JPWO2018074015A1 - Position control device and position control method for electromagnetically driven actuator - Google Patents

Abstract

  The electromagnetically driven actuator position control device 100 is a device that controls the position of the movable part of the actuator 60 and outputs a position target signal rep_p indicating the target position of the movable part in the position control of the movable part of the actuator 60. The target signal generator 10 and an actuator position control model unit that has a model transfer characteristic that simulates the transfer characteristic of the actuator 60 and outputs a model position detection signal act_p_n that indicates the position of the movable part of the actuator 60 based on the model transfer characteristic 20 and a position control unit 80 (30, 40, 50) for controlling the position of the movable part of the actuator 60 based on the position target signal rep_p and the model position detection signal act_p_n.

Description

  The present invention relates to a position control device and a position control method for an electromagnetically driven actuator that controls the position of a movable part of the electromagnetically driven actuator.

  A technique for detecting the position of a movable part of an electromagnetically driven actuator (hereinafter also simply referred to as “actuator”) without using a position sensor is known. An electromagnetically driven actuator is an actuator that operates a movable part including a coil or a magnet by using an electromagnetic force acting between a current and a magnetic field (for example, between a coil and a magnet). For example, Patent Document 1 discloses a technique for detecting the position of a movable portion of an actuator (hereinafter also simply referred to as “actuator position”) by detecting a counter electromotive force generated in a coil of the actuator. . Specifically, in this document, the speed of the movable part including the objective lens is detected based on the back electromotive force generated in the coil (moving coil) of the actuator, and the position of the movable part of the actuator is detected from this speed. It is described.

JP 2001-209950 A (paragraph 0019, FIG. 2)

  However, when a measurement error occurs in the back electromotive force of the actuator, the measurement error becomes dominant when the speed of the actuator is near zero, and the position control of the movable part of the actuator cannot be performed accurately. The technique described in Patent Document 1 does not take into account a case where a measurement error occurs in the back electromotive force.

  The present invention provides a position control device and a position control method for an electromagnetic drive actuator that can suppress a decrease in position control accuracy of a movable part even when a measurement error occurs in the back electromotive force of the electromagnetic drive actuator. The purpose is to provide.

  An electromagnetically driven actuator position control apparatus according to an aspect of the present invention is an apparatus for controlling the position of a movable part of an electromagnetically driven actuator, and the movable part in position control of the movable part of the electromagnetically driven actuator. A position target signal generator that outputs a position target signal indicating the target position of the electromagnetic drive actuator, and a model transfer characteristic that simulates a transfer characteristic of the electromagnetic drive actuator, and based on the model transfer characteristic, the electromagnetic drive actuator An actuator position control model unit that outputs a model position detection signal indicating the position of the movable unit, and a position control that controls the position of the movable unit of the electromagnetically driven actuator based on the position target signal and the model position detection signal Part.

  A position control method for an electromagnetically driven actuator according to another aspect of the present invention is a method for controlling the position of a movable part of an electromagnetically driven actuator, wherein the movable in position control of the movable part of the electromagnetically driven actuator is performed. Output the position target signal indicating the target position of the unit, and an actuator position control model unit having a model transfer characteristic simulating the transfer characteristic of the electromagnetic drive type actuator, and based on the model transfer characteristic, the electromagnetic drive type Outputting a model position detection signal indicating the position of the movable part of the actuator; controlling the position of the movable part of the electromagnetically driven actuator based on the position target signal and the model position detection signal; Have

  According to the position control device and the position control method for an electromagnetically driven actuator according to the present invention, even when a measurement error occurs in the back electromotive force of the electromagnetically driven actuator, the position control of the movable part of the electromagnetically driven actuator is performed. A decrease in accuracy can be suppressed.

It is a block diagram which shows schematically the structure of the position control apparatus of the electromagnetic drive type actuator which concerns on Embodiment 1 of this invention. FIG. 2 is a block diagram schematically showing a configuration of an actuator position control model unit in the first embodiment. FIG. 2 is a block diagram schematically showing a configuration of an actuator in the first embodiment. FIG. 3 is a block diagram schematically showing a configuration of an actuator nominal model unit of an actuator position control model unit in the first embodiment. (A) and (b), in the position control apparatus of the electromagnetic drive type actuator according to the first embodiment, the position detection signal for the drive signal Vdr_p the actuator when changing the coil resistance R _m and the coil inductance L _m of the actuator It is a figure which shows the frequency characteristic of act_p. (A) and (b), in the position control apparatus of the electromagnetic drive type actuator according to the first embodiment, is a diagram illustrating a step response of the actuator when changing the coil resistance R _m and the coil inductance L _m of the actuator . (A) And (b) is a figure which shows the open loop characteristic of the actuator position control model part in the position control apparatus of the electromagnetic drive type actuator which concerns on Embodiment 1. FIG. 3 is a flowchart illustrating an example of processing from activation to stop of the actuator, which is executed in the position control device for an electromagnetically driven actuator according to the first embodiment. 6 is a flowchart illustrating an example of an operation of an execution sequence # 1 of an actuator position control model unit, which is executed in the electromagnetically driven actuator position control device according to the first embodiment. 3 is a flowchart showing an example of an actuator drive sequence # 1 executed in the electromagnetically driven actuator position control apparatus according to the first embodiment. It is a block diagram which shows schematically the structure of the position control apparatus of the electromagnetic drive type actuator which concerns on Embodiment 2 of this invention. (A) and (b) are the frequency of the position detection signal act_p with respect to the actuator drive signal Vdr_p when the back electromotive force constant K _em of the actuator is changed in the electromagnetically driven actuator position control apparatus according to the second embodiment. It is a figure which shows a characteristic. (A) And (b) is a figure which shows the method of integrating the back electromotive force Vem of an actuator performed in the position control apparatus of the electromagnetic drive type actuator which concerns on Embodiment 2. FIG. FIG. 9 is a diagram showing a relationship between a convergence value of an actuator position detection signal act_p and an integral value of a back electromotive force Vem in the electromagnetically driven actuator position control apparatus according to the second embodiment. (A) and (b), in the position control apparatus of the electromagnetic drive type actuator according to the second embodiment, a diagram illustrating a step response of the actuator when changing the counter electromotive force constant K _em actuator. 6 is a flowchart illustrating an example of processing from starting to stopping of an actuator, which is executed in the position control device for an electromagnetically driven actuator according to the second embodiment. 10 is a flowchart illustrating an example of an execution sequence # 2 of an actuator position control model unit executed in the position control device for an electromagnetically driven actuator according to the second embodiment. 10 is a flowchart showing an example of actuator drive pre-processing executed in the position control device for an electromagnetically driven actuator according to the second embodiment. 6 is a flowchart showing an example of an actuator drive sequence # 2 executed in the electromagnetically driven actuator position control apparatus according to the second embodiment.

  Hereinafter, a position control device for an electrically driven actuator according to an embodiment of the present invention will be described with reference to the drawings. Note that the position control device for the electrically driven actuator according to the embodiment can also be regarded as a device to which the invention of the position control method for the electrically driven actuator is applied.

<< 1 >> Embodiment 1
<< 1-1 >> Configuration FIG. 1 is a block diagram schematically showing a configuration of an electromagnetically driven actuator position control apparatus 100 according to Embodiment 1 of the present invention.

  As shown in FIG. 1, the electromagnetically driven actuator position control device 100 includes a position target signal generation unit 10, an actuator position control model unit 20, and a position control unit 80. The electromagnetically driven actuator position control device 100 can include an actuator 60. That is, the position control device 100 can make the actuator 60 an internal component or an external component. Here, the actuator 60 is an electromagnetically driven actuator. The position control unit 80 includes a position error detection unit 30, a control filter unit 40, or a drive unit 50. The position control unit 80 controls the position of the movable part of the actuator 60.

  The position target signal generation unit 10, the actuator position control model unit 20, the position error detection unit 30, the control filter unit 40, and the drive unit 50 can be configured by, for example, a semiconductor integrated circuit that is an electric circuit.

  In addition, the position target signal generation unit 10, the actuator position control model unit 20, the position error detection unit 30, the control filter unit 40, and the drive unit 50, or a part of them are realized using a memory and a processor. You can also. The memory is a storage device that stores a program as software. The processor is an information processing unit that executes a program stored in a memory. That is, these components can also be realized using a computer, for example.

