JPH1165678A - Controller for oscillator and method for controlling the oscillator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus and method for controlling an oscillator for stably continuing drive an oscillator at the resonance frequency of oscillator. SOLUTION: In this controller, a microcomputer system 3 outputs a start pulse signal via a power converting means 4 to an oscillating means 5, and an oscillation sensor 1 detects the resonance frequencies of an oscillator 6, and the driving of the oscillator 6 is started at the resonance frequency In this case, the microcomputer system 3 can detect the voltage level, frequency, and phase of the oscillation detection signal from the oscillation sensor 1, and the phase of an analog signal outputted from the power converting means 4 to the oscillating means 5. When the voltage level of the oscillation detection signal or a phase difference between the oscillation detection signal and the analog signal fluctuates, the voltage level and the frequency of the analog signal can be changed into a direction for reducing the fluctuation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration transfer apparatus for supplying parts by using vibrations, for example, a vibration machine such as a bowl feeder or a so-called parts feeder. The present invention relates to a vibrator control device and a vibrator control method for controlling and driving the vibrating conveyance device at a frequency (vibration frequency).

[0002]

2. Description of the Related Art A component feeder utilizing a vibration such as a bowl feeder (hereinafter referred to as a vibrator) is used in view of efficiency of component feed and low power consumption.
It is advantageous to keep vibrating at the natural frequency of the vibrator. Conventionally, as a method of vibrating a vibrator at the natural frequency of the vibration system, the following method has been proposed (see JP-A-8-48413).

A stopped vibrator is hit with a pulse current having a predetermined frequency, for example, 50/60 Hz, a half-wave sine wave or a triangular wave. That is, power is supplied to the excitation means for a short time to vibrate the vibrator, and the natural frequency of the vibrator is picked up (detected) by a vibration sensor, for example, an acceleration sensor. The vibrator control device divides the frequency of the vibration detection signal from the vibration sensor (acceleration sensor) by 、, and shifts (delays) a predetermined phase, specifically, π / 2, to the vibrator. Give feedback.

To delay the phase by π / 2 is determined from the viewpoint of vibration engineering. To divide the signal from the vibration sensor by half means to control the vibrator in a full-wave manner. This is necessary in the case where an acceleration sensor is used as the vibration sensor, and is conventionally known and implemented by those skilled in the art. In short, this method of controlling the vibrator attempts to control the drive frequency of the vibrator by shifting the output signal from the vibration sensor by a predetermined phase and feeding it back to the vibrator.

[0005]

The above-mentioned conventional vibrator control device has the following problems. The frequency of the current applied to the actuator (ie, the excitation means) is
It is determined based on a signal from the vibration sensor. The frequency of the signal from the vibration sensor is the frequency at which the vibration system (ie, the entire vibration mechanism) vibrates (the frequency at which the vibration system vibrates is simply referred to as the vibration frequency of the vibration system).
It is.

[0006] The resonance frequency of the vibration system changes as parts are sent out, and may also change due to changes in other conditions (eg, changes in spring constant). The control of the vibration frequency of the vibrator in the conventional vibrator control device is fixed in terms of hardware, and fine adjustment cannot be performed. That is, the signal detected by the vibration sensor is used as a drive signal of the vibrator after the phase and level are adjusted, but the vibration frequency is determined by the detection signal of the vibration sensor and must be adjusted. Could not. That is, the frequency of the signal detected by the vibration sensor is output to the vibrator substantially as it is (although the frequency is divided into １ ／).

Further, the signal of the vibration sensor is frequency-divided by 1/2, delayed by π / 2, and applied to the excitation means. It is known from vibration engineering that the phase difference between the driving force and the vibration phase of the vibration system at the time of resonance is π / 2,
Actually, there is a response delay of the signal of each part (circuit). Therefore, when the vibration system is vibrated at the resonance frequency, the signal of the vibration sensor input to the control device (CPU) and the output to the power conversion means are output. It was questioned whether the phase difference of the signal of the control device (CPU) to be performed should be exactly π / 2.

