power is turned on by operating the manual power switch 59, the CPU 51 repeatedly executes the phase determination processing routine shown in FIG. Immediately after turning on the power, processing is performed to set default values for various parameters (step 1).
00), this default value includes a flag FA indicating that the vibration mode of the diaphragm 3 is set automatically;
rStrong""Medium""Weak" Variable S indicating the setting of [Soft], flag F indicating whether the timer is set or not
t, a variable Kon that indicates the software power-on state, etc.

Immediately after the manually operated power switch 59 is turned on,
These are all default values (values 1, 1.O
, O).

The settings of these flags and variables are changed by operating the keys 61 to 68 on the operation panel 4.

Processing associated with key operations is performed by interrupt processing shown in FIG. This process is started when any of the operation keys 61 to 68 is operated, determines the type of key (step 110), and sets the value 1 to the variable Kon if the rONJ key 61 is operated. Step 11
1) When the "rOFF" key 62 is operated, the variable Kon is reset to the value O (step 112).

On the other hand, when the r 1 / f J key 64 is operated and when the "timer" key 63 is operated, the values of flag FA and flag Ft (O or 1
) is inverted (steps 113 and 115).
.

In addition, when each of the keys 65 to 68 of "R Strong", "R Medium", "Weak", and "Soft" on the operation panel 4 is operated, the values 4, 3, and 2.1 are changed depending on the operated key. are set (step 114). After these processes, the CPU
51 turns on the corresponding display lamps 71 to 76 (step 117), and then exits to rRTNJ to end this interrupt routine.

Returning to the phase determination processing routine in FIG. 7, the explanation will be continued.

After setting the default values (step 100),
It is determined whether the i number Kon is the value l (step 12
0), waits until the i number Kon reaches the value 1, that is, until the "ON" key 61 is operated. When it is determined that the "ON" key 61 is operated and the variable Kon becomes the value 1, the process continues. Then it is determined whether the flag FA is 1 (
Step 130), since the default value of the flag FA is 1, if the l/fJ key 64 is not operated, it is determined that the automatic mode is in effect, and it is further determined whether the time Δ°C has elapsed (step 130). 140).

The time Δt determines the timing for controlling the DC motor 12, and is set to several seconds in this embodiment.

If it is determined that the time Δt has elapsed (step 1
40), reads the next control data θ from the ROM in the CPU 51 (step 150), and corrects this data θ based on the setting S (step 160).
Do this. The control data θ read from the ROM is 6
This is bit data, and its resolution is 1/64.

This data θ is corrected according to the value of each setting S of "soft J""weak""medium""strong". Note that the correction can be made by simply multiplying the data θ by the data based on the value of the setting S, but in this example, "In the case of soft Jr. weak J, the low frequency component of the vibration of the diaphragm 3 Correction is performed such that the flag FA is not 1, that is, when automatic operation is not performed, the control data θ is determined only according to the setting S (steps 130 and 165).
).

After this correction, the FJ is then checked to see if the flag Fhz is 1 (step l70).
z is whether the commercial AC being used is 50 [Hz] or 60 [H].
z], and is set by the half-wave interrupt processing routine (FIG. 9), which will be described later.

If it is determined that the AC being used is 5° [Hz] (Fhz = 1), the control data θ should be reduced by approximately 20[%] in order to make the output equivalent to that used at 60[Hz]. A process is performed to determine the phase control amount N by making a correction that increases the amount by approximately 1 (step 18o).

After obtaining the phase control amount N in this way, the phase control amount N is divided by an integer 4 to obtain the quotient ΔN and the remainder ΔM (
Step 190) This process is for performing phase control using four half waves as one unit; 1. The quotient ΔN represents the basic amount of phase control within each half-wave, and the remainder 6M represents the number of half-waves in which the phase control is increased. Details of the phase control will be described later.

After determining ΔN and ΔM, flag Ft indicating timer operation is set.
Check the O value (Step 200), Ft = 1, that is, [If the timer J key 63 is operated and the timer is in use, decrement the timer variable T o ff by the value l (Step 210), this variable T o ff is the value O
(Step 220)
, the variable Toff is set to a value corresponding to 30 minutes immediately after the "timer" key 63 is operated. Variable To
If ff is larger than the value 0, there is no need to stop the pine surge machine, so the next judgment is made, that is, the variable Kon is set to the value 0.
(step 230), it is determined whether the f number Kon
is set to the value 0 when the "○FF" key 62 is operated (Step 12 in FIG. 8). If the "○FF" key 62 is not operated, the process returns to step 130 and is determined from the flag FA. Resume processing.

On the other hand, if the timer variable Toff becomes less than the value 0 or if the rOFFJ key 62 is operated, the pine surge machine is stopped and the -off control is ended (step 240). As a result, the DC motor 12 also stops rotating. After that, the process returns to step 120 and the variable K
The above-mentioned processing is restarted from the on check, that is, the next activation check.

Next, the half-wave interrupt processing routine will be explained.

The processing routine shown in FIG. 9 is started by an interrupt signal every half wave output from the interrupt signal output circuit 55, and first,
Save variable Tn to variable Tn-1 and save the current timer variable T
1 is transferred to the variable Tn (step 300).

