JPH10146098A - Method for driving actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To fulfill the requested performance such as the diameter thinning of power wiring by the reduction of a power current for actuator drive, the reduction of power noise, the reduction of cost, and downsizing of the device, by controlling it, sliding the phase of the rush current generated in each actuator. SOLUTION: The positional information of an attenuating force damper inputted from each kind of sensor 1 is inputted into an input interface 2, and CPU 3 performs the drive operation of each actuator 6-9, and gives the operation results to a predriver 4, and the predriver 4 controls and drives drive circuits 5a-5d, receiving the supply of currents via a harness 12 from a power source 10, as directed by CPU3. This way, the power line harness 12 is supplied with power for load, with the current value averaged at all times, and the suppression of a maximum current becomes possible, whereby the reduction of noise occurrence is materialized, and the attendant curtailment of facilities can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for driving an actuator, and more particularly to a method for driving a plurality of variable damping force dampers so as to avoid superposition of inrush current which occurs when simultaneously driving actuators for varying damping force characteristics. And a method of driving the actuator.

[0002]

2. Description of the Related Art Conventionally, as a method of driving a plurality of actuators, for example, a method described in Japanese Patent Application Laid-Open No. 5-155222, "Vehicle Suspension System" is known. In this conventional example, a shock absorber capable of changing a damping coefficient in a plurality of stages by driving a stepping motor is provided between a sprung portion and a unsprung portion at each wheel position of a vehicle, and stepping is performed based on information such as sprung acceleration. 1 is a vehicle suspension device that controls driving of a motor. The drive signal of the stepping motor is output as a pulse signal, and a signal that varies the drive state of the stepping motor by varying the width of the pulse is generally used.

[0003]

However, in a conventional vehicle suspension device including the above-described conventional example, when a drive signal is output to a plurality of stepping motors at the same time, pulses to each stepping motor rise at the same time. Since the change becomes large and becomes a generation source of a nozzle and a large current flows, connectors, harnesses, patterns, and the like must be designed for a large current. Since the width must be increased, there is a problem that the substrate itself becomes large.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and has been made to reduce the diameter of power supply wiring by reducing the power supply current for driving the actuator, to reduce power supply noise,
It is an object of the present invention to provide an actuator driving method capable of satisfying all required performances of cost reduction and reduction in size and weight of an apparatus.

[0005]

According to a first aspect of the present invention, there is provided a method of driving an actuator, comprising the steps of:
In a driving method of an actuator in which a plurality of actuators are connected in parallel by a step-like driving current and driven at the same time, a means for controlling a phase of an inrush current generated in each actuator is shifted.

According to a second aspect of the present invention, there is provided a method of driving an actuator according to the first aspect of the present invention, further comprising: means for controlling a phase of an inrush current generated in each actuator by partially shifting the phase. did. According to a third aspect of the present invention, there is provided a method of driving an actuator according to the first aspect of the present invention, wherein the inrush current generated in each actuator is controlled by shifting all phases thereof. Further, the driving method of the actuator according to the fourth aspect of the present invention is the same as the first aspect.
3. The method of driving an actuator according to any one of claims 1 to 3, wherein the phase of the rush current generated in each actuator is regularly and continuously determined in units of pulse width so that the current value of the power supply line supplied to each actuator is averaged. Means for shifting. According to a fifth aspect of the present invention, there is provided the actuator driving method according to any one of the first to fourth aspects, wherein each of the actuators is a vehicle actuator. In the driving method of an actuator according to a sixth aspect of the present invention, in the driving method of the actuator according to any one of the first to fifth aspects, each of the actuators is a stepping motor.

[0007]

In the method of driving an actuator according to the first aspect of the present invention, in the method of driving an actuator in which a plurality of actuators are connected in parallel and driven simultaneously by a step-like drive current, a phase of a rush current generated in each actuator is provided. , The maximum current flowing in the power supply line is reduced, and this enables the power supply wiring such as connectors, harnesses and patterns to be reduced in diameter, thereby reducing costs, reducing weight, and using boards. If you do
Since the pattern width can be reduced, the size of the device can be reduced, and the width of change in current flowing through the power supply line is reduced, so that power supply noise is reduced.

According to a second aspect of the present invention, there is provided a method of driving an actuator according to the third aspect of the present invention, wherein a phase of an inrush current generated in each actuator is controlled to be partially shifted. In this case, all the shifts are controlled, and as the number of actuators shifting the phase increases, the effect of reducing the maximum current flowing through the power supply line increases. Further, in the actuator driving method according to the fourth aspect of the present invention, the phase of the rush current generated in each actuator is regularly and pulse-wisely united so that the current value of the power supply line supplied to each actuator is averaged. By continuously shifting, the maximum current flowing through the power line can be reduced to the maximum,
Power wires such as connectors, harnesses and patterns can be reduced in diameter to the maximum extent, thereby reducing the cost and enhancing the effect of reducing the size and weight of the device, and reducing the occurrence of power noise due to changes in the current value of the power line. It becomes possible. Further, in the driving method of the actuator according to claim 5 of the present invention, the noise in the vehicle can be reduced by applying each of the actuators to a vehicle actuator.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. First, the configuration will be described. In the embodiment of the present invention, an example is shown in which the present invention is applied to driving of a stepping motor for a damping force variable damper in a vehicle.