  The actuator 60 is a device that operates a movable part including a coil or a magnet by using an electromagnetic force acting between an electric current and a magnetic field. The space between the current and the magnetic field is, for example, between the coil and the magnet. The movable part provided with the coil or the magnet is, for example, a motor rotor, a holder for holding an optical member, or the like. The operation of the movable part is, for example, rotation, swing, displacement, deformation, movement, and the like.

  The actuator 60 includes an actuator magnetic circuit and an actuator mechanism circuit unit. The actuator magnetic circuit has a coil resistance and a coil inductance. The actuator magnetic circuit corresponds to a voltage / current converter 602a and a current / torque converter 603a in FIG. The actuator mechanism circuit part includes a movable part. The actuator mechanism circuit unit corresponds to, for example, a torque speed conversion unit 604a, a speed counter electromotive force conversion unit 605a, and a speed position conversion unit 606a in FIG.

  Further, the control unit 90 can output a control signal to each of the components 10, 20, 30, 40, 50 in order to control the overall operation of the position controller 100 for the electromagnetically driven actuator. The control unit 90 can be formed by a semiconductor integrated circuit. The control unit 90 can also be realized using a memory and a processor. The memory is a storage device that stores a program as software. The processor is an information processing unit that executes a program stored in a memory. That is, these components can also be realized using a computer, for example.

  The position target signal generator 10 outputs a position target signal ref_p. The position target signal ref_p indicates a target position in the position control of the actuator 60. The position control of the actuator 60 is the position control of the movable part of the actuator 60.

  The position target signal ref_p is a signal based on one or more values stored in advance in a storage unit (not shown) in the position target signal generation unit 10, for example. The position target signal ref_p may be a signal received from the control unit 90 or an external device (not shown).

  The actuator position control model unit 20 includes an actuator nominal model unit 25. The actuator nominal model unit 25 has a model transfer characteristic that simulates the ideal transfer characteristic of the actuator 60. The actuator nominal model unit 25 is shown in FIG.

  The actuator position control model unit 20 outputs a model position detection signal act_p_n. The model position detection signal act_p_n is a signal that simulates the position detection signal act_p. The position detection signal act_p is a signal indicating the position of the actuator 60. Details of the actuator position control model unit 20 will be described with reference to FIG.

  The position error detection unit 30 receives the position target signal ref_p from the position target signal generation unit 10. The position error detection unit 30 receives the model position detection signal act_p_n from the actuator position control model unit 20. The position error detection unit 30 outputs a position error signal er_p obtained by calculating these differences (ref_p-act_p_n).

  The control filter unit 40 receives the position error signal er_p from the position error detection unit 30. The control filter unit 40 outputs a position control signal cont_p based on the position error signal er_p. The position control signal cont_p is a position control signal for performing position control of the actuator 60.

  The control filter unit 40 can include, for example, a PID (Proportional Integral Derivative) control filter. The control filter unit 40 may generate the position control signal cont_p based on this PID.

  The drive unit 50 receives the position control signal cont_p from the control filter unit 40. The drive unit 50 outputs a drive signal Vdr_p based on the position control signal cont_p. The drive signal Vdr_p is a drive voltage or a drive current amplified to a level necessary for driving the actuator 60, for example. The driving of the actuator 60 is, for example, rotation, swinging, displacement, deformation or movement of the movable part of the actuator 60.

  The actuator 60 receives the drive signal Vdr_p from the drive unit 50. The actuator 60 operates the movable part according to the drive signal Vdr_p. The actuator 60 outputs an actuator position detection signal act_p according to the operation of the movable part. The actuator 60 generates a speed detection signal and a back electromotive force. The actuator 60 acquires a speed detection signal and a counter electromotive force. The speed detection signal is, for example, v11 in FIG. The back electromotive force is, for example, Vem in FIG.

  FIG. 2 is a block diagram schematically showing the configuration of the actuator position control model unit 20 in the first embodiment.

  As shown in FIG. 2, the actuator position control model unit 20 includes a model position target signal generation unit 21, a model position error detection unit 22, a model control filter unit 23, a model drive unit 24, and an actuator nominal model unit 25. . The actuator position control model unit 20 is a simulation circuit of the actuator 60 having a model transmission characteristic that simulates an ideal transmission characteristic of the actuator 60.

  The model position target signal generator 21 outputs a model position target signal ref_p_n. The model position target signal ref_p_n indicates a target position in the position control of the actuator nominal model unit 25. The model position target signal ref_p_n is preferably a signal having the same value as the position target signal ref_p in the position control of the movable part of the actuator 60. The reason will be described later using mathematical expressions.

  The model position error detection unit 22 receives the model position target signal ref_p_n from the model position target signal generation unit 21. The model position error detection unit 22 receives the model position detection signal act_p_n from the actuator nominal model unit 25. The model position error detection unit 22 outputs a model position error signal er_p_n obtained by calculating these differences (ref_p_n-act_p_n).

  The model control filter unit 23 receives the model position error signal er_p_n from the model position error detection unit 22. The model control filter unit 23 outputs a model position control signal cont_p_n based on the model position error signal er_p_n. The model control filter unit 23 has the same configuration as the control filter unit 40 in the position control of the movable part of the actuator 60. The parameter value of the control filter of the model control filter unit 23 is desirably the same as that of the control filter unit 40. The reason will be described later using mathematical expressions.

  The model driving unit 24 receives the model position control signal cont_p_n from the model control filter unit 23. The model driving unit 24 outputs a model driving signal Vdr_p_n based on the model position control signal cont_p_n. It is desirable that the model driving unit 24 has the same configuration as the driving unit 50 in the position control of the actuator 60. The reason will be described later using mathematical expressions.

  The actuator nominal model unit 25 receives the model drive signal Vdr_p_n from the model drive unit 24. The actuator nominal model unit 25 generates a model position detection signal act_p_n, a model speed detection signal, and a model back electromotive force based on the model drive signal Vdr_p_n. The actuator nominal model unit 25 acquires a model position detection signal act_p_n, a model speed detection signal, and a model back electromotive force based on the model drive signal Vdr_p_n. The model position detection signal act_p_n is a model position detection signal indicating the position of the actuator nominal model unit 25.

  FIG. 3 is a block diagram schematically showing the configuration of the actuator 60 in the first embodiment. FIG. 3 shows a configuration of a DC motor (Direct-Current Motor) as the actuator 60. Hereinafter, a case where the actuator 60 is a DC motor will be described.

  As shown in FIG. 3, the actuator 60 includes, for example, a subtraction unit 601a, a voltage / current conversion unit 602a, a current torque conversion unit 603a, a torque speed conversion unit 604a, a speed counter electromotive force conversion unit 605a, a speed position conversion unit 606a, And a position unit converter 607a.

  The subtraction unit 601a receives the drive signal Vdr_p from the drive unit 50. Further, the subtraction unit 601a receives the back electromotive force Vem from the speed back electromotive force conversion unit 605a. The subtraction unit 601a calculates a voltage difference (Vdr_p−Vem) between the drive signal Vdr_p and the back electromotive force Vem. Then, the subtraction unit 601a outputs a voltage difference signal Vdr11 corresponding to this voltage difference.

The voltage / current converter 602a receives the voltage difference signal Vdr11 from the subtractor 601a. The voltage-current converter 602a outputs a current (first current) Idr11 based on the voltage difference signal Vdr11. The transfer function of the voltage-current converter 602a is 1 / (L _m s + R _m ) when expressed using the coil resistance R _m and the coil inductance L _m of the actuator magnetic circuit of the actuator 60. Note that s is a Laplace variable.

The current torque converter 603a receives the current Idr11 from the voltage / current converter 602a. The current torque converter 603a outputs a torque (first torque) τ11 based on the current Idr11. The transfer function of the current torque conversion unit 603a is a torque constant K _tm of the actuator 60.

The torque speed conversion unit 604a receives the torque τ11 from the current torque conversion unit 603a. The torque speed conversion unit 604a outputs the operation of the speed (first speed) v11 of the movable part of the actuator 60 based on the torque τ11. The transfer function of the torque speed conversion unit 604a is 1 / J _m s when expressed using the inertia J _m of the actuator mechanism circuit unit of the actuator 60.

The speed counter electromotive force converter 605a receives the speed v11 of the movable part from the torque speed converter 604a. The speed counter electromotive force conversion unit 605a outputs a counter electromotive force (first counter electromotive force) Vem based on the speed v11. The transfer function of the speed counter electromotive force conversion unit 605 a is the counter electromotive force constant K _em of the actuator magnetic circuit of the actuator 60.

