JPH07181113A - Operation feeling presentation device - Google Patents

Abstract

PURPOSE:To make a character presented natural and present an arbitrary operation feeling. CONSTITUTION:An operator 14 is provided with a load cell 15. with an eddy current type displacement sensor 16 and a voice coil motor 22. A power feedback circuit 6 is connected to the load cell 15 and a differentiation device 11 and a speed feedback circuit 7 to the eddy current type displacement sensor 16. A displacement feedback circuit 8 is connected to the eddy current type displacement sensor 16, and a differentiation, device 12, a comparator 13 and a speed direction feedback circuit 9 are connected to the sensor 16. A computer 10 is connected to the eddy current type sensor 16 and an addition circuit 20 is connected to the feedback circuits 6-9 and the computer 10 and voice coil motor 22 is connected to the addition circuit 20 through a DC amplifier 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation feeling presenting device for presenting an operation feeling of an actual operation tool measured in advance, an operation feeling created by a computer, and the like.

[0002]

2. Description of the Related Art In a conventional operation feeling presenting apparatus (Japanese Patent Application Laid-Open No. 3-285116), for static characteristics, force-displacement characteristics are recorded in advance in a computer, and the force is detected in real time, The displacement is calculated from the force in order to control the displacement, and when the dynamic characteristic is presented, the feedback of the fixed gain is used.

In another conventional operation feeling presenting apparatus (page 531 of the proceedings of the 35th Automatic Control Joint Lecture Meeting), the force-displacement characteristic of the static characteristic is recorded in advance in a computer, and the static characteristic is recorded in real time. The displacement is detected by, the force is controlled from the displacement by the computer, the force is controlled, and when the dynamic characteristic is presented, the feedback of the fixed gain is used.

In another conventional operation feeling presenting apparatus (Japanese Patent Laid-Open No. 4-232829), the reaction force acting on the steering wheel is calculated by using the steering angle, the driving speed of the driving simulator, and the engine speed. The calculation is performed by the reaction force calculation circuit, the restoring force calculation circuit, the road surface resistance calculation circuit, and the vibration calculation circuit, and the load is applied to the steering wheel.

[0005]

However, in these operation feeling presenting devices, when presenting a static characteristic such as a bottom, inertia friction, or the like in which the force changes abruptly by a computer, the operation feeling presenting device does not display the recording device. Since the delay time occurs due to the access time and the calculation time of the computer, the system becomes unstable and the presented characteristics become unnatural. Further, the dynamic characteristics such as the viscosity of the actual operation tool change due to the displacement due to physical reasons. For example, as shown in FIG. 11, the dynamic characteristics of the viscosity of the actual operation tool change depending on the displacement due to the degree of the grease applied to the operation tool. However, in the conventional operation feeling presenting device, when presenting the dynamic characteristics, since the feedback of the fixed gain is used, it is not possible to present an arbitrary operation feeling.

The present invention has been made in order to solve the above problems, and provides an operation feeling presenting apparatus which has a natural characteristic to be presented and can present an arbitrary operation feeling. To aim.

[0007]

To achieve this object, according to the present invention, an operating tool, a displacement detector for detecting the displacement of the operating tool, an actuator for driving the operating tool, and the displacement Displacement feedback gain calculation means for calculating a displacement feedback gain, a displacement feedback circuit for calculating a displacement feedback value from the displacement and the displacement feedback gain, and force adjustment value calculation means for calculating a force adjustment value according to the displacement. An adder circuit for calculating a thrust force obtained by adding the displacement feedback value and the force adjustment value is provided, and the actuator is controlled by the thrust force.

In this case, the speed direction detector for detecting the speed direction of the operating tool, the speed direction feedback gain calculation means for calculating the speed direction feedback gain from the displacement, and the speed direction and the speed direction feedback gain are used. A speed direction feedback circuit that calculates a speed direction feedback value and outputs the speed direction feedback value to the addition circuit may be provided.

Further, a speed detector for detecting the speed of the operating tool, a speed feedback gain calculating means for calculating a speed feedback gain from the displacement, and a speed feedback value from the speed and the speed feedback gain, A speed feedback circuit for outputting the speed feedback value to the adding circuit may be provided.

Further, a force detector for detecting the force of the operation tool, a force feedback gain calculating means for calculating a force feedback gain from the displacement, and a force feedback value from the force and the force feedback gain,
A force feedback circuit for outputting the force feedback value to the adding circuit may be provided.

Further, an acceleration detector for detecting the acceleration of the operation tool, an acceleration feedback gain calculating means for calculating an acceleration feedback gain from the displacement, and an acceleration feedback value from the acceleration and the acceleration feedback gain, An acceleration feedback circuit that outputs the acceleration feedback value to the addition circuit may be provided.

