JPH0833397A - Angle-of-rotation changeover apparatus - Google Patents

Abstract

PURPOSE:To provide an angle-of-rotation changeover apparatus which reduces an overshoot amount in a target rotation position and by which the time up to a stop can be shortened. CONSTITUTION:An output shaft 6 which can be turned, a permanent magnet 4 which is attached to the shaft, a stator 9 which is provided with coils 9 to 14 connected in a three-phase star shape in the number which is three times as large as the number of pair poles of the permanent magnet 4 and a target- rotation-position indication circuit 101b which indicates the target rotation position of the output shaft 6 are installed. In addition, this apparatus comprises an electrification changeover means 101 which electrifies two phases corresponding to the target rotation position of the output shaft 6 out of the coils 9 to 14 for the stator 8 on the basis of the changeover indication output of the target-rotation-position indication circuit 101b, which electrifies two phases corresponding to a rotation start position after a first prescribed period has elapsed from an electrification start and which electrifies two phases corresponding to the target rotation position again after a second prescribed period has elapsed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation angle switching device for switching an oil passage area in a shock absorber in a damping force variable suspension system by rotating an output shaft.

[0002]

2. Description of the Related Art FIG. 10 and FIG.
It is a block diagram for operation | movement description which shows the conventional actuator shown by 116520 publication. This FIG. 10 and FIG.
4, 4 is a permanent magnet of an actuator magnetized in a two-pole pair (4 poles), 6 is an output shaft connected to the permanent magnet 4,
Reference numeral 8 denotes the entire stator arranged radially from the outer circumference of the permanent magnet 4. The stator 8 includes six salient pole portions 8a, 8b, 8c, 8d, 8e, which are spaced apart from each other in the circumferential direction.
8f and openings 8g, 8h, 8i, 8 which are the separated portions thereof.
j, 8k, and 8l are formed, and the salient pole portions 8 of the respective
The first to sixth coils 9, 10, 11, 12, 13, and 14 which are three-phase star-connected as shown in FIG. 12 are wound around a to 8f, whereby six electromagnets are provided. It is configured.

Denoted at 16 is energization switching means for controlling the energization of these coils, which are the first to third movable contacts 15a and 1a.
A selection switch 15 having 5b and 15c is provided.
The selection switch 15 is for selecting the damping force of the shock absorber to the hard mode (H), the medium mode (M) and the soft mode (S), and the first movable contact 15a has three pieces. Fixed contact 15
d, 15e, 15f, the second movable contact 15b is another 3
In addition to the three fixed contacts 15g, 15h, and 15i, the third movable contact 15c is a further three fixed contacts 15j, 15k,
Each of these three movable contacts 1 can be switched to 15 l.
5a to 15c are configured to switch in conjunction with each other. The energization switching means 16 is connected to the positive electrode of the battery 19 via the fuse 17 and the ignition switch 18.

Next, the operation will be described. When the selection switch 15 is switched from the soft mode (S) to the hard mode (H) and the selection switch 15 of the energization switching means 16 is switched to the hard mode (H) as shown in FIG. 10, the first movable contact 15a is positive. For power supply, second movable contact 1
5b is connected to a negative power source. At this time, the third movable contact is open, and the current is the first movable contact 15a,
First coil 9, fourth coil 12, fifth coil 1
3, the second coil 10 and the second movable contact 15b flow in this order, and the first salient pole portion 8a and the fourth salient pole portion 8 of the stator 8
d becomes the N pole, and the second salient pole portion 8b and the fifth salient pole portion 8e become the S pole. The N poles of the first salient pole portion 8a and the fourth salient pole portion 8d and the N pole of the permanent magnet 4 repel, and the S poles of the second salient pole portion 8b and the fifth salient pole portion 8e and the permanent Magnet 4
The N pole attracts and the S pole repels, so that a clockwise rotation torque is generated in the permanent magnet 4, whereby the permanent magnet 4 and the output shaft 6 integrally rotate therewith to the right.