Accordingly, in the conventional vibrator control device, when a large amount of work is put into the vibrator at one time,
There is a problem in that the vibrator cannot be vibrated at the resonance frequency of the vibrator, and the transfer efficiency temporarily deteriorates.

[0009]

According to a first aspect of the present invention, there is provided a control device for vibrating a vibrator to which a vibration sensor is attached by an exciting means provided in the vibrator. Then, it is as follows.

This vibrator control device, like the conventional vibrator control device, transmits a vibration detection signal from a vibration sensor to A / A.
A / D conversion means for D-converting the vibration detection signal
The microcomputer system includes a microcomputer system which takes in via the / D conversion means, and a power conversion means (power amplification / control means) which outputs an analog signal for driving the excitation means based on a pulse signal output from the microcomputer system. . Further, the microcomputer system outputs a start pulse signal to the excitation means via the power conversion means to displace and open, that is, move the vibrator. Next, the microcomputer system detects the resonance frequency of the vibrator by the vibration sensor, and continuously vibrates the vibrator at the resonance frequency, that is, the vibration at that time detected by the vibration sensor. The pulse signal is output to the power conversion means so that the analog signal having a frequency equal to the resonance frequency of the machine is output to the excitation means.

In the control device having such a configuration, the microcomputer system is configured to detect a voltage level, a frequency, a phase of the vibration detection signal and a phase of the analog signal. Further, the microcomputer system is configured to control the pulse signal so as to cancel a change in a voltage level of the vibration detection signal or a phase difference between the vibration detection signal and the analog signal. That is, when the phase difference between the vibration detection signal immediately after the output of the start pulse signal and the analog signal output from the power conversion means to the excitation means fluctuates,
The voltage level or the frequency of the analog signal can be changed in a direction to reduce the fluctuation of the voltage level or the fluctuation of the phase difference.

Here, configuring the microcomputer system means that a predetermined program is stored in a memory (ROM) which is a component of the microcomputer system so that the microcomputer, substantially the CPU, can perform a desired operation. It means that it is stored in.

According to a second aspect of the present invention, in the control apparatus for a vibrator according to the first aspect, the A / D converter includes a comparator as a component, and the power converter includes a PWM inverter as a component. The microcomputer system is configured to have a PWM wave generating means. Therefore, the method of controlling the vibrator when the pulse signal includes a PWM wave is as follows.

The microcomputer system includes a reference time (t) at which the phase of the analog signal is a predetermined value.
0) until the period T of the analog signal as the excitation means drive signal elapses, the time τ until the vibration detection signal crosses (crosses) the threshold level of the comparator and the time τ of the analog signal The PWM wave is set to P so that the ratio τ / T to the period T becomes a constant value.
I control. That is, the frequency (cycle) of the duty fluctuation of the PWM wave is changed by the PI control. The microcomputer system controls the frequency of the analog signal by PI-controlling the frequency of the PWM wave, which is substantially the duty fluctuation of the PWM wave.

The PWM wave generating means may be included in the power conversion means, or may be provided between the microcomputer system and the power conversion means. Further, the PWM wave may be generated by a microcomputer system on software.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS As is well known, an AC-DC converter (forward converter), an AC-AC converter (AC power regulator and a frequency converter), a DC-DC converter,
There are four types of AC converters (inverters, so-called inverters) and DC-DC converters. Which type of device is used as the power conversion means of the control device of the vibrator,
It is a matter of design choice for those skilled in the art. Since the excitation means is usually driven by AC, it is common to use an AC-AC converter or a DC-AC converter, that is, an inverter. The following description will be made assuming that an inverter is used as the power conversion means of the control device of the vibrator.

First, the invention of claim 1 will be described.
The microcomputer system is configured to generate a start pulse. That is, it has a program that can perform such an operation. When the vibrator is stopped, the microcomputer system outputs a start pulse to the power conversion means for a short time, for example, about half the period of the power supply current, and the power conversion means outputs the start pulse from the microcomputer system. In accordance with the start pulse signal, the excitation means is driven at, for example, a power supply frequency. The excitation means displaces the vibrator and releases the displacement from the displacement to cause free vibration.