[0012]

In this operation feeling presenting device, the displacement feedback circuit, the velocity direction feedback circuit,
Since feedback values are calculated in the velocity feedback circuit, force feedback circuit, and acceleration feedback circuit, each physical characteristic can be presented with good responsiveness, no delay time is generated, and the displacement feedback gain and velocity direction can be adjusted according to the displacement. Since the feedback gain, the velocity feedback gain, the force feedback gain, and the acceleration feedback gain are calculated, the thrust force according to the displacement can be calculated.

When the force feedback value is output to the adder circuit, inertia can be presented and the system becomes stable.

[0014]

1 is a block diagram showing an operation feeling presenting apparatus according to the present invention, and FIG. 2 is an external view showing the operation feeling presenting apparatus shown in FIG. As shown in the figure,
A load cell 15 that is a force detector that detects a force F acting on the operating tool 14 is provided, and an eddy current displacement sensor 16 that is a displacement detector that detects a displacement X of the operating tool 14 is provided. A voice coil motor 22, which is an actuator that generates thrust F _V , is provided, and the load cell 15, the eddy current displacement sensor 16, and the voice coil motor 2 are provided.
The main body 24 is constituted by 2. Load cell 15
The force feedback circuit 6 is connected to the force feedback circuit 6, and the force feedback circuit 6 sets the inertia of the body 24 itself to M _V and the target inertia value to M _d.
Then, {1- (M _V / M _d )} F, that is, the force feedback value is calculated. The eddy current displacement sensor 16 is connected to a differentiator 11 that differentiates the displacement X to obtain a speed X ', and the eddy current displacement sensor 16 and the differentiator 11 constitute a speed detector. The speed feedback circuit 7 is provided to the differentiator 11.
When the viscosity of the main body 24 is B _V and the viscosity target value is B _d , the velocity feedback circuit 7 is connected to {(M _V / M _d ).
· B _d -B _V} X 'that is computed a velocity feedback value. When the displacement feedback circuit 8 is connected to the eddy current displacement sensor 16 and the displacement feedback circuit 8 has a stiffness target value of K _d and a displacement target value of X _d , {(M _V / M _d ) ・
K _d } (X−X _d ), that is, the displacement feedback value is calculated. The eddy current displacement sensor 16 is connected to a differentiator 12 that differentiates the displacement X to obtain a speed X ', and the differentiator 12 has a speed direction sgn (X') (+1 when the speed X'is positive and speed X'is Comparator 13 that calculates -1) when negative
Are connected, and the eddy current displacement sensor 16, the differentiator 12, and the comparator 13 form a velocity direction detector. Speed direction feedback circuit 9 for comparator 13
Is connected, and the speed direction feedback circuit 9 is connected to the main body 24.
When the dry friction of itself is f _V and the dry friction target value is f _d
{(M _V / M _d ) · f _d −f _V } sgn (X ′), that is, the velocity direction feedback value is calculated. When the computer 10 is connected to the eddy current displacement sensor 16 via the A / D converter 17, the computer 10 sets the force target value to F _d (M
_V / M _d ) · F _d, that is, the force adjustment value is calculated, the force adjustment value (M _V / M _d ) · F _d is output via the D / A converter 19, and the displacement X stored in advance is stored. Using the corresponding target values M _d , B _d , K _d , X _d , f _d , and F _d , force feedback gain {1- (M _V / M _d )}, velocity feedback gain (M _V / M _d ). B _d −B _V , displacement feedback gain
(M _V / M _d ) K _d , velocity direction feedback gain (M _V
/ M _d ) · f _d −f _V is calculated, and these feedback gains are output to the feedback circuits 6 to 9 via the D / A converter 18. The adder circuit 20 is connected to the feedback circuits 6 to 9 and the computer 10, and the adder circuit 20
Calculates the thrust F _V which is the sum of the outputs of the feedback circuits 6-9 and the computer 10. A voice coil motor 22 is connected to the adding circuit 20 via a DC amplifier 21. A controller 62 is configured by the feedback circuits 6 to 9 and the like, and the A / D converter 17, the D / A converters 18 and 19 and the controller 62 are connected by a flat cable 61.
The main body 24 and the main body 24 are connected by a cord 63.

By the way, as shown in FIG. 3, an actual operation tool has an inertia (M) element 1, a viscous (B) element 2, a rigidity (K) element 3, a dry friction (f) element 4, and a force (F) element. When modeled by 5, it can be considered that these characteristics are changed by the displacement of the operating tool. When artificially presenting the operation feeling of such an operation tool, the target equation of motion is as follows.