  The speed position converter 606a receives the speed v11 of the movable part from the torque speed converter 604a. The speed position converter 606a outputs a position signal (first position signal) p11 indicating the position of the movable part (first position) based on the speed v11. The speed position conversion unit 606a is an integrator. The transfer characteristic of the speed position conversion unit 606a is 1 / s.

  The position unit conversion unit 607a receives the position signal p11 from the speed position conversion unit 606a. The position unit converter 607a outputs a position detection signal act_p (position detection signal act_p of the actuator 60) based on the position signal p11. The position unit conversion unit 607a is a converter that converts the unit of the position signal p11 from radians [rad (radian)] to degrees [deg (degree)]. Its transfer characteristic is 180 / π. The position unit conversion unit 607a outputs a position detection signal act_p whose unit is degrees [deg].

  FIG. 4 is a block diagram schematically showing the configuration of the actuator nominal model unit 25 in the first embodiment.

  As shown in FIG. 4, the actuator nominal model unit 25 includes a model subtraction unit 251a, a model voltage / current conversion unit 252a, a model current torque conversion unit 253a, a model torque speed conversion unit 254a, a model speed counter electromotive force conversion unit 255a, A model speed position conversion unit 256a and a model position unit conversion unit 257a are provided.

  The model subtracting unit 251a receives the model driving signal Vdr_p_n from the model driving unit 24. Further, the model subtraction unit 251a receives the model back electromotive force (second back electromotive force) Vemn from the model speed back electromotive force conversion unit 255a. The model subtraction unit 251a detects and outputs a model voltage difference signal (second voltage difference signal) Vdr21 which is a difference (Vdr_p_n−Vemn) between these signals.

The model voltage / current converter 252a receives the model voltage difference signal Vdr21 from the model subtractor 251a. The model voltage / current converter 252a outputs a current (second current) Idr21 based on the model voltage difference signal Vdr21. The transfer function of the model voltage / current converter 252a is 1 / (L _mn s + R _mn ). The coil resistance R _mn is the coil resistance of the actuator magnetic circuit of the actuator nominal model unit 25. The coil inductance L _mn is the coil inductance of the actuator magnetic circuit of the actuator nominal model unit 25.

The model current torque converter 253a receives the current Idr21 from the model voltage / current converter 252a. The model current torque converter 253a outputs a torque (second torque) τ21 based on the current Idr21. The model current torque conversion unit 253a represents the actuator nominal model unit 25 with a torque constant K _tmn and has a transfer function K _tmn .

The model torque speed conversion unit 254a receives the torque τ21 from the model current torque conversion unit 253a. The model torque speed conversion unit 254a outputs the moving part speed (second speed) v21 based on the torque τ21. The transfer function of the model torque speed conversion unit 254a is 1 / J _mn s when expressed using the inertia J _mn of the actuator mechanism circuit unit of the actuator nominal model unit 25.

The model speed counter electromotive force conversion unit 255a receives the speed v21 from the model torque speed conversion unit 254a.
The model speed counter electromotive force conversion unit 255a outputs a model counter electromotive force (second counter electromotive force) Vemn based on the speed v21. The transfer characteristic of the model speed counter electromotive force conversion unit 255a is the counter electromotive force constant K _emn of the actuator magnetic circuit of the actuator nominal model unit 25.

  The model speed position converter 256a receives the speed v21 of the movable part from the model torque speed converter 254a. The model speed position conversion unit 256a outputs a model position signal (second position signal) p21 indicating a position based on the speed v21. The model speed position conversion unit 256a is an integrator. The transfer characteristic of the model speed position conversion unit 256a is 1 / s.

  The model position unit conversion unit 257a receives the model position signal p21 from the model speed position conversion unit 256a. The model position unit conversion unit 257a outputs a model position detection signal act_p_n based on the model position signal p21. The model position detection signal act_p_n is a model position detection signal of the actuator nominal model unit 25. The model position unit conversion unit 257a is a converter that converts the unit of the model position signal p21 from radians [rad] to degrees [deg]. The transfer characteristic of the model position unit converter 257a is 180 / π. The model position unit conversion unit 257a outputs a model position detection signal act_p_n whose unit is degrees [deg].

Hereinafter, the relationship between the position target signal ref_p shown in FIG. 1 and the position detection signal act_p of the actuator 60 will be described using mathematical expressions including a transfer function. The transfer functions of the control filter unit 40, the drive unit 50, and the actuator 60 shown in FIG. 1 are denoted as K (s), D (s), and P (s), respectively. In addition, the transfer functions of the model control filter unit 23, the model driving unit 24, and the actuator nominal model unit 25 in FIG. 2 are _denoted as K _n (s), D _n (s), and P _n (s), respectively.

  As apparent from FIG. 1, the position detection signal act_p of the actuator 60 is expressed by the following equation (1) using the position target signal ref_p and the model position detection signal act_p_n of the actuator nominal model unit 25.

  On the other hand, as apparent from FIG. 2, the model position detection signal act_p_n of the actuator nominal model unit 25 is expressed by the following equation (2) using the model position target signal ref_p_n from the model position target signal generation unit 21.

  Substituting equation (2) into equation (1) yields equation (3) below.

  When the model position target signal ref_p_n in the actuator position control model unit 20 and the position target signal ref_p in the position control of the movable part of the actuator 60 have the same value (ref_p_n = ref_p), the expression (3) 4).

In the equation (4), when K (s) = K _n (s) and D (s) = D _n (s), the equation (4) is expressed by the following equation (5).

From equation (5), when P (s) = P _n (s), the position detection signal act_p of the actuator 60 and the model position detection signal act_p_n of the actuator nominal model unit 25 are equal. That is, when P (s) = P _n (s), the position of the actuator 60 can be controlled as designed by the actuator position control model unit 20.

In the actual position control device 100, it is difficult to match the transfer function P _n (s) of the actuator nominal model unit 25 with the actual transfer function P (s) of the actuator 60 in the entire frequency region. However, it is possible to make the transfer function P _n (s) of the actuator nominal model unit 25 coincide with the transfer function P (s) of the actual actuator 60 in a low frequency region including a DC component.

Therefore, if the actuator nominal model unit 25 is manufactured so that P (s) = P _n (s) in a low frequency region including a direct current component, the actuator 60 can be finally converged to the position target signal ref_p. it can. In other words, in order for the position detection signal act_p of the actuator 60 and the model position detection signal act_p_n of the actuator nominal model unit 25 to satisfy the relationship of Expression (5), ref_p_n = ref_p and K (s) = K _n Ideally, (s) and D (s) = D _n (s).

  Assuming that position control by feedback control is performed in the position control apparatus 100 shown in FIG. 1, the position detection signal act_p is input to the position error detection unit 30 instead of the model position detection signal act_p_n.

  In contrast, in the actuator position control apparatus 100 according to the first embodiment, the model position detection signal act_p_n simulated in the actuator position control model unit 20 is input to the position error detection unit 30 instead of the position detection signal act_p. The In the position control device 100, the actuator position control model unit 20 is configured to have a transfer characteristic that simulates the transfer characteristic of the actual actuator 60. Therefore, it is possible to control the position of the movable part of the actuator 60 by open loop control without using a position sensor that detects the position of the actuator 60.

  In FIG. 1, the model position detection signal act_p_n in the actuator position control model unit 20 is used as a signal used for position control of the movable part of the actuator 60.

  However, as a signal used for position control of the movable portion of the actuator 60, any one of the model position error signal er_p_n, the model position control signal cont_p_n, and the model drive signal Vdr_p_n may be used instead of the model position detection signal act_p_n. it can. The model position error signal er_p_n is output from the model position error detection unit 22. The model position control signal cont_p_n is output from the model control filter unit 23. The model drive signal Vdr_p_n is output from the model drive unit 24.

  A case where the model position error signal er_p_n output from the model position error detection unit 22 is used as a signal used for position control of the movable part of the actuator 60 will be described. In the electromagnetically driven actuator position control apparatus 100, the model position error signal er_p_n is input to the control filter unit 40. Then, the control filter unit 40 generates a position control signal cont_p based on the model position error signal er_p_n.