After this, as shown in FIG.
Of the S pole and the N of the first salient pole portion 8a and the fourth salient pole portion 8d.
The permanent magnet 4 is stopped by attraction at a position where the poles face each other and the N pole of the permanent magnet 4 faces the S pole of the second salient pole portion 8b and the fifth salient pole portion 8e. At this time, when the permanent magnet 4 excessively rotates to the right due to inertia, the portions where the S pole of the permanent magnet 4 and the S poles of the second salient pole portion 8b and the fifth salient pole portion 8e oppose each other, and A counterclockwise rotation torque is generated in the magnet 4, and the permanent magnet 4 rotates counterclockwise. Further, when it rotates counterclockwise, the N pole of the permanent magnet 4 receives the repulsive magnetic fields of the first salient pole portion 8a and the fourth salient pole portion 8d and rotates clockwise. In this way, the magnetic pole reversal part of the permanent magnet 4 is the first part of the stator 8.
8g for separating the salient pole portion 8a and the second salient pole portion 8b from each other
Then, the correction force acts so that the fourth salient pole portion 8d and the fifth salient pole portion 8e come to a position facing the opening 8j that separates them.

Also, switching from the hard mode (H) to the medium mode (M), switching from the medium mode (M) to the hard mode (H), etc.
By switching the voltage applied to the movable contacts 15a to 15c by the energization switching means 16 as shown in FIG. 13, it is possible to switch the damping force variable shock absorber in three stages by the same operation.

[0007]

Since the conventional actuator is constructed as described above, the operating characteristics when switching from the soft mode (S) to the hard mode (H) are as shown in FIG. There is a problem in that the rotation position is overshooted and the vibration is stopped at the target rotation position through damping vibration centered on the target rotation position, and thus the time until the stop is prolonged.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a rotation angle switching device that reduces the amount of overshoot at the target rotation position and that has a short time to stop. And

[0009]

A rotation angle switching device according to the present invention comprises a rotatable output shaft, a permanent magnet mounted on the output shaft, and a three-phase star having three times the number of pole pairs of the permanent magnet. A stator having a coil connected in a shape, a target rotational position instructing means for instructing a target rotational position of the output shaft, and a target rotational position of the output shaft among the coils based on the output of the target rotational position instructing means. To the two-phase corresponding to the target rotation position again after the first predetermined period has elapsed from the start of energization, the two-phase corresponding to the rotation start position is energized, and after the second predetermined period has elapsed. It is provided with an energization switching means for energizing the.

Further, timer means for measuring a predetermined time is provided, and at least one of the first predetermined period and the second predetermined period is determined based on the time measured by the timer means.

Further, rotation angle detecting means for detecting the rotation of the output shaft is provided, and at least one of the first predetermined period and the second predetermined period is determined by the period required for the output shaft to rotate by the predetermined rotation angle. It is the one.

[0012]

According to the rotation angle switching device of the present invention, the two-phase coil corresponding to the target rotation position of the output shaft is first energized based on the target rotation position switching command to start and rotate the output shaft in the direction of the target rotation position. After a lapse of a first predetermined period from the start of energization, energize the two-phase coil corresponding to the rotation start position of the output shaft, apply a rotational force in the opposite direction to the rotating output shaft, and brake the output shaft. , And after the second predetermined period has elapsed,
The two-phase coils corresponding to the target rotational position of the output shaft are energized again to reach the target rotational position with a small amount of overshoot.

Further, a simple period can be determined by determining at least one of the first predetermined period and the second predetermined period based on the time measured by the timer means.

Further, at least one of the first predetermined period and the second predetermined period is determined by the period required for the output shaft to rotate by a predetermined rotation angle, so that at a predetermined rotation angle position (predetermined rotation torque position). The energized phase can be switched.

[0015]

【Example】

Example 1. An embodiment of the present invention will be described below. In FIG. 1, the same reference numerals as those in FIGS.
The same parts are shown and the description thereof is omitted. 101 is the first to
It is an energization switching control circuit that switches energization to the third coil terminals 22a to 22c, and includes a timer circuit 101a and a target rotational position instruction circuit 101b. The target rotation position instruction circuit 101b is connected with a changeover switch 20 for changing over between a hard mode (H), a medium mode (M) and a soft mode (S), and the changeover switch 20 corresponds to the hard mode (H). First switching element 20a, second switching element 20b corresponding to medium mode (M), soft mode (S)
The third switching element 20c corresponding to