The vibrator starts to vibrate, so to speak, at the power supply frequency. However, when current is not supplied to the excitation means, the vibrator immediately vibrates at the natural frequency, and if a signal is sent from the microcomputer system, If it is not output, it will stop soon. However, as will be described later, the microcomputer system continues to output a pulse signal for producing an analog signal of a predetermined frequency (that is, the resonance frequency of the vibrator) to the power conversion means, so that the vibrator does not stop.

On the other hand, the signal from the vibration sensor is an analog signal, is converted into a digital signal by A / D conversion means, and is taken into the microcomputer system. The microcomputer system outputs a pulse signal of a predetermined cycle to the power conversion means based on the signal from the vibration sensor that has been A / D converted. Note that a pulse signal (a pulse signal whose frequency of duty fluctuation is the resonance frequency of the vibration system) output from the microcomputer system to the power conversion means may be complementarily output by two to four signal lines. And, generally, it is desirable in terms of efficiency.

The pulse signal output from the microcomputer system to the power conversion means (that is, the power conversion means drive signal) is a pulse which causes the power conversion means to generate an analog signal having half the frequency of the signal from the vibration sensor. In this case, the power conversion means outputs to the excitation means an analog signal having a frequency half the frequency of the signal from the vibration sensor. At this time, the vibration system can be vibrated at the resonance frequency because it can be considered that the condition of the vibration is almost the same as when it is hit by the start pulse. At this time, the phase difference between the vibration detection signal and the analog signal has an appropriate value θ, and possibly π / 2.

In other words, the phase of the vibration detection signal depends on the frequency of the analog signal. If the analog signal has the resonance frequency of the vibration system, the phase becomes the appropriate value θ. The microcomputer system calculates this θ
Is stored, and the frequency of the analog signal to the excitation means is controlled by controlling the pulse signal using this θ as a target value (PI control may be performed).

As described above, the microcomputer system uses the analog signal and the vibration detection signal (a signal obtained by dividing the frequency of the vibration detection signal by）), which are the driving means driving signals, when the vibration system is vibrating at the resonance frequency. The phase difference θ is stored, and when the value of θ changes, the frequency of the analog signal is changed in a direction to cancel the change through control of the pulse signal output to the power conversion means. .

Further, the microcomputer system comprises:
By monitoring (detecting) the voltage level of the signal (vibration detection signal) from the vibration sensor, the frequency of the analog signal output to the excitation means can be adjusted. Of course, the voltage level can also be adjusted. Immediately after the start pulse signal is output, the microcomputer system outputs a pulse signal to the power conversion means and outputs the analog signal to the generated excitation means, which is の of the frequency of the signal detected by the vibration sensor. And the microcomputer system can be configured so that the frequency (or voltage level) of the analog signal can be adjusted according to the voltage level of the vibration detection signal.

That is, if the voltage level of the signal from the vibration sensor decreases, the microcomputer system can be configured so as to adjust the frequency of the analog signal in the direction of increasing the voltage level.

According to a second aspect of the invention, there is provided a method for controlling a vibrating machine, wherein the frequency of the pulse signal, that is, the analog signal output from the power conversion means to the excitation means is easily adjusted to the resonance frequency of the vibration system. The control method for a vibrator according to claim 2 is the control apparatus for a vibrator according to claim 1 having the above-described configuration, wherein the A / D conversion means includes a comparator, and the microcomputer system generates PWM waves. Means (hereinafter referred to as a PWM circuit), and the power conversion means includes a PWM inverter.
It controls the frequency of the modulated wave of the WM wave, that is, the frequency of the duty fluctuation.