  A case where the model position control signal cont_p_n output from the model control filter unit 23 is used as a signal used for position control of the movable part of the actuator 60 will be described. In the position control device 100 for the electromagnetic drive type actuator, the model position control signal cont_p_n is input to the drive unit 50. The driving unit 50 is configured to generate the driving signal Vdr_p based on the model position control signal cont_p_n.

  A case where the model drive signal Vdr_p_n output from the model drive unit 24 is used as a signal used for position control of the movable portion of the actuator 60 will be described. In the position control device 100 for the electromagnetic drive type actuator, the model drive signal Vdr_p_n is input to the actuator 60. The actuator 60 operates based on the model drive signal Vdr_p_n.

  Regardless of the position detection signal act_p_n, model position error signal er_p_n, model position control signal cont_p_n, or model drive signal Vdr_p_n selected as the signal used for position control of the movable part of the actuator 60, the position of the movable part of the actuator 60 is selected. Control becomes possible.

Next, simulation results when the magnetic characteristics of the coil of the actuator 60 (parameters of the actuator magnetic circuit) are changed will be described with reference to FIGS. 5 (a) and 5 (b). The magnetic characteristics of the coil of the actuator 60, for example, coil resistance _{R m,} the coil inductance _{L m,} and there is a counter electromotive force constant _{K em.} The magnetic characteristic of the coil of the actuator 60 is a parameter of the actuator magnetic circuit. These values vary depending on the temperature of the environment where the actuator 60 is installed. Therefore, in the first embodiment, illustrating the results of simulation for the case of changing the coil resistance R _m and the coil inductance L _m.

FIGS. 5 (a) and 5 (b), the position control device 100 of the electromagnetic driven actuator according to the first embodiment, the actuator 60 when changing the coil resistance R _m of the actuator 60 and the coil inductance L _m It is a figure which shows the frequency characteristic of the position detection signal act_p with respect to the drive signal Vdr_p. FIG. 5A shows the frequency characteristic (gain characteristic) of the gain. The horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB]. FIG. 5B shows the frequency characteristics (phase characteristics) of the phase. The horizontal axis is frequency [Hz] and the vertical axis is phase [deg].

In FIG. 5A and FIG. 5B, characteristic curves GA1 and PH1 represented by dotted lines indicate frequency characteristics when R _m = R _mn / 2 and L _m = L _mn / 2. . Characteristic curves GA2 and PH2 represented by solid lines show the frequency characteristics when R _m = R _mn and L _m = L _mn . Characteristic curves GA3 and PH3 represented by a one-dot chain line show the frequency characteristics when R _m = R _mn × 2 and L _m = L _mn × 2.

Figure 5 (a) and as can be seen from the characteristic curve in the high frequency range HIGHa of FIG. 5 (b), the case of changing the coil resistance _{R m} and an inductance _{L m} is the difference in gain characteristics in a high frequency range HIGHa Appears, and a difference also appears in the phase characteristics.

However, as can be seen from the characteristic curves in the low frequency region LOWa in FIGS. 5A and 5B, even when the coil resistance R _m and the inductance L _m are changed, the characteristics in the low frequency region LOWa are changed. No difference appears in the gain characteristics, and the difference that appears in the phase characteristics is very small. That is, the difference appearing in the phase characteristic does not change greatly.

FIGS. 6 (a) and 6 (b), the position control device 100 of the electromagnetic driven actuator according to the first embodiment, the actuator 60 when changing the coil resistance R _m of the actuator 60 and the coil inductance L _m It is a figure which shows no step response. FIG. 6A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 60 is changed from 0 [deg] to 30 [deg] after 1 second has elapsed. FIG. 6B shows a step response of the position detection signal act_p when the position target signal ref_p of the actuator 60 is changed from 0 [deg] to 30 [deg] after 1 second has elapsed.

In FIG. 6A and FIG. 6B, characteristic curves RE1 and A1 represented by dotted lines show step responses when R _m = R _mn / 2 and L _m = L _mn / 2. . Characteristic curves RE2 and A2 represented by solid lines show the step responses when R _m = R _mn and L _m = L _mn . Characteristic curves RE3 and A3 represented by one-dot chain lines show step responses in the case of R _m = R _mn × 2 and L _m = L _mn × 2.

From FIG. 6A and FIG. 6B, even when the coil resistance R _m and the inductance L _m are changed, the position detection signal act_p of the actuator 60 is changed from 0 [deg] to 30 [deg]. Yes. It can be seen that the actuator 60 has converged to the position target signal ref_p. Here, the time from when the position target signal ref_p of the actuator 60 is changed to when the actuator 60 converges to the position target signal ref_p is T2. The time at which the position target signal ref_p is changed is 1 second in FIG. 6B.

  FIGS. 7A and 7B are diagrams showing the open loop characteristics of the actuator position control model unit 20 in the position control apparatus 100 for an electromagnetically driven actuator according to the first embodiment. FIG. 7A shows gain characteristics. The horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB]. FIG. 7B shows phase characteristics. The horizontal axis is frequency [Hz] and the vertical axis is phase [deg].

  7A and 7B, the frequency f0 at which the gain is 0 [dB], the phase f0PH at the frequency f0, and the gain f1GA at the frequency f1 at which the phase is −180 [deg] are the control performance. It becomes an index of control stability. In the case of FIGS. 7A and 7B, f0 = 3.455 [Hz], f0PH = −145 [deg], and f1GA = −37.72 [dB]. Therefore, the control band is 3.455 [Hz]. The phase margin is 35 [deg] (= 180-145). The gain margin is 37.72 [dB].

  The position control of the actuator in the prior art is performed by feedback control in which the position detection signal act_p of the actuator 60 is input to the position error detection unit 30. For this reason, it is necessary to design the parameters of the control filter unit 40 in consideration of variations in parameters representing the actuator magnetic circuit of the actuator 60. In this case, the design freedom of the parameters of the control filter unit 40 for achieving both control performance and control stability is low.

  On the other hand, in the position control device 100 for the electromagnetically driven actuator in the first embodiment, as shown in FIG. 1, the position control of the movable part of the actuator 60 is performed by open loop control. For this reason, it is not necessary to consider the variation of the parameters representing the actuator magnetic circuit. Here, the parameter is a coil resistance, a coil inductance, a counter electromotive force constant, or the like.

  The actuator position control model unit 20 in the first embodiment performs feedback control therein. However, the actuator nominal model unit 25 uniquely determines a parameter representing the actuator magnetic circuit. For this reason, the design freedom of the parameter of the model control filter part 23 is high.

<< 1-2 >> Operation Next, the operation of the position controller 100 for the electromagnetically driven actuator according to the first embodiment will be described with reference to FIGS. 8 to 10. That is, a method for controlling the position of the electromagnetically driven actuator will be described. The operation from FIG. 8 to FIG. 10 is executed based on a control signal from the control unit 90 that controls the overall operation of the position control apparatus 100 for the electromagnetically driven actuator.

  FIG. 8 is a flowchart illustrating an example of processing from starting to stopping of the actuator 60 in the electromagnetically driven actuator position control apparatus 100 according to the first embodiment.

  As shown in FIG. 8, when the actuator 60 is activated, an execution sequence # 1 of the actuator position control model unit 20 is executed in accordance with a control signal output from the control unit 90 (step S1). Details of the execution sequence # 1 of the actuator position control model unit 20 will be described with reference to FIG.

  Next, the drive sequence # 1 of the actuator 60 is executed in accordance with the control signal output from the control unit 90 (step S2). Details of the drive sequence # 1 of the actuator 60 will be described with reference to FIG.

  FIG. 9 is a flowchart showing an example of the operation of the execution sequence # 1 of the actuator position control model unit 20 in the electromagnetically driven actuator position control apparatus 100 according to the first embodiment. FIG. 9 shows details of the execution sequence # 1 of the actuator position control model unit in step S1 of FIG. In the description of FIG. 9, FIG. 1, FIG. 2, and FIG. 4 are also referred to.

  As shown in FIG. 9, when the execution sequence # 1 of the actuator position control model unit 20 is started, the control unit 90 initializes an index k that is a variable to 0 (step S11). The index k is an integer of 0 or more.

  Next, the drive sequence # 1 of the actuator position control model unit 20 is executed (step S12). The actuator position control model unit 20 is shown in FIG.

  Next, in the actuator position control model unit 20, the model position detection signal act_p_n at the index k is acquired (step S13). The model position detection signal act_p_n obtained here is a candidate for the model position detection signal act_p_n output from the actuator position control model unit 20.