Next, the processing of the energization switching control circuit 101 will be described with reference to the flowchart shown in FIG. First, in step S1 of FIG. 4A, the changeover switch 2
The mode in which 0 is set is detected, and step S2
Then, the mode is compared with the previous mode and it is determined whether or not they are the same.
If the mode is the same, the process proceeds to step S5, and if the mode is different from the previous mode, the process proceeds to step S3 to perform the first signal output process. The first signal output process is performed according to the flowchart shown in FIG. First, in order to rotate the permanent magnet 4 to the target rotation position in step S11, a signal (first signal) for exciting the electromagnet corresponding to the target rotation position is output, and it is determined in step S12 whether a predetermined time has elapsed,
If the time has passed, the first signal output process is terminated, and FIG.
To step S4, and if not, step S4
Return to 11. In step S4, the second operation is performed according to FIG.
Performs signal output processing. First, in step S21, in order to apply a braking force to the rotating permanent magnet 4, a signal (second signal) for exciting the electromagnet corresponding to the rotation start position is output,
In step S22, it is determined whether or not a predetermined time has elapsed. If it has, the second signal output process is terminated, the process proceeds to step S5 in FIG. 4A, and if it has not elapsed, the process returns to S21.
In step S5, in order to rotate the permanent magnet 4 to the target rotation position, a signal (third signal) for exciting the electromagnet corresponding to the target rotation position is output, the process returns to step S1, and the same processing is repeated. Here, it is determined in step S12 and step S22 whether or not the predetermined time has elapsed. This is performed using the timer function for counting clock signals that the microcomputer has.

Next, this control will be described according to a specific operation. When the shock absorber is switched from the soft mode (S) to the hard mode (H), the changeover switch 20 is switched to the hard mode (H), that is, the first switching element 20a as shown in FIG. 101 detects that the mode of the changeover switch 20 has been switched, and in accordance with the instruction of the target rotational position instruction circuit 101b, the first coil terminal 22a is set to the positive power source,
The second coil terminal 22b is switched to the negative power source, and energization is started. This signal is the first signal. At this time,
The current is applied to the first coil terminal 22a, the first coil 9, the fourth
Coil 12, fifth coil 13, second coil 10,
Flowing in the order of the second coil terminal 22b, the first salient pole portion 8a and the fourth salient pole portion 8d of the stator 8 become the N pole,
The salient pole portion 8b and the fifth salient pole portion 8e become the S pole. The N poles of the first salient pole portion 8a and the fourth salient pole portion 8d and the N pole of the permanent magnet 4 repel each other, and the second salient pole portion 8b and the fifth salient pole portion 8b.
The S pole of the salient pole portion 8e and the N pole of the permanent magnet 4 are attracted, and the S pole repels, so that a clockwise rotation torque is generated in the permanent magnet 4, and the permanent magnet 4 and the output shaft are integrated with the output shaft. 6 rotates right.

Next, the timer circuit 101a measures a first predetermined time from the start of energization, and after the lapse of the first predetermined time,
The energization switching control circuit 101 switches the third coil terminal 22c to the positive power source and the first coil terminal 22a to the negative power source. This is the second signal. Here, the first predetermined time is set to be equal to or less than a period until the output shaft 6 starts overshooting at the target rotational position. The state in which the second signal is energized will be described with reference to FIG. 2 (this state is the same energized state as before the start of rotation). The current is applied to the third coil terminal 22c, the third coil 11, the sixth coil 14,
The fourth coil 12, the first coil 9, and the first coil terminal 22a flow in this order, and the third salient pole portion 8c and the sixth salient pole portion 8f of the stator 8 are N poles and first salient poles. Part 8a and fourth
The salient pole portion 8d becomes the S pole. The N poles of the third salient pole portion 8c and the sixth salient pole portion 8f and the N pole of the permanent magnet 4 repel each other, and the S pole of the first salient pole portion 8a and the fourth salient pole portion 8d and the permanent magnet 4 are permanent. As the N pole of the magnet 4 attracts and the S pole repels,
A counterclockwise rotation torque is generated in the permanent magnet 4 and
The braking force acts on the output shaft 6.