F = M _d X ″ + B _d X ′ + K _d (X−X _d ) + f _d · sgn (X ′) + F _d (1) On the other hand, the equation of motion of the operation feeling presenting device is as follows. become that way.

[0017] _{F = M V X "+ B} V X '+ f V · sgn (X') + F V (2) (1), when obtaining the thrust F _V from equation (2), the following equation.

F_V= {1- (M_V/ M_d)} F + {(M_V/ M_d) ・ B_d-B_V} X '+ {(M_V/ M_d) ・ K _d } (XX_d) + {(M_V/ M_d) ・ F_d-F_V} sgn (X ') + (M_V/ M_d) ・ F_d (3) Then, the operation feeling presenting apparatus shown in FIGS. 1 and 2.
In the computer 10, the controller 62
Thrust F is calculated by equation (3)._VIs required, thrust F_VAccording to
Since the chair coil motor 22 is driven, as shown in FIG.
Such control is performed, and the thrust F is applied to the operation tool 14._VOccurs,
The operation feeling is presented.

In such an operation feeling presenting apparatus, since feedback values are calculated in the feedback circuits 6 to 9, each physical characteristic can be presented with good responsiveness, and no delay time occurs, so that the system is stable. In addition, since force feedback is performed to present the inertia, and acceleration feedback is not performed, the system becomes stable and the presented characteristic becomes natural. In addition, the feedback gains of the feedback circuits 6 to 9 are set to the displacement X.
Since the calculation is performed using the target values M _d , B _d , K _d , X _d , f _d , and F _{d corresponding} to the above, any operation feeling can be presented.

FIG. 5 is a schematic view showing a variable operation feeling vehicle using the operation feeling presenting apparatus according to the present invention,
6 is a perspective view showing the pedal operation feeling device of the variable operation feeling vehicle shown in FIG. 5, and FIG. 7 is a perspective view showing the shift lever operation feeling presenting device of the variable operation feeling vehicle shown in FIG. 8 is a perspective view showing the steering operation feeling presenting apparatus for the variable operation feeling vehicle shown in FIG. 5, and FIG. 9 shows the main body of the operation feeling presenting apparatus used for the variable operation feeling vehicle shown in FIG. FIG. 10 is a cross-sectional view, and FIG. 10 is an external view showing the main body of the operation feeling presenting device used in the variable operation feeling vehicle shown in FIG. As shown in the figure, the variable operation feeling wheel 58 is provided with a pedal operation feeling presenting device 30, a shift lever operation feeling presenting device 42, and a steering operation feeling presenting device 56. The shaft 26 of the main body 24 of the pedal operation feeling presenting device 30 is attached with the rotary bearing 25, the pedal 28 is attached with the rotary bearing 29, and the shaft 26 is attached with the rotary bearing 27 to the pedal 28. Has been. The shaft 23 of the main body 24 of the shift lever operation feeling presentation device 42 has rotary bearings 31, 34
The shafts 32 and 35 are mounted via the shift lever 41, and the shift lever 41 includes the rotary bearing 40, the shaft 39, and the rotary bearing 38.
The shaft 32 and 35 are attached to the fixed margin 37 via the shaft 39 and the shift lever 41 via the rotary bearings 33 and 36. Shafts 44 and 47 are attached to the shaft 23 of the main body 24 of the steering operation feeling presenting device 56 via rotary bearings 43 and 46, and a steering wheel 55 includes a steering boss 54, a shaft 53, a wheel 52, and a shaft 51.
It is attached to the shaft 49 via the wheel 50, the shaft 49 is attached to a pedestal or the like (not shown) via rotary bearings (not shown), and the shafts 51 and 53 are attached to the shaft 44 via rotary bearings 45 and 48. , 47 are attached.

In this variable operation feeling vehicle,
The operation feeling of the pedal 28, the shift lever 41, and the steering wheel 55 can be presented to the driver 57.