  Next, the control unit 90 determines whether or not the reference time T1 has elapsed since the start of the execution sequence # 1 of the actuator position control model unit 20 in step S11 (step S14). The reference time T1 is determined in advance, for example.

  The index k is incremented by 1 every sampling period ts in the position control of the movable part of the actuator 60. The increment of the index k will be described in step S15 described later. The index k is an index for obtaining the model position detection signal act_p_n from the actuator nominal model unit 25.

  The reference time T1 includes at least the time T2. The time T2 is a time until the position indicated by the model position detection signal act_p_n converges to the position P2 when the position indicated by the model position target signal ref_p_n in the actuator position control model unit 20 is changed from the position P1 to the position P2. That is, time T1> time T2. Here, the time T2 is, for example, the time T2 shown in FIG.

  Here, “converge” means that the position indicated by the model position detection signal act_p_n is set to the position P2. That is, it can be considered that the value indicated by the model position detection signal act_p_n has stopped after the settling time has elapsed. The setting of the position indicated by the model position detection signal act_p_n means, for example, that it remains within an allowable range within 5% of the position P2. This allowable range of convergence may be, for example, within 2% of the position P2, and is not limited to within 5% of the position P2.

  If the determination in step S14 is “NO”, the process proceeds to step S15. That is, if the time T1 has not elapsed, the process proceeds to step S15.

  In step S15, the index k is incremented by 1, and the process proceeds to step S13. That is, in step S15, “1” is added to the index k (k = k + 1).

  That is, the position indicated by the model position detection signal act_p_n does not converge to the position P2. Therefore, in the actuator position control model unit 20, the process of acquiring the model position detection signal act_p_n at the index k to which “1” has been added is performed again (step S13).

  When the determination in step S14 is “YES”, a candidate for the model position detection signal act_p_n is acquired as the model position detection signal act_p_n. That is, when the time T1 has elapsed, a candidate for the model position detection signal act_p_n is acquired as the model position detection signal act_p_n.

  Then, the execution sequence # 1 of the actuator position control model unit 20 is completed. That is, the position indicated by the model position detection signal act_p_n has converged to the position P2. For this reason, the output of the model position detection signal act_p_n to the position error detection unit 30 is completed.

  FIG. 10 is a flowchart showing an example of a drive sequence # 1 of the actuator 60 in the electromagnetically driven actuator position control apparatus 100 according to the first embodiment. FIG. 10 shows details of the drive sequence # 1 of the actuator 60 in step S2 of FIG. In the description of FIG. 10, FIG. 1 and FIG. 3 are also referred to.

  As shown in FIG. 10, when the drive sequence # 1 of the actuator 60 is started, the control unit 90 initializes the index k to 0 (step S21). The index k is incremented by 1 every sampling period ts in the position control of the movable part of the actuator 60. The increment of the index k will be described in step S24 described later. The index k is an index for controlling the position of the movable part of the actuator 60. The index k is an integer of 0 or more.

  Next, the position target signal ref_p for the index k and the model position detection signal act_p_n for the actuator position control model unit 20 are input to the position error detection unit 30 (step S22). The position error detection unit 30 calculates a difference (ref_p (k) −act_p_n (k)) between ref_p (k) that is a position target signal at the index k and act_p_n (k) that is a model position detection signal at the index k. .

  Next, the control unit 90 determines whether or not the index k is greater than T1 / ts (step S23). The reference time T1 is the time used in step S14 of FIG. In step S23, the actuator position control model unit 20 determines the time until the position indicated by the model position detection signal act_p_n converges to the position P2 after the model position target signal ref_p_n is changed from the position P1 to the position P2. This is equivalent to determining whether the time has elapsed. Thereby, in the position control of the movable part of the actuator 60, it can be determined whether or not the position indicated by the position detection signal act_p has converged to the position P2.

  If the determination in step S23 is “NO”, the process proceeds to step S24. That is, if the index k is not greater than T1 / ts, the process proceeds to step S24.

  In step S24, the index k is incremented by 1, and the process proceeds to step S22. That is, in step S24, “1” is added to the index k (k = k + 1).

  That is, the position indicated by the position detection signal act_p has not converged to the position P2. Therefore, the process in which the position target signal ref_p and the model position detection signal act_p_n at the index k to which “1” is added in step S22 is input to the position error detection unit 30 is performed again.

  If the determination in step S23 is “YES”, the drive sequence # 1 of the actuator 60 is completed. That is, when the index k is larger than T1 / ts, the drive sequence # 1 of the actuator 60 is completed. That is, since it is determined that the position indicated by the position detection signal act_p has converged to the position P2, the driving process of the actuator 60 is completed.

  In FIG. 9, the model position detection signal act_p_n output from the actuator nominal model unit 25 is used as the signal acquired in step S13. However, the acquired signals are the model position error signal er_p_n output from the model position error detection unit 22, the model position control signal cont_p_n output from the model control filter unit 23, and the model drive output from the model drive unit 24. Any of the signals Vdr_p_n may be used.

  When the model position error signal er_p_n in the actuator position control model unit 20 is used as the signal acquired in step S13 of FIG. 9, the model position error signal er_p_n at the index k is converted to the control filter unit 40 in step S22 of FIG. Is input.

  When the model position control signal cont_p_n in the actuator position control model unit 20 is used as the signal acquired in step S13 in FIG. 9, the model position control signal cont_p_n in the index k is sent to the drive unit 50 in step S22 in FIG. Entered.

  When the model drive signal Vdr_p_n in the actuator position control model unit 20 is used as the signal acquired in step S13 in FIG. 9, the model drive signal Vdr_p_n in the index k is input to the actuator 60 in step S22 in FIG. .

  Even if any of the model position detection signal act_p_n, the model position error signal er_p_n, the model position control signal cont_p_n, and the model drive signal Vdr_p_n in the actuator position control model unit 20 is selected, the same effect can be obtained.

<< 1-3 >> Effect As described above, according to the position control device 100 and the position control method of the electromagnetically driven actuator according to the first embodiment, the position controller 100 of the electromagnetically driven actuator An actuator position control model unit 20 that simulates ideal transfer characteristics and outputs a model position detection signal act_p_n indicating an ideal detection position of the actuator 60 is provided.

Further, the model position detection signal act_p_n generated by the actuator position control model unit 20 is input to the position error detection unit 30 of the position control device 100 for the electromagnetically driven actuator. The position control unit 80 performs position control of the movable part of the actuator 60 without using a position sensor by open loop control using the model position detection signal act_p_n. Thereby, even when a measurement error occurs in the back electromotive force of the electromagnetic drive actuator, it is possible to suppress a decrease in position control accuracy of the movable part of the electromagnetic drive actuator. The coil resistance R _m of the actuator 60 and the coil inductance L _m even changes, the position control section 80, the position control of the movable portion of the actuator 60 can be performed accurately.

<< 2 >> Embodiment 2
"2-1" configuration in the first embodiment, among the magnetic characteristics of the coil of the actuator 60 has been described position control method of a movable part of the actuator 60 when the coil resistance R _m and the coil inductance L _m is changed . The magnetic characteristic of the coil of the actuator 60 is a parameter of the actuator magnetic circuit. In the second embodiment, a method for controlling the position of the actuator 60 when the back electromotive force constant K _em is changed will be described.

  FIG. 11 is a block diagram schematically showing the configuration of an electromagnetically driven actuator position control apparatus 200 according to the second embodiment.

  As shown in FIG. 11, the position control device 200 for the electromagnetically driven actuator according to the second embodiment is substantially the same as the configuration of the position control device 100 for the electromagnetically driven actuator according to the first embodiment. However, the position control device 200 is different from the position control device 100 in that it includes a multiplication unit (first multiplication unit) 71 and a multiplication unit (second multiplication unit) 72.

  The position target signal generation unit 10, the actuator position control model unit 20, the position error detection unit 30, the control filter unit 40, the drive unit 50, and the actuator 60 shown in FIG. 11 have the same configurations as those shown in FIG. . Therefore, the description is omitted. Further, the control unit 90 controls the overall operation of the position control device 200.