FIG. 1 is a block diagram showing a circuit configuration showing a method of driving an actuator according to an embodiment of the present invention.
In FIG. 1, reference numeral 1 denotes various sensors for detecting positional displacement of a vehicle, 2 denotes an input interface for converting information from the various sensors 1 into signals suitable for internal calculation, and 3 denotes a signal provided in advance based on a signal from the input interface 2. A central processing unit (hereinafter simply referred to as a “CP”) that performs a control calculation for driving each actuator in accordance with a calculation processing routine
U "), 4 is a predrive [for example, a pulse width modulation circuit] for converting a control signal from the CPU 3 into a control voltage suitable for controlling the next-stage drive circuits 5a, 5b, 5c, 5d.
b, 5c, 5d are drive circuits for driving the damping force variable damper stepping motors as the actuators 6 to 9, respectively. 10 is a power supply (for example, a battery mounted on a vehicle) for supplying current to the drive circuits 5a, 5b, 5c, 5d. , 11 are an input interface 2, a CPU 3, a pre-drive 4, and a drive circuit 5.
Control unit EC consisting of a, 5b, 5c, 5d, etc.
U (Electric Control Unit) 12 is a harness for passing a current from a power supply to the drive circuits 5a, 5b, 5c and 5d.

Next, the operation will be described.

The position information of the damping force variable damper (not shown) input from the various sensors 1 is input to the input interface 2.
Corresponding to the converted operation signal,
The PU 3 performs a drive calculation of each of the actuators 6 to 9 and gives the calculation result to the pre-drive 4.
In response to an instruction from U3, a current is supplied from the power supply 10 via the harness 12, and the driving circuits 5a to 5d are controlled and driven.

FIG. 2 is an explanatory diagram of one embodiment showing the time course of the drive current of each of the actuators 6 to 9 and the current flowing through the harness 12, which is a superimposed current thereof.

In this driving method of the actuator, the actuators 6 and 7 and the actuators 8 and 9 are simultaneously controlled as one set, and the actuators 6 and 7 are turned on from time t1 to time t2 so that the current i and the actuator 6 are controlled. The current flows to the actuator 7, and the actuators 8 and 9 are turned off. As a result, a current 2i corresponding to the superposition of the current i flowing from the power supply 10 to the actuators 6 and 7 flows through the harness 12.

Next, from time t2 to time t3, contrary to the above, the actuators 8 and 9 are turned on to flow the current i through the actuators 8 and 9, and the actuators 6 and 7 are turned off. Then, a current 2i corresponding to the superposition of the current i flowing from the power supply 10 to the actuators 8, 9 flows.

These two sets of actuators 6, 7, 8,
The power supply control phases between the power supply 9 and the power supply 9 are mutually electrical phases, for example, 18
It is shifted by 0 °, and this state is repeatedly performed, so that each of the actuators 6 to 9 performs an intended operation.

Therefore, the power supply 1 is always connected to the harness 12.
0 to actuator 6,7 or actuator 8,
9, the current 2i corresponding to the superposition of the current i flowing to 9 flows,
The actuators 6 to 9 are individually controlled so that the current values of the power supply lines are averaged (the value 2i).

FIG. 3 is an explanatory diagram of another embodiment showing the time course of the current flowing through the harness 12, which is the driving current of each of the actuators 6 to 9 and their superimposed current. In this case, the power supply control phases of the actuators 6 to 9 are shifted by, for example, 90 degrees in electrical phase, and this state is repeatedly performed, so that each of the actuators 6 to 9 performs an intended operation and the harness 12 always has power 1
Each of the actuators 6 to 9 is individually controlled such that the current i flowing from 0 to the actuators 6, 7, 8, and 9 takes a continuous form, and the current values of the power supply lines are averaged (the value i).

Thus, the power line / harness 1
2, the current value is constantly averaged (its value i), power is supplied to the load, and the maximum current can be suppressed, whereby the generation of noise is reduced and the accompanying equipment is reduced in size. Is obtained.

As described above, according to the actuator driving method of the embodiment of the present invention, the following effects can be obtained. By individually controlling the actuators 6 to 9 so that the current values of the power supply lines are averaged, the current values of the power supply lines are constantly averaged, and the maximum current flowing through the power supply lines is reduced. The line width of the wiring pattern to be printed and formed on the substrate can be reduced, and the size can be reduced. Also, the diameter of the harness of the power supply line can be reduced, and the cost and weight can be reduced.