Further, the timer circuit 101a measures a second predetermined time, and after the second predetermined time has elapsed, the energization switching control circuit, as shown in FIG. 3, uses the first coil terminal 22a as a positive power source, The second coil terminal 22b is switched to the negative power source. This signal is called a third signal. Second here
The predetermined time of is set to be equal to or less than the period until the output shaft 6 starts to rotate in the reverse direction. Thereby, the first salient pole portion 8a and the fourth salient pole portion 8a
The salient pole portion 8d is an N pole, the second salient pole portion 8b and the fifth salient pole portion 8e are S poles, and the permanent magnet 4 is the first salient pole portion 8d.
a and the N pole of the fourth salient pole portion 8b and the S pole of the permanent magnet 4 face each other, and the S poles of the second salient pole portion 8b and the fifth salient pole portion 8e
It is stopped by the attractive force at the position where the pole and the N pole of the permanent magnet 4 face each other. By performing such control, for example, when switching from the soft mode (S) to the hard mode (H), the operation characteristic becomes as shown in FIG. 5, and the overshoot amount at the target rotational position can be reduced. Thus, it is possible to shorten the time to stop.

Further, when switching from the hard mode (H) to the medium mode (M), switching from the medium mode (M) to the hard mode (H), etc., the energization switching control circuit 101 controls the first to third coils. Terminals 22a-2
The same operation is performed by switching the voltage applied to 2c as shown in FIG.

Example 2. Further, in the first embodiment, the first and second predetermined periods are set to the predetermined times determined by the timers. However, according to this timer, the predetermined period can be easily determined without requiring a special additional device. There is. However, as shown in FIG. 7, a rotation angle detection device 21 for detecting the rotation angle of the output shaft 6 connected to the permanent magnet 4 is provided, and a pulse signal is output for each predetermined rotation angle. The rotation angle of the output shaft 6 is detected based on the number of the output shafts, and the first predetermined period is a period required for the output shaft 6 to rotate by the predetermined rotation angle to prevent the overshoot of the present invention and quickly stop at the target rotation position. The effect can be obtained, and the braking can be started at a predetermined rotational position, that is, a predetermined torque position regardless of the speed fluctuation at the time of rotational driving, and the effect that the overshoot can be suppressed more appropriately is obtained. In this case, FIG. 4 (b)
Instead of the above, the first signal output processing may be performed according to the flowchart shown in FIG. First, in step S31, the counter C1 is initialized (C1 = N1)
Then, in step S32, a signal (first signal) corresponding to the target rotational position is output, and the process proceeds to step S33. Step S
At 33, it is determined whether or not a pulse signal indicating that the output shaft 6 has rotated by a predetermined angle is output from the rotation angle detection device 21, and if there is output, the process proceeds to step S34, and if there is no output, the process returns to step S32. In step S34, the counter C1 is counted down (C1 = C1-1). next,
In step S35, it is determined whether or not the counter C1 is C1 = 0. If C1 = 0, the first signal output processing is ended, the process proceeds to step S4 in FIG. 4A, and if C1 = 0 is not satisfied, step S32 Return to and repeat the process. Here, the processing cycle of this subroutine is shorter than the cycle in which the rotation angle processing device outputs the pulse signal.

Example 3. Further, during the second predetermined period in which the braking force is applied among the first and second predetermined periods, the rotation angle detection device 21 for detecting the rotation angle of the output shaft 6 is used as in the second embodiment shown in FIG. The desired effect of the present invention can be obtained even if the period required to detect the rotation angle of the output shaft 6 and rotate it by a predetermined angle is provided. Also in this case, similar to the second embodiment, the process may be performed according to FIG. 8B instead of FIG. 4C. First, the counter 21 is initialized (C2 = N2) in step S41, a signal (second signal) corresponding to the rotation start position is output in step S42, and the process proceeds to step S43. In step S43, it is determined whether or not a pulse signal indicating that the output shaft 6 has rotated by a predetermined angle is output from the rotation angle detection device 21, and if there is output, the process proceeds to step S44, and if there is no output, step S44.
Return to 42. In step S44, the counter C2 is counted down (C2 = C2-1). Next, step S4
In step 5, it is determined whether or not the counter C2 is C2 = 0. If C2 = 0, the second signal output process is terminated, and the process proceeds to step S5 in FIG. 4A. If C2 = 0, the process proceeds to step S42. Return and repeat the process. Here, the processing cycle of this subroutine is shorter than the cycle in which the rotation angle processing device outputs the pulse signal.