That is, the count value of the timer when the half-wave interrupt processing routine was activated last time is stored in the variable Tn-1, and the time when the half-wave interrupt processing routine was activated this time is stored in the variable Tn. The timer variable Ti is a count value of a self-running timer built into the CPU 51. The timer operates based on a frequency determined by the resonant frequency of the crystal Xt, and has a frequency of 0.
5. Count up the timer variable TiO value by 1 every [m5ec].

Next, it is determined whether the deviation between the variables Tn and Tn-1 is 18 or more (step 310), and if the value is 18 or more, that is, the time required for a half wave is 9 [m5ec] or more, commercial AC is activated. The frequency of is 50 [Hz] (10 per half wave)
[m5ec]), and sets the flag Fhz to the value l (Step 320); if the value is less than 18, the frequency is determined to be 60 [Hz], and the flag Fhz is reset to the value 0 (Step 330). .

After setting the flag Fhz, the value of counter C is then incremented by 1 (step 340), and if the value of counter C is 5 (step 350), the value is returned to 1 (step 360). . As a result, by referring to the value of the counter C, it is possible to determine which half-wave of the 4-side control is being performed.

Therefore, next, it is determined whether the counter C is less than or equal to the remainder ΔM obtained in step 190 of FIG. 7 (step 38).
0). The remainder 6M represents the number of half-waves for which phase control should be increased, so the half-wave to be controlled now is
It is determined whether or not this is a half wave for which phase control should be increased. For example, if the phase control amount N after reading from the ROM and performing various corrections is 21, the quotient ΔN divided by 4 will be 5, and the remainder 6M will be 1.

Therefore, when controlling the first half-wave of the 4-side assembly, the determination at step 380 is r Y' E
SJ, and it is determined that the phase control amount is increased by the value 1 in this half wave. In this case, the phase control start timing L is determined as L=16-(ΔN+1) (step 390), and in the half wave where the phase control amount is not increased, the phase control start timing L is determined as L=16
-ΔN (step 395).

FIG. 6(C) shows how the phase control start timing L is determined in this manner. After the phase control start timing L has been determined, the process waits until the value of the timer variable Ti reaches a value that has elapsed by the phase control start timing L from the start time Tn of this interrupt routine (step 400), and when that time has been reached. At this time, a pulse signal is output from the terminal F3 of the CPU 51 to the photocoupler PC (step 410), and then the interrupt routine exits to rRTNJ and ends this interrupt routine.

Upon receiving the pulse signal from the terminal F3 of the CPU 51, the triac TA of the phase control circuit 57 is turned on, and the phase-controlled alternating current continues to flow until the end of the half wave.

Through the above processing, the pine surge machine of this embodiment has rl/f
When the J key 64 is operated and the automatic mode is set, the DC motor 12 that drives the diaphragm 3 rotates at a rotation speed corresponding to data stored in the ROM in advance, with one period T being approximately 2.5 minutes. is driven sequentially. FIG. 10(A) illustrates a change in the rotational speed N over time. If we consider the change in the rotational speed N as a wave with a period T, the wave y consists of multiple sine waves (fundamental frequency ωt, second harmonic 2ωt, third harmonic 3ωL).
, ... set of nth harmonics nωt) y = A O+A
I ・5in(ωt+φl)+A 2-3in(2c
c+ t+φ2)+A3・5in(3ωt+φ3)+
---+A n -5in (nωt+φn) (Fourier series) 1 In this embodiment, the coefficient Ai of each frequency component becomes smaller as the frequency (also nω) increases. The control data for the rotation speed is predetermined. That is, An=k-AO/n (n≧2). As a result, the frequency of the fluctuation in the rotation speed of the DC motor 12 and the magnitude of the change in the rotation speed are Taking the relationship, as shown in FIG. 10(B), as the frequency of the rotational speed fluctuation becomes higher, the magnitude of the change in the rotational speed becomes smaller in inverse proportion to the frequency.

In addition, in this embodiment, the strength of vibration is set using keys 65 to 68.
When switched, the frequency characteristics are also slightly different. FIG. 10(B) shows the characteristics when the "weak" key 67 is operated and the setting is "weak".
Figure 0 (C) also shows the characteristics in the case of "R" in Figure 0, where the solid lines Jl and J2 are graphs plotting the measured values of the changes in rotational speed in each frequency component. , - dotted chain lines Fl and F2 are graphs of 1/f (f is frequency).

According to the present embodiment described above, when the "1/f" key 64 is operated and the mode is set to "auto", the diaphragm 3 is operated for one cycle of 2.5 minutes. The frequency of fluctuations in the rotational speed is high (indeed, the magnitude of the change in the rotational speed is small), and it is driven finely.In other words, there is no clear repetition in the change in the frequency, and it is similar to the wind in the natural world. It is as natural as the characteristics of wave change, and there are 64 stages of vibration change, and each vibration change is smooth.For this reason, the vibration of the pine surge machine is extremely comfortable. Therefore, the person using this device will never get tired of the pine surge caused by the vibration of the diaphragm 3. Therefore, the pine surge effect can be brought out to the fullest.