By controlling the pulse width of each of the actuators 6 to 9, the pulse width control (PW
M control), by delaying the phases of the pulse widths of the pulsed currents from the plurality of drive circuits 5a, 5b, 5c, 5d in order, the desired current can be averaged, and the fine current value can be obtained. Can also be adjusted.

An input interface 2 for inputting information from various sensors 1, a CPU 3 based on an input signal from the input interface 2, and a plurality of drive circuits 5 a, 5 b, which are driven in response to access from the CPU 3 5
Control unit (ECU) 11 comprising c and 5d
And a power supply 10 serving as a supply source for supplying a drive current required by each of the drive circuits 5a, 5b, 5c, 5d, and the power supply 1
And a harness 12 which constitutes a path for supplying a current from 0 to the drive circuits 5a, 5b, 5c, 5d. This makes it possible to perform counting control, and achieve a special effect that it can be used as part of all computer controls of the vehicle.

Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to the embodiments of the present invention, and design changes may be made without departing from the scope of the present invention. Included in the present invention.

For example, in the embodiments of the present invention, a stepping motor has been described as an example of an actuator, but the present invention can be applied to a case where a plurality of solenoids are simultaneously driven.

In the embodiment of the present invention, the phase of the rush current generated in each actuator is regularly and continuously shifted in units of pulse width so that the current values of the power supply lines supplied to each actuator are averaged. Although an example has been described above, a predetermined effect can be achieved without necessarily shifting the pulse width unit regularly and continuously.

Further, in the embodiment of the present invention, an example is shown in which the method of the present invention is applied to the driving of a stepping motor for a damping force variable damper in a vehicle. However, the method of the present invention can be applied to other fields. Of course.

[0027]

According to the first aspect of the present invention, there is provided a method for driving an actuator in which a plurality of actuators are connected in parallel by a step-like drive current and are simultaneously driven. By shifting the control, the maximum current flowing in the power supply line is reduced, thereby making it possible to reduce the diameter of the power supply wiring such as connectors, harnesses and patterns, thereby reducing cost, weight, and substrate. When used, the pattern width can be narrowed, so that the device can be downsized. Further, since the width of change in the current flowing through the power supply line is reduced, power supply noise can be reduced. Can be

Further, in the driving method of the actuator according to the second aspect of the present invention, the phase of the rush current generated in each actuator is controlled to be partially shifted, and the driving method of the actuator according to the third aspect of the present invention. In this case, all the shifts are controlled. As the number of actuators shifting the phase increases, the effect of reducing the maximum current flowing through the power supply line can be enhanced.

According to a fourth aspect of the present invention, in the actuator driving method of the first aspect, the current value of the power supply line supplied to each actuator is averaged. Since the phase of the rush current generated in each actuator is regularly and continuously shifted in units of pulse width, the maximum current flowing in the power supply line can be reduced to the maximum, so that the connector and harness In addition, it is possible to minimize the diameter of power supply wiring such as patterns, etc., to maximize the cost reduction and the effect of reducing the size and weight of the device, and to keep the current value of the power supply line constant. Therefore, the effect that the generation of power supply noise can be reduced can be obtained.

Further, in the driving method of the actuator according to the fifth aspect of the present invention, the noise in the vehicle can be reduced by applying each of the actuators to a vehicle actuator.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a circuit configuration according to an embodiment of the present invention.

FIGS. 2A to 2D are time-dependent explanatory diagrams of currents flowing through each actuator and a harness according to an embodiment of the present invention, wherein FIGS. 2A to 2D show each actuator current, and FIG. It is.

FIGS. 3A to 3D are time-dependent explanatory diagrams of a current flowing through each actuator and a harness according to another embodiment of the present invention, wherein FIGS. 3A to 3D show each actuator current, and FIG. It is a current.

[Explanation of symbols]

 6, 7, 8, 9 Actuator 10 Power supply (for example, battery) 12 Harness (power supply line)

Claims (6)

[Claims] 1. A method of driving an actuator in which a plurality of actuators are connected in parallel by a step-like drive current and driven simultaneously, wherein the inrush current generated in each actuator is controlled by shifting the phase thereof. Drive method. 2. The method of driving an actuator according to claim 1, wherein a phase of an inrush current generated in each of said actuators is controlled to be partially shifted. 3. The method of driving an actuator according to claim 1, wherein the phase of the rush current generated in each of the actuators is controlled to be shifted. 4. The method according to claim 1, wherein the phase of the rush current generated in each actuator is shifted regularly and continuously in units of pulse width so that the current value of the power supply line supplied to each actuator is averaged. Item 4. A method for driving an actuator according to any one of Items 1 to 3. 5. An actuator according to claim 1, wherein said actuators are actuators for controlling damping force characteristics of a vehicle damper.
A method for driving an actuator according to any one of the above. 6. The method according to claim 1, wherein each of the actuators is a stepping motor.