In the above-described embodiment, force feedback is performed to present the inertia, but acceleration feedback may be performed to present the inertia. In this case, an acceleration detector for detecting the acceleration of the operating tool 14 constituted by the eddy current displacement sensor 16 and two differentiators is provided, and the computer 10 calculates the acceleration feedback gain from the displacement X to calculate the acceleration and the acceleration. An acceleration feedback circuit that calculates an acceleration feedback value from the feedback gain and outputs the acceleration feedback value to the addition circuit 20 is provided. Further, in the above-described embodiment, the computer 10 comprises the force adjustment value calculation means for calculating the force adjustment value and the feedback gain calculation means for calculating the feedback gain of the feedback circuits 6 to 9, but the force adjustment value calculation means and the feedback are provided. The gain calculation means and the gain calculation means may be configured as separate devices. In the above-described embodiment, the computer 10 calculates the force feedback gain, the force feedback gain calculating means, the speed feedback gain calculating means, the velocity feedback gain calculating means, the displacement feedback gain calculating means, the displacement feedback gain calculating means, and the speed direction feedback. The velocity feedback feedback gain calculating means for calculating the gain is configured, and the acceleration feedback gain computing means for computing the acceleration feedback gain is configured by the computer 10.
The speed feedback gain calculation means, the displacement feedback gain calculation means, the speed direction feedback gain calculation means, and the acceleration feedback gain calculation means may be configured as separate devices.

[0023]

As described above, in the operation feeling presenting apparatus according to the present invention, since the delay time does not occur, the system becomes stable, the presented characteristic becomes natural, and the operation feeling is presented. Since the thrust can be calculated, any operation feeling can be presented.

When the force feedback value is output to the adder circuit, inertia can be presented and the system becomes stable, so that the presented characteristic becomes natural.

[Brief description of drawings]

FIG. 1 is a block diagram showing an operation feeling presenting apparatus according to the present invention.

FIG. 2 is an external view showing the operation feeling presentation device shown in FIG.

FIG. 3 is a diagram showing a model of a real operation tool.

FIG. 4 is a control conceptual diagram of the operation feeling presentation device shown in FIG. 1.

FIG. 5 is a schematic view showing a variable operation feeling vehicle using the operation feeling presentation device according to the present invention.

6 is a perspective view showing a pedal operation feeling device of the variable operation feeling vehicle shown in FIG.

7 is a perspective view showing a shift lever operation feeling presentation device of the variable operation feeling vehicle shown in FIG.

8 is a perspective view showing a steering operation feeling presenting device of the variable operation feeling vehicle shown in FIG.

9 is a cross-sectional view showing a main body of an operation feeling presentation device used in the variable operation feeling vehicle shown in FIG.

10 is an external view showing a main body of an operation feeling presentation device used in the variable operation feeling vehicle shown in FIG.

FIG. 11 is a graph showing a relationship between displacement of an operating tool and viscosity.

[Explanation of symbols]

 6 ... Force feedback circuit 7 ... Velocity feedback circuit 8 ... Displacement feedback circuit 9 ... Velocity direction feedback circuit 10 ... Computer 11 ... Differentiator 12 ... Differentiator 13 ... Comparator 14 ... Manipulator 15 ... Load cell 16 ... Eddy current displacement sensor 20 … Addition circuit 22… Voice coil motor

Claims (5)

[Claims] 1. An operating tool, a displacement detector for detecting a displacement of the operating tool, and an actuator for driving the operating tool.
Displacement feedback gain calculation means for calculating a displacement feedback gain from the displacement, a displacement feedback circuit for calculating a displacement feedback value from the displacement and the displacement feedback gain, and a force adjustment value for calculating a force adjustment value according to the displacement. An operation feeling presenting apparatus comprising: a computing unit; and an adder circuit that computes a thrust force obtained by adding the displacement feedback value and the force adjustment value, and controlling the actuator by the thrust force. 2. A speed direction detector for detecting the speed direction of the operation tool, and a speed direction feedback gain calculation means for calculating a speed direction feedback gain from the displacement.
The operation according to claim 1, further comprising: a speed direction feedback circuit that calculates a speed direction feedback value from the speed direction and the speed direction feedback gain and outputs the speed direction feedback value to the adding circuit. Feeling presentation device. 3. A speed detector for detecting the speed of the operating tool, speed feedback gain calculating means for calculating a speed feedback gain from the displacement, and a speed feedback value from the speed and the speed feedback gain, The operation feeling presenting apparatus according to claim 1, further comprising a speed feedback circuit that outputs the speed feedback value to the adding circuit. 4. A force detector for detecting the force of the operating tool, a force feedback gain calculating means for calculating a force feedback gain from the displacement, and a force feedback value from the force and the force feedback gain. The operation feeling presenting device according to claim 1, 2 or 3, further comprising a force feedback circuit that outputs the force feedback value to the adder circuit. 5. An acceleration detector for detecting the acceleration of the operation tool, an acceleration feedback gain calculation means for calculating an acceleration feedback gain from the displacement, and an acceleration feedback value from the acceleration and the acceleration feedback gain. The operation feeling presenting apparatus according to claim 1, 2 or 3, further comprising: an acceleration feedback circuit that outputs the acceleration feedback value to the adding circuit.