  The multiplier 71 multiplies the position target signal ref_p by γ times. The multiplier 71 outputs the position target signal γ · ref_p multiplied by γ. The multiplier 72 multiplies the model position detection signal act_p_n by γ times. The multiplier 72 outputs a model position detection signal γ · act_p_n multiplied by γ times. Hereinafter, the reason why the multiplication units 71 and 72 are provided in the second embodiment will be described.

12A and 12B show the drive signal Vdr_p of the actuator 60 when the back electromotive force constant K _em of the actuator 60 is changed in the position control device 200 for the electromagnetically driven actuator according to the second embodiment. It is a figure which shows the frequency characteristic of the position detection signal act_p with respect to. FIG. 12A shows the frequency characteristic (gain characteristic) of the gain. The horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB]. FIG. 12B shows a frequency characteristic (phase characteristic) of the phase. The horizontal axis is frequency [Hz] and the vertical axis is phase [deg].

In FIG. 12A and FIG. 12B, characteristic curves GA1 and PH1 represented by dotted lines indicate frequency characteristics when K _em = K _emn / 2. Characteristic curves GA2 and PH2 represented by solid lines indicate frequency characteristics when K _em = K _emn . Characteristic curves GA3 and PH3 represented by a one-dot chain line indicate frequency characteristics when K _em = K _emn × 2.

As shown in FIG. 12A, when the counter electromotive force constant K _em is changed, the gain characteristics are changed in both the low frequency region LOWa and the high frequency region HIGHa. That is, in the case of K _em = K _emn / 2 and K _em = K _emn × 2, in the above formula (5), P (s) ≠ P _n (s) in the low frequency region LOWa. For this reason, the actuator 60 cannot be converged to the position target signal ref_p. Therefore, the position target signal ref_p is corrected in order to converge the actuator 60 to the position target signal ref_p.

  FIGS. 13A and 13B are diagrams illustrating a method of integrating the back electromotive force Vem of the actuator 60 in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment. FIG. 13A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 60 is changed from 0 [deg] to 30 [deg] after 1 second. FIG. 13B shows the back electromotive force Vem of the actuator 60 that is generated when the position target signal ref_p of the actuator 60 is changed from 0 [deg] to 30 [deg] after 1 second. The back electromotive force of the actuator 60 is a back electromotive force generated in the coil of the actuator 60.

  The position of the position detection signal act_p when the position target signal ref_p in the position control of the movable part of the actuator 60 is changed can be obtained by integrating the speed of the movable part of the actuator 60. On the other hand, the back electromotive force Vem of the actuator 60 is proportional to the speed of the movable part. Therefore, the model back electromotive force Vemn of the actuator nominal model unit 25 obtained by time integration is compared with the one obtained by integrating the back electromotive force Vem of the actuator 60 by a predetermined time. Thereby, the correction amount of the position target signal ref_p for converging the position of the movable part of the actuator 60 to the position indicated by the position target signal ref_p can be obtained.

  The integral value (first counter electromotive force integral value) of the counter electromotive force Vem of the actuator 60 is expressed by the following equation (6).

  In the formula (6), N is represented by the following formula (7).

  In Equation (7), round (T3 / ts) means an integer closest to T3 / ts. That is, round (T3 / ts) is an integer obtained by rounding off the decimal point.

  The time T3 is at least a time T4 until the position indicated by the model position detection signal act_p_n converges to the position P2 when the position indicated by the model position target signal ref_p_n in the actuator position control model unit 20 is changed from the position P1 to the position P2. Including. That is, time T3> time T4. Time T3 is, for example, a predetermined reference time. Time T4 is time T4 in FIG.

  Here, “converge” means that the position indicated by the model position detection signal act_p_n is set to the position P2. That is, it means that the position indicated by the model position detection signal act_p_n stays within 5% of the position P2, for example. The 5% may be 2%, for example, and is not limited. Note that the equation for obtaining the integral value of Vem is not limited to Equation (6).

  FIG. 14 shows the relationship between the convergence value [deg] of the position detection signal act_p of the actuator 60 and the integral value [V · s] of the back electromotive force Vem in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment. FIG. FIG. 14 considers the error of the back electromotive force Vem. The error of the counter electromotive force Vem is 1% of the maximum value of the counter electromotive force Vem in FIG.

  As shown in FIG. 14, it can be seen that even when the back electromotive force Vem of the actuator 60 changes, the convergence value of the position detection signal act_p and the integrated value of the back electromotive force Vem are proportional. This is because the influence of the change in the back electromotive force Vem is so small that it can be ignored compared to the integrated value of the back electromotive force Vem.

  FIG. 13A and FIG. 13B show a method for obtaining the integral value of the back electromotive force Vem of the actuator 60. However, the integral value (second counter electromotive force integral value) of the model counter electromotive force Vemn of the actuator nominal model unit 25 can also be obtained by the same method.

  At this time, it is ideal that the model position target signal ref_p_n of the actuator position control model unit 20 and the position target signal ref_p in the position control of the movable part of the actuator 60 have the same value. In Expression (8), γ is obtained, and the position target signal ref_p and the model position detection signal act_p_n are each corrected by multiplying by γ. As a result, a signal γ · Vdr_p obtained by multiplying the drive signal Vdr_p by γ is input to the actuator 60.

  The drive signal Vdr_p in the position control of the movable part of the actuator 60 and the model drive signal Vdr_p_n in the actuator position control model unit 20 are equal. Therefore, the signal γ · Vdr_p input to the actuator 60 has the same value as the signal γ · Vdr_p_n obtained by multiplying the model drive signal Vdr_p_n by γ.

The multipliers 71 and 72 receive the position target signal ref_p from the position target signal generator 10 and the model position detection signal act_p_n from the actuator position control model unit 20, respectively. Then, the multipliers 71 and 72 output signals each obtained by multiplying the position target signal ref_p and the model position detection signal act_p_n by γ. γ is expressed by the following equation (8).
For example, the multipliers 71 and 72 store γ in advance. However, the storage unit that stores γ may be provided outside the multiplication units 71 and 72.

15A and 15B show the step response of the actuator 60 when the back electromotive force constant K _em of the actuator 60 is changed in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment. FIG.

  FIG. 15A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 60 is changed from 0 [deg] to 30 [deg] after 1 second has elapsed. The vertical axis represents the position target signal ref_p [deg], and the horizontal axis represents time [sec].

  FIG. 15B shows a step response of the position detection signal act_p when the position target signal ref_p of the actuator 60 is changed from 0 [deg] to 30 [deg] after 1 second has elapsed. The vertical axis represents the position detection signal act_p [deg], and the horizontal axis represents time [sec].

  In the electromagnetically driven actuator position control apparatus 200 according to the second embodiment shown in FIG. 15B, the multiplication units 71 and 72 perform γ times correction.

In FIG. 15 (a) and FIG. 15 (b), characteristic curves RE1 and A1 represented by dotted lines indicate step responses when K _em = K _emn / 2. Characteristic curves RE2 and A2 represented by solid lines indicate step responses when K _em = K _emn . Characteristic curves RE3 and A3 represented by a one-dot chain line show a step response when K _em = K _emn × 2.

As shown in FIG. _15A , in the case of K _em = K _emn / 2 shown by a characteristic curve represented by a dotted line, the position is changed from 0 [deg] to 15 [ deg]. In the case of K _em = K _emn × 2 represented by a one-dot chain line, the position changes from 0 [deg] to 60 [deg] after 1 second.

As shown in FIG. 15B, it can be seen that the position detection signal act_p converges to 30 [deg] of the position target signal ref_p after the time T4 has elapsed. Therefore, even if the back electromotive force constant K _em is changed, each of the position target signal ref_p and the model position detection signal act_p_n is corrected by γ times so that the actuator 60 is converged to 30 [deg] of the position target signal ref_p. be able to.

<< 2-2 >> Operation Next, the operation of the electromagnetically driven actuator position control apparatus 200 according to the second embodiment will be described with reference to FIGS. That is, a method for controlling the position of the electromagnetically driven actuator will be described. The operation from FIG. 16 to FIG. 19 is executed based on, for example, a control signal output from the control unit 90 in FIG.

  FIG. 16 is a flowchart illustrating an example of processing from starting to stopping of the actuator 60 in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment.

  As shown in FIG. 16, when the actuator 60 is activated, an execution sequence # 2 of the actuator position control model unit 20 is executed in accordance with a control signal output from the control unit 90 (step S3). The execution sequence # 2 of the actuator position control model unit 20 will be described with reference to FIG.