The pine surge machine of this embodiment, which uses the CPU 51 with an internal control accuracy of 4 bits, can perform phase control with only a resolution of 1/16 when viewed as a commercial AC half wave of 60 [Hz]. Since phase control is performed in units of four, phase control can be performed with an overall resolution of 1/64. In other words, fluctuations in the rotational speed can be precisely controlled using a CPU with a small number of bits. If the phases controlled for each half wave are different, an unbalance problem occurs in the case of AC, but in this embodiment, the DC motor 12 is driven after rectification by the stack SB of the phase control circuit 57. Therefore, no problem will occur. In this example, the resolution of the phase control is set to 1/64 with half waves of 4g as one set.
However, it is also possible to perform control at an even higher resolution, such as 1/256, using a large number of half-waves as a set.Also, by increasing the operating frequency of the CPU 51, which is an l-chip microprocessor, the resolution per half-wave can be increased. It is also suitable to increase the

In addition, in this example, as shown in FIGS. 10(B) and (C), when the setting is set to the "weak J" or "soft J" side, the magnitude of the change in the rotational speed in the low frequency region is large. (Vibration is controlled so that it is. Therefore, even if the setting is set to ``weak'' or ``soft'', the comfort of Pine Surge will not be compromised.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments in any way. For example, the amplitude of the vibration of the diaphragm 3 is variable and the magnitude of the change in amplitude is controlled by 1/f. A configuration that controls the number of rotations or the size of the rotation of the massaging balls at 1/f, a configuration that detects the force that actually presses on the human body and controls this change, or a configuration that controls the change in the force that actually presses on the human body, or It goes without saying that the invention can be implemented in various ways without departing from the spirit of the invention, such as a configuration in which the intensity of low-frequency vibrations of the frequency vibrator is similarly controlled. Of course, the present invention is not limited to pine surge machines, but can also be suitably applied to electric fans or devices that control the flow of water in a bath or the generation of bubbles. Note that the relationship between the frequency and the magnitude of change does not have to be strictly 1/f, and may be such a relationship that the change becomes smaller as the frequency becomes higher.

Effects of the Invention As detailed above, according to the motion control device using the DC motor as the drive source of the present invention, the DC Motor Ml
The power supplied to can be controlled with a resolution of 1/(M−N). As a result, it is possible to move the driven body according to the pattern stored in the storage means, that is, a pattern in which the magnitude of each frequency component included in the movement within a predetermined period of time is approximately inversely proportional to the frequency, and moreover, over time. Its changing motion can be precisely controlled. Therefore, the sensation brought about by the movement of the driven object becomes as natural as the characteristics of changes in wind and waves in the natural world. Moreover, it is possible to perform high-resolution phase control with low control accuracy, smoothing the movement of the driven object and reducing manufacturing man-hours.
It is possible to achieve both cost reduction and cost reduction.

[Brief explanation of the drawing]

FIG. 1 is a block diagram illustrating the basic configuration of the present invention, FIG. 2 is an external view of a pine serge machine as an embodiment of the present invention,
Fig. 3 is a sectional view showing its configuration, Fig. 4 is an exploded perspective view of the vibration imparting mechanism of the pine surge machine, Fig. 5 is an electric circuit diagram of the pine surge machine of the embodiment, and Fig. 6 shows the state of phase control. 7 is a flowchart showing the phase determination processing routine executed by the CPU 51, FIG. 8 is a flowchart showing the key input interrupt routine, FIG. 9 is a flowchart showing the half-wave interrupt processing routine, and FIG. (A
) is a graph showing an example of a change in the rotational speed of the DC motor 12 that drives the diaphragm 3, and FIGS. It is. Ml...DC motor M2...Driven body M3...
Memory means M4... Interrupt signal generation circuit M5... Control timing determining means M6... Phase control means Ml... Phase control execution means M8... Rectifier circuit 1... Case 3... Vibration plate 12...DC motor 14...Output shaft
15... Eccentric bearing 51... CPU
55... Phase control circuit 63... Mode changeover switch

Claims (1)

[Scope of Claims] 1. A control device that uses a DC motor as a drive source to drive driven bodies such as a diaphragm of a massage machine or a blower fan of an electric fan, and controls physical quantities that affect bodily sensations, such as the vibration state and the amount of air blown. storage means for storing in advance a pattern in which the magnitude of each frequency component present in changes in characteristics such as rotation speed and amplitude included in the movement of the driven body within a predetermined period of time is approximately inversely proportional to the frequency; an interrupt signal generation circuit that is connected to a commercial AC and generates an interrupt signal for each half wave; and based on the interrupt signal, a maximum resolution of 1/N (N is an integer of 2 or more), and control timing determining means for determining the timing of phase control based on M half-waves (M is an integer of 2 or more);
a phase control means for performing phase control at a resolution of 1/(N·M) by combining the timings of the phase control in each half-wave of the individual; A motion control device using a DC motor as a drive source, comprising: phase control execution means for driving the phase control means with a phase according to the phase control; and a rectification circuit that rectifies the commercial alternating current after the phase control and supplies it to the DC motor. .