The microcomputer system can measure the time at which the signal from the vibration sensor crosses the threshold level of the comparator of the A / D conversion means, that is, crosses. Now, it is assumed that the vibration system is vibrating at the resonance frequency. The time when the voltage waveform of the signal from the vibration sensor changes the threshold level from the low voltage side to the high voltage side is defined as t1. After the time t1, if the time at which the voltage waveform of the signal from the vibration sensor cuts the threshold level from the low voltage side to the high voltage side is t2, the frequency and cycle of the vibration detection signal, and hence the vibration of the vibrator, The frequency and the period of the operation are known. The period of the vibration detection signal is S (= t2−t1). Naturally, the frequency of the vibration detection signal is 1 / S, and the resonance frequency of the vibrator is 1 / 2S.

For the sake of convenience, the direction in which the vibration detection signal crosses the threshold level of the comparator is as follows.
Although the rising from the low voltage side to the high voltage side is used, it goes without saying that the falling may be used.

The microcomputer system is a PWM system.
A PWM wave having a modulated wave (modulated signal) having a period of 2 × S (this period is T) is output through a circuit. That is,
PWM in which the duty cycle of the PWM wave is 2 × S = T
It outputs waves.

The time when the phase of the modulated wave of the PWM wave is, for example, 0 is set as a reference time (t0), and until the time T elapses thereafter, the vibration detection signal changes the threshold level of the comparator from bottom to top or from top to bottom. You can cross down twice. This is because T = 2S.
Assuming that the times t1 and t2 are between 0 and T, τ is the time from 0 to t2, and τ / T when the vibration system is resonating, ie, the initial τ / T
The microcomputer uses the value of
By controlling the frequency of the pulse signal, that is, the frequency of the modulated wave of the PWM wave, the frequency of the analog signal output to the excitation means can be PI-controlled.

If for some reason τ / T deviates from the stored initial value, the microcomputer system controls the frequency of the PWM modulated wave so as to restore the deviation.

It is known that when a vibration system is vibrated at a resonance frequency, the phase difference between the vibration force and the vibration must be π / 2. However, the control device of the vibrator can obtain and recognize information on the phase of the vibration of the vibration system from the input vibration detection signal and the pulse signal output to the power conversion means. The control device outputs a vibration detection signal and a pulse signal output to the power conversion means (strictly speaking,
Even if the phase difference with the above-mentioned modulation signal can be controlled to be exactly π / 2, is the phase difference between the vibration force and the vibration of the vibration system exactly π / 2 in response thereto? The truth is, the control unit doesn't know.

According to the present invention, when a vibration system is vibrating at a resonance frequency, a vibration detection signal input to a microcomputer system controlling the vibration of the vibration system and the microcomputer system outputs the vibration detection signal to a power conversion means. Pulse signal (and analog signal output to the excitation means)
Is detected in the form of τ / T using the threshold level of the comparator.

Data representing the phase difference between the vibration detection signal when the vibration system is resonating and the modulation signal of the PWM wave, τ
/ T is known, and using this τ / T as a target value,
The frequency of the modulation signal of the pulse signal, which is a PWM wave, is PI
By controlling, the phase difference between the vibration force and the vibration is π /
As a result, the vibration system can be kept in a resonance state without directly considering the setting of 2. That is,
According to the control method of the vibrator of claim 2, it is only necessary to control the frequency of the analog signal, and it is not necessary to control the phase.

[0034]

FIG. 1 is a block diagram showing an embodiment of the first embodiment of the present invention, FIG. 2 is a block diagram for explaining an embodiment of the second embodiment of the present invention, and FIG. 3 is a block diagram of a pulse signal and a PWM wave. FIG. 4 is a schematic diagram illustrating a waveform of a carrier wave, and FIG. 4 is a schematic diagram illustrating waveforms of a vibration detection signal and an excitation unit driving signal. Embodiments of the present invention will be described with reference to these drawings.