  Next, pre-drive processing of the actuator 60 is performed according to the control signal output from the control unit 90 (step S4). The pre-drive process for the actuator 60 will be described with reference to FIG.

  Next, the drive sequence # 2 of the actuator 60 is executed in accordance with the control signal output from the control unit 90 (step S5). The drive sequence # 2 of the actuator 60 will be described with reference to FIG.

  FIG. 17 is a flowchart showing an example of an execution sequence # 2 of the actuator position control model unit 20 in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment. FIG. 17 shows the details of the execution sequence # 2 of the actuator position control model unit 20 in step S3 of FIG.

  As shown in FIG. 17, when the execution sequence # 2 of the actuator position control model unit 20 is started, the control unit 90 initializes an index k that is a variable to 0 (step S31). The index k is an integer of 0 or more.

  The index k is incremented by 1 every sampling period ts in the position control of the movable part of the actuator 60. The increment of the index k will be described in step S36 described later. The index k is an index for obtaining the model position detection signal act_p_n and the model back electromotive force Vemn from the actuator nominal model unit 25.

  Next, the execution sequence # 2 of the actuator position control model unit 20 shown in FIG. 2 is executed (step S32).

  Next, in the actuator position control model unit 20, the model position detection signal act_p_n at the index k is acquired (step S33).

  Next, the actuator position control model unit 20 acquires the model back electromotive force Vemn at the index k (step S34).

  Next, the control unit 90 determines whether or not the time T3 has elapsed since the start of the execution sequence # 2 of the actuator position control model unit 20 in step S30 (step S35). The time T3 is the time T3 described with reference to FIGS. 13 (a) and 13 (b). Therefore, description of time T3 is abbreviate | omitted here.

  If the determination in step S35 is “NO”, the process proceeds to step S36. That is, if the time T3 has not elapsed, the process proceeds to step S36.

  The index k is incremented by 1 (step S36). That is, in step S36, “1” is added to the index k (k = k + 1).

  That is, the position indicated by the model position detection signal act_p_n does not converge to the position P2. For this reason, in the actuator position control model unit 20, the process of obtaining the model position detection signal act_p_n at the index k to which “1” is added (step S33), and in the actuator position control model unit 20, “1” is added. The process (step S34) for obtaining the model back electromotive force Vemn at the index k is performed again.

  If the determination in step S35 is “YES”, the process proceeds to step S37. That is, when the time T3 has elapsed, the process proceeds to step S37.

  In the actuator position control model unit 20, an integral value of the model back electromotive force Vemn is calculated (step S37). The integral value of the model back electromotive force Vemn is calculated using Expression (6). Then, the execution sequence # 2 (step S3) of the actuator position control model unit 20 is completed.

  FIG. 18 is a flowchart showing an example of actuator drive pre-processing in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment. FIG. 18 shows details of the pre-drive process for the actuator 60 in step S4 of FIG.

  As shown in FIG. 18, when the control unit 90 starts the pre-drive process of the actuator 60, the index k is initialized to 0 (step S41).

  The index k is incremented by 1 every sampling cycle ts in the position control of the movable part of the actuator 60. The increment of the index k will be described in step S44 described later. The index k is an index when the position control of the movable part of the actuator 60 and the back electromotive force Vem are acquired.

  Next, the position target signal ref_p for the index k and the model position detection signal act_p_n for the actuator position control model unit 20 are input to the position error detection unit 30 (step S42). Specifically, the difference between the position target signal ref_p (k) at the index k and the model position detection signal act_p_n (k) at the index k (ref_p (k) −act_p_n (k)) is output from the position error detection unit 30. The

  Next, in the actuator 60, the back electromotive force Vem at the index k is acquired (step S43).

  Next, the controller 90 determines whether or not the time T3 has elapsed since the start of the pre-drive process for the actuator 60 in step S40 (step S44). Time T3 is the time T3 described with reference to FIG. Therefore, description of time T3 is abbreviate | omitted here.

  If the determination in step S44 is “NO”, the process proceeds to step S45. That is, if the time T3 has not elapsed, the process proceeds to step S45.

  The index k is incremented by 1 (step S45). In this case, the position target signal ref_p and the model position detection signal act_p_n at the index k to which “1” is added in step S42 are input to the position error detection unit 30, and “1” is added in step S43. The process of acquiring the back electromotive force Vem at the index k is continued.

  If the determination in step S44 is “YES”, the process proceeds to step S46. In step S46, an integral value of Vem is calculated. The integral value of Vem is calculated using the above equation (6).

  Next, γ is calculated (step S47). γ is calculated using the above equation (8). Then, the pre-drive process (step S4) of the actuator 60 is completed.

  FIG. 19 is a flowchart showing an example of a drive sequence # 2 of the actuator 60 in the electromagnetically driven actuator position control apparatus 200 according to the second embodiment. FIG. 19 shows details of the actuator drive sequence # 2 in step S5 of FIG.

  As shown in FIG. 19, when the drive sequence # 2 of the actuator 60 is started, the index k is initialized to 0 (step S51).

  The index k is incremented every sampling period ts in the position control of the movable part of the actuator 60. The index k is an index for controlling the position of the movable part of the actuator 60.

  Next, the position target signal γ · ref_p for the index k and the model position detection signal γ · act_p_n for the actuator position control model unit 20 are input to the position error detection unit 30 (step S52). Specifically, the difference (γ · ref_p (k) −γ · act_p_n (k)) between γ · ref_p (k) at the index k and γ · act_p_n (k) at the index k is output from the position error detection unit 30. Is done.

  Next, it is determined whether or not the index k is larger than T3 / ts (step S53). In step S53, in the actuator position control model unit 20, has the time elapsed from the change of the model position target signal ref_p_n from the position P1 to the position P2 until the position indicated by the model position detection signal act_p_n converges to the position P2? This is equivalent to judging whether. Thereby, in the position control of the movable part of the actuator 60, it can be determined whether or not the position indicated by the position detection signal act_p has converged to the position P2.

  If the determination in step S53 is “NO”, the process proceeds to step S54. That is, when the index k is not greater than T3 / ts, the process proceeds to step S54.

  The index k is incremented by 1 (step S54). That is, the position indicated by the position detection signal act_p has not converged to the position P2. For this reason, the process in which the position target signal γ · ref_p and the position detection signal γ · act_p_n at the index k are input to the position error detection unit 30 in step S52 is performed again.

  If the determination in step S53 is “YES”, the process proceeds to step S55. That is, when the index k is larger than T3 / ts, the actuator drive sequence # 2 is completed (step S55). That is, it is determined that the position indicated by the position detection signal act_p has converged to the position P2. For this reason, the drive process (step S6) of the actuator 60 is completed.

  In FIG. 17, the model position detection signal act_p_n in the actuator position control model unit 20 is selected as the signal acquired in step S33. However, any one of the model position error signal er_p_n, the model position control signal cont_p_n, and the model drive signal Vdr_p_n may be selected.

  When the model position error signal er_p_n is used, the model position error signal er_p_n at the index k is input to the control filter unit 40 in step S42 in FIG. Further, in step S <b> 52 of FIG. 19, the position error signal γ · er_p_n at the index k is input to the control filter unit 40.

  When the model position control signal cont_p_n is used, the model position control signal cont_p_n at the index k is input to the drive unit 50 in step S42 in FIG. Further, in step S <b> 52 of FIG. 19, the control signal γ · cont_p_n at the index k is input to the drive unit 50.

  When the model drive signal Vdr_p_n is used, the model drive signal Vdr_p_n at the index k is input to the actuator 60 in step S42 in FIG. Further, in step S <b> 52 of FIG. 19, the drive signal γ · Vdr_p_n at the index k is input to the actuator 60.

  The same effect can be obtained regardless of which of the position detection signal act_p_n, the model position error signal er_p_n, the model position control signal cont_p_n, and the model drive signal Vdr_p_n.

<< 2-3 >> Effect According to the position control device 200 and the position control method for the electromagnetically driven actuator according to the second embodiment, the same effect as the position controller 100 for the electrically driven actuator according to the first embodiment is obtained. be able to.

  According to the electromagnetically driven actuator position control apparatus 200 according to the second embodiment, the electromagnetically driven actuator position control apparatus 200 includes the multiplication units 71 and 72. Multipliers 71 and 72 multiply the position target signal ref_p and the model position detection signal act_p_n by γ times. Multipliers 71 and 72 output signals corrected to γ times. A model position detection signal γ · act_p_n generated and corrected by the actuator position control model unit 20 is input to the position error detection unit 30.