Embodiment 4 FIG. Further, as shown in FIG. 9, the timer circuit 101a is omitted, and a rotation angle detection device 21 for detecting the rotation angle of the output shaft 6 is provided. With this, the rotation angle of the output shaft 6 is detected, and the output is performed for the first predetermined period. The period required for the shaft 6 to rotate by a predetermined rotation angle is set to a second period in which the braking force acts.
The desired effect of the present invention can be obtained even if the predetermined period of time is also the period required to rotate the predetermined angle. Also in this case, as in the second and third embodiments, in the flowchart of FIG. 4A, the first signal output process of step S3 is performed according to FIG. 8A, and the second signal output process of step S4 is performed according to FIG. 8B. It should be processed.

[0024]

As described above, in the rotation angle switching device according to the present invention, the two-phase coils corresponding to the target rotational position of the output shaft are energized by the energization switching means, and the first energization starts.
After a predetermined period of time has passed, the two-phase coils corresponding to the rotation start position of the output shaft are energized to apply the braking force, and
After a predetermined period of time has elapsed, the two-phase coils corresponding to the target rotation position are energized again, and it is possible to reduce the amount of overshoot at the target rotation position.
The time to stop can be shortened.

[Brief description of drawings]

FIG. 1 is a configuration diagram for explaining an operation of a rotation angle switching device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram for explaining the operation of the first embodiment of the rotation angle switching device of the present invention.

FIG. 3 is a configuration diagram for explaining the operation of the first embodiment of the rotation angle switching device of the present invention.

FIG. 4 is a flowchart illustrating a first embodiment of the rotation angle switching device of the present invention.

FIG. 5 is a diagram showing operating characteristics of the rotation angle switching device of the present invention.

FIG. 6 is a diagram showing an energization pattern of a first embodiment of the rotation angle switching device of the present invention.

FIG. 7 is a diagram showing a configuration of embodiments 2 and 3 of the rotation angle switching device of the present invention.

FIG. 8: Embodiments 2 and 3 of the rotation angle switching device of the present invention
4 is a flowchart illustrating steps 4 and 4.

FIG. 9 is a diagram showing a configuration of a rotation angle switching device according to a fourth embodiment of the present invention.

FIG. 10 is a configuration diagram for explaining the operation of a conventional actuator.

FIG. 11 is a configuration diagram for explaining the operation of a conventional actuator.

FIG. 12 is a connection diagram of coils of a conventional actuator.

FIG. 13 is a diagram showing an energization pattern of a conventional actuator.

FIG. 14 is a diagram showing operating characteristics of a conventional actuator.

[Explanation of symbols]

4 permanent magnets, 6 output shafts, 8 stators, 9 coils, 10 coils, 11 coils, 12 coils, 13 coils, 14 coils, 20 changeover switches, 101 energization changeover control circuits, 101a timer circuits, 101b rotation direction instruction circuits.

Claims (3)

[Claims] 1. A rotatable output shaft, a permanent magnet attached to the output shaft, a stator having coils connected in a three-phase star shape with three times the number of pole pairs of the permanent magnet, and the output shaft. Target rotational position instructing means for instructing the target rotational position of
Based on the output of the target rotational position instructing means, two phases of the coil corresponding to the target rotational position of the output shaft are energized, and after the first predetermined period has elapsed from the start of energization, the two coils corresponding to the rotational start position are energized. A rotation angle switching device, comprising: energization switching means for energizing the phases and further energizing the two phases corresponding to the target rotational position again after a second predetermined period has elapsed. 2. A timer means for measuring a predetermined time is provided,
2. The rotation angle switching device according to claim 1, wherein at least one of the first predetermined period and the second predetermined period is determined based on the time counted by the timer means. 3. A rotation angle detecting means for detecting rotation of the output shaft is provided, and at least one of the first predetermined period and the second predetermined period is determined by a period required for the output shaft to rotate by a predetermined rotation angle. The rotation angle switching device according to claim 1.