The vibrator 6 is a transfer device (for example, a bowl feeder) generally used in the related art. Vibrator 6
Has an excitation unit 5 and a vibration sensor 1. For example, an electromagnet can be used as the excitation unit 5.
As the vibration sensor 1, for example, a piezoelectric acceleration sensor or the like can be used. One vibrating system is formed by the vibrator 6, the excitation means 5, and the vibration sensor 1 in a state where a work (part) is inserted. The present invention is intended to start vibrating the vibration system at its resonance frequency and continue to vibrate at the resonance frequency.

In order to constitute the present invention, the microcomputer system 3 having a conventional structure generally used is sufficient. Therefore, although not shown, various circuits or elements constituting the microcomputer system, such as a clock circuit, a reset circuit, an input / output port, and a power supply circuit, are naturally provided. In order to configure the present invention, A / D conversion means is required. FIG. 1 shows a configuration in which A / D conversion means 2 a is provided outside the microcomputer computer system 3. Of course, the microcomputer system 3 may include the A / D converter 2a.

The power conversion means 4 is a power supply circuit for switching a power supply current based on a pulse signal of the microcomputer system 3 (CPU 7). The power conversion means 4 uses a power element such as a thyristor, FET or power transistor as a switching element. Circuit. That is, it is a circuit conventionally used in the control device of the vibrator.

The CPU 7 outputs a start pulse to the vibrator 6 (substantially, the excitation unit 5) stopped for a short time via the power conversion unit 4. The excitation means 5 strikes (pulls) the vibrator 6 at the frequency of the power supply frequency. That is, the vibrator 6 is moved (displaced). When no current is supplied to the excitation means 5, the vibrator vibrates at free vibration, that is, at a resonance frequency. This vibration of the vibrator 6 is detected by the vibration sensor 1 and taken into the CPU 7 through the A / D conversion means 2a.

The vibrator 6 is pulled, so to speak, by a start pulse from the CPU 7 which is an analog signal output to the excitation means 5 via the power conversion means 4. As soon as the start pulse is no longer output, the vibrator 6 that has been pulled vibrates at its resonance frequency. Therefore, the CPU 7
Recognizes and stores the resonance frequency of the vibration system, and outputs a pulse signal of the resonance frequency (strictly speaking, a pulse signal whose duty fluctuation frequency is the resonance frequency) to the power conversion means 4. The CPU 7 also recognizes and stores the phase difference θ between the vibration detection signal and the analog signal output from the power conversion means 4. The microcomputer system 3 can perform control so as to keep θ constant. That is, the vibrator 6 or the vibration system can be continuously vibrated at the resonance frequency.

The CPU 7 can easily detect the voltage level of the vibration detection signal from the vibration sensor 1. CP
U7 can also adjust the frequency of the pulse signal to be output to the power conversion means 4 with reference to the detected voltage level. For example, if the voltage level decreases, a pulse signal (that is, an analog signal) in the direction of increasing the voltage level
Increase or decrease the frequency.

As described above, according to the configuration of FIG.
7 can control the pulse signal so that the phase difference θ between the vibration detection signal received via the A / D conversion means 2a and the analog signal output to the excitation means 5 is kept at an initial constant value.

FIG. 2 shows the configuration of FIG. 1 in which the A / D converter 2a has the comparator 2 and the CPU 7 has the PWM circuit 9.
Is provided with a PWM inverter 4a in the power conversion means 4. Of course, the comparator 2 may be provided independently of the A / D conversion means 2a. The PWM wave is output from the PWM circuit 9 which is a component of the microcomputer system 3 to the PWM inverter 4a. However, the description becomes complicated.
The following description is given assuming that an M wave is output.

According to the second aspect of the present invention, when the CPU 7
The control of the frequency of the PWM wave output to the M inverter 4a is performed as follows. PWM inverter 4a of CPU7
Actually, PWM signals like the waveforms a and b in FIG. 3 are output to the signal lines A and B, respectively. Although not shown in FIG. 2, it is a matter of course that opening and closing of the gate of the switching element (for example, FET) are performed complementarily by another two signal lines, as in the conventional technical common sense. .

The signal line A is connected to one gate terminal of one pair of FETs (not shown), and the signal line B is connected to one gate terminal of another pair of FETs (not shown). Have been.

Actually, a PWM wave is always output to the signal line A and the signal line B. However, when the PWM inverter 4a is viewed from the excitation means 5, analog signals having different polarities are alternately output. Looks like it's coming. Therefore, in FIG. 3, when the waveforms a and b are considered as a set of signals, it is considered that a PWM wave is output alternately to the signal line A and the signal line B, and a waveform c of FIG. 3 is obtained. be able to. The output of the CPU 7 to the PWM inverter 4a is actually the waveform a and the waveform b, but it is assumed that the waveform i of the period T in FIG. 3 is output.

Therefore, from the CPU 7 to the PWM inverter 4
The PWM wave output to “a” has a waveform “c”, and the modulated signal has a waveform “a” indicated by a broken line. CPU7
Indicates that the frequency of this waveform A is P based on τ and T shown in FIG.
I control. From a reference time t0 at which the period of the waveform A is T and the waveform A is at a predetermined phase, the vibration detection signal indicated by the waveform ha changes the threshold level of the comparator 2 from below (low voltage side) to above (high voltage side). ) Is the time until time (t2). In FIG. 4, the reference time t0 is
The signal is taken at the zero cross of the analog signal (waveform b) to the excitation means 5.

In addition, during the time from time t0 until time T elapses, the vibration detection signal (waveform C and waveform a in FIG. 4)
Crosses the threshold level of the comparator 2 twice from bottom to top, but it is preferable that the time until the second crossing time t2 be τ. The time from t0 to t1 can be τ, but t0 and t1 are close and τ is 0
May be approached, so the time from t0 to t2 is τ
Is better.

At the end, the CPU 7 controls the frequency of the waveform B shown in FIG. 4 while referring to the data of the waveform C. That is, the initial τ / T when the vibration system is resonating is stored, and the τ / T is set as a target value, and the duty fluctuation of the waveform b in FIG. Is PI controlled. As a result, CPU
7 is a waveform C which is a vibration detection signal and the power conversion means 4 (P
It is clear that the WM inverter 4a) can perform the same control as controlling the phase difference of the waveform C, which is an analog signal output to the excitation means 5.

That is, when an analog signal of the resonance frequency of the vibration system at that time is output to the excitation means 5, the vibration sensor 1 returns a vibration detection signal in a predetermined phase relationship with the analog signal. Therefore, τ / T is controlled so as to eventually match the initial stored value.

As described above, the microcomputer system 3 records τ / T (= P),
7 controls the cycle (frequency) of the duty fluctuation of the waveform c of FIG. 3 so as to keep P constant. It is easy for the CPU 7 to lengthen or shorten the cycle of the duty change of the waveform c.

As long as τ / T = P is maintained at a predetermined ratio,
The vibration system can continue to vibrate at the resonance frequency regardless of fluctuations in the vibration conditions of the vibration system. The control law for keeping P at a constant value includes conventional PI control or P control.
It is sufficient to use ID control.

[0052]

The control device and the control method of the vibrator according to the present invention have the following effects because of the configuration and method described above. The control device detects the vibration frequency (frequency) of the vibrator 6 with the vibration sensor 1 and oscillates the signal of the frequency as it is (or frequency-divided by half) using fixed hardware. Machine 6
It does not output to. The control device according to the present invention temporarily records (stores) the frequency and phase of the vibration detection signal in the microcomputer system 3 and outputs the signal to the vibrator 6 as a signal of the frequency calculated according to a predetermined procedure. Therefore, no matter how the condition of the vibration system changes, the vibrator can be continuously vibrated at the resonance frequency with accuracy and stability according to the predetermined procedure.

According to the vibrator control method of the second aspect of the present invention, the microcomputer system 3 (CPU
In 7), there is no need to calculate the present resonance frequency of the vibration system, that is, the resonance frequency itself at each time. The CPU 7 determines the time τ until the vibration detection signal from the vibration sensor 1 falls below a predetermined threshold level of the comparator 2 a with reference to the rising time of the pulse signal output to the power conversion means 4. P to output
PI control is performed so that τ / T is maintained at a constant value as compared with the period T of the WM wave modulation signal.

Therefore, it is only necessary to control the frequency of the modulation signal of the PWM wave to the power conversion means 4 (PWM inverter 4a) so that τ / T is kept at a constant value, and the resonance frequency of the vibration system is calculated. It is not necessary to particularly consider that the phase difference between the vibration of the vibrator 6 and the drive signal thereof is kept at π / 2 as in the prior art in the control of the vibrator.

Even if the resonance frequency of the vibration system fluctuates greatly for some reason and the signal from the vibration sensor 1 does not match the resonance frequency of the vibration system, the recorded P is maintained at a constant value. By adjusting the frequency of the modulation signal of the PWM wave to be output to the power conversion means 4 (PWM inverter 4a) in the direction, the vibration system can be rapidly vibrated at the resonance frequency at that time. As described above, the present invention can provide a simple and reliable control method that can continuously vibrate the vibrator at its resonance frequency.

[Brief description of the drawings]

FIG. 1 is a block diagram showing one embodiment of the invention of claim 1;

FIG. 2 is a block diagram for explaining one embodiment of the invention of claim 2;

FIG. 3 is a schematic diagram showing waveforms of a pulse signal and a carrier wave of a PWM wave.

FIG. 4 is a schematic diagram showing waveforms of a vibration detection signal and an excitation unit drive signal.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Vibration sensor 2 Comparator 2a A / D conversion means 3 Microcomputer system 4 Power conversion means 4a PWM inverter 5 Exciting means (actuator) 6 Vibrator 7 CPU 8 Memory 9 PWM circuit A Signal line B Signal line a Signal line A B PWM wave to signal line B b PWM wave output from CPU to power amplifying means b Analog signal output from power conversion means to excitation means b a Modulated wave of PWM wave c, ha vibration detection signal C Comparator output S Cycle of vibration detection signal T Cycle of power conversion means drive (excitation means drive) signal τ Cycle of vibration detection signal during a period from the reference time of a predetermined phase of the power conversion means drive signal until time T elapses Time until the threshold level of the comparator is cut for the second time from bottom to top

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Taigo 2-13-13 Chigama-dori, Minami-ku, Nagoya City Within Taitec Co., Ltd.

Claims (2)

[Claims] 1. A control device for driving a vibrator having a vibration sensor and an excitation means, wherein the A / D converter converts a vibration detection signal from the vibration sensor into a digital signal.
/ D conversion means, a microcomputer system for taking in the vibration detection signal via the A / D conversion means, and a power conversion means for outputting an analog signal for driving the excitation means based on a pulse signal output from the microcomputer system The microcomputer system outputs a start pulse signal to the excitation unit through the power conversion unit to move the vibrator, and detects the resonance frequency of the vibrator by the vibration sensor. Wherein the microcomputer is configured to continuously vibrate the vibrator at the resonance frequency, wherein the microcomputer system is configured to detect a voltage level, a frequency, a phase of the vibration detection signal and a phase of the analog signal. The voltage level of the vibration detection signal or the vibration detection signal and A control device for a vibrator configured to be able to change the voltage level or frequency of the analog signal in a direction to reduce the change when the phase difference of the analog signal changes. 2. The A / D conversion means includes a comparator as a component, the power conversion means includes a PWM inverter as a component, and the pulse signal includes a PWM signal.
2. The control device for a vibrator according to claim 1, wherein the microcomputer system is configured to include an M-wave. 3. Until elapses, the ratio τ / T of the time τ until the vibration detection signal crosses the threshold level of the comparator and the period T of the analog signal
A method for controlling a vibrator, wherein the frequency of the analog signal is changed by performing PI control of the PWM wave so that the value of the analog signal becomes a constant value.