The position control unit 80 performs position control of the movable part of the actuator 60 without using a position sensor by open loop control using the model position detection signal γ · act_p_n. Accordingly, the position control unit 80 can converge the actuator 60 to the position target signal ref_p even if the back electromotive force constant K _em of the actuator 60 changes. Therefore, the position controller 80 can accurately control the position of the movable part of the actuator 60 even if the back electromotive force constant K _em of the actuator 60 changes.

<< 3 >> Modifications The present invention is not limited to the above-described embodiment, and can be implemented in various modes without departing from the gist of the present invention.

  In the above embodiment, a DC motor is exemplified as the actuator 60. However, the present invention is not limited to this, and can be applied to an actuator other than a DC motor as long as it has a coil that generates a counter electromotive force.

  For example, the present invention can also be applied to an objective lens actuator in an optical pickup of an optical disc recording / reproducing apparatus. In this case, the actuator includes, for example, a fixed portion and a movable portion that moves relative to the fixed portion by electromagnetic interaction with the fixed portion. For example, a magnet is provided in the fixed part, a coil is provided in the movable part, and the movable part is moved by electromagnetic force generated by energizing the coil. The coil of the movable part is an actuator drive coil. This actuator is a focus actuator of an optical pickup that drives the objective lens held by the movable part. In this example, the same effects as those described in the above embodiment can be obtained.

100, 200 Position control device for electromagnetic drive type actuator, 10 Position target signal generation unit, 20 Actuator position control model unit, 21 Model position target signal generation unit, 22 Model position error detection unit, 23 Model control filter unit, 24 Model drive Unit, 25 actuator nominal model unit, 30 position error detection unit, 40 control filter unit, 50 drive unit, 60 actuator (electromagnetic drive type actuator), 71, 72 multiplication unit, 80 position control unit, 90 control unit, 251a model subtraction 252a model voltage current converter, 253a model current torque converter, 254a model torque speed converter, 255a model speed counter electromotive force converter, 256a model speed position converter, 257a model position unit converter, 601a subtractor, 602a voltage Current converter, 603a current torque converter, 604a torque speed converter, 605a speed counter electromotive force converter, 606a speed position converter, 607a position unit converter, ref_p position target signal, er_p position error signal, cont_p position control signal , Vdr_p drive signal, act_p position detection signal, ref_p_n model position target signal, er_p_n model position error signal, cont_p_n model position control signal, Vdr_p_n model drive signal, act_p_n model position detection signal, Vdr11 voltage difference signal, Idr11 Current), τ11 torque (first torque), v11 speed (first speed), Vem counter electromotive force (first counter electromotive force), p11 position (first position), Vdr21 model voltage difference signal, Idr21 Current (second Current), τ21 torque (second torque), v21 speed (second speed), Vemn model back electromotive force (second back electromotive force), p21 position (second position), R _m coil resistance, L _m coil inductance, K _tm torque constant, J _m inertia, K _em counter electromotive force constant, R _mn coil resistance, L _mn coil inductance, K _tmn torque constant, J _mn inertia, K _emn counter electromotive force constant, LOWa Low frequency Region, HIGHha high frequency region, frequency at which f0 gain is 0 [dB], frequency at which f1 phase is -180 [deg], phase at f0PH frequency f0, gain at f1GA frequency f1, ts sampling period.

An electromagnetically driven actuator position control apparatus according to an aspect of the present invention is an apparatus for controlling the position of a movable part of an electromagnetically driven actuator, and the movable part in position control of the movable part of the electromagnetically driven actuator. a target position signal generator for outputting a target position signal indicating the target position of the having a simulated model transfer characteristics of transfer characteristics electromagnetically driven actuator has,-out based on the model transfer characteristic using feedback control An actuator position control model unit that outputs a model position detection signal indicating the position of the movable unit of the electromagnetic drive actuator; and the movable unit of the electromagnetic drive actuator based on the position target signal and the model position detection signal And a position control unit for controlling the position.

A position control method for an electromagnetically driven actuator according to another aspect of the present invention is a method for controlling the position of a movable part of an electromagnetically driven actuator, wherein the movable in position control of the movable part of the electromagnetically driven actuator is performed. and outputting a position target signal indicating the target position of parts, said by actuator position control model section with a simulated model transfer characteristics of transfer characteristics with the electromagnetic drive type actuator,-out based on the model transfer characteristic, the feedback control Outputting a model position detection signal indicating the position of the movable part of the electromagnetically driven actuator using the position of the movable part of the electromagnetically driven actuator based on the position target signal and the model position detection signal. Controlling the position.

An electromagnetically driven actuator position control apparatus according to an aspect of the present invention is an apparatus for controlling the position of a movable part of an electromagnetically driven actuator, and the movable part in position control of the movable part of the electromagnetically driven actuator. of the target position signal generator for outputting a target position signal indicating the target position, the having a simulated model transfer characteristics of transfer characteristics electromagnetically driven actuator has, in the electromagnetic drive type actuator based on the said model transfer characteristic An actuator position control model unit that outputs a model position detection signal indicating the position of the movable unit, and a position that controls the position of the movable unit of the electromagnetically driven actuator based on the position target signal and the model position detection signal And a control unit. The actuator position control model unit simulates the position detection signal indicating the position of the movable part of the electromagnetic drive actuator based on the model transfer characteristic simulating the transfer characteristic of the electromagnetic drive actuator. An actuator nominal model unit that outputs a signal, a model position target signal generation unit that outputs a model position target signal indicating a target position in position control of the actuator nominal model unit, the model position target signal, and the model position detection signal, A model position error detection unit that outputs a model position error signal that is a difference between the model position, a model control filter unit that outputs a model position control signal for controlling the actuator nominal model unit from the model position error signal, and the model position From the control signal, the actuator nomina Having a model driver for outputting a model driving signals for driving the model unit.

A position control method for an electromagnetically driven actuator according to another aspect of the present invention is a method for controlling the position of a movable part of an electromagnetically driven actuator, wherein the movable in position control of the movable part of the electromagnetically driven actuator is performed. and outputting a position target signal indicating the target position of the parts, the actuator position control model section with the simulated model transfer characteristics of transfer characteristics electromagnetically driven actuator has, the electromagnetic drive based on the said model transfer characteristic Outputting a model position detection signal indicating the position of the movable part of the type actuator, and controlling the position of the movable part of the electromagnetically driven actuator based on the position target signal and the model position detection signal; Have. The actuator position control model unit simulates the position detection signal indicating the position of the movable part of the electromagnetic drive actuator based on the model transfer characteristic simulating the transfer characteristic of the electromagnetic drive actuator. A step of outputting a signal, a step of outputting a model position target signal indicating a target position in the step of outputting the model position detection signal, and a model position error which is a difference between the model position target signal and the model position detection signal A model for executing a step of outputting a signal, a step of outputting a model position control signal based on the model position error signal, and a step of outputting the model position detection signal based on the model position control signal Outputting a drive signal.

Claims (12)

A position control device for controlling the position of a movable part of an electromagnetically driven actuator,
A position target signal generator for outputting a position target signal indicating a target position of the movable part in the position control of the movable part of the electromagnetically driven actuator;
Actuator position control model unit having a model transfer characteristic simulating the transfer characteristic of the electromagnetic drive actuator and outputting a model position detection signal indicating the position of the movable part of the electromagnetic drive actuator based on the model transfer characteristic When,
A position controller that controls the position of the movable part of the electromagnetically driven actuator based on the position target signal and the model position detection signal;
A position control device for an electromagnetically driven actuator.   2. The electromagnetic drive type according to claim 1, wherein the position control unit controls the position of the movable part of the electromagnetic drive actuator based on a position error signal that is a difference between the position target signal and the model position detection signal. Actuator position control device. The actuator position control model unit repeatedly performs a process of outputting a model position detection signal candidate indicating the position of the movable part of the electromagnetically driven actuator based on the model transfer characteristic until a predetermined reference time is reached, The position control apparatus for an electromagnetically driven actuator according to claim 1, wherein the model position detection signal candidate at the reference time is the model position detection signal. The position controller is
A position error detector that outputs a position error signal that is a difference between the position target signal and the model position detection signal;
A control filter unit that outputs a position control signal for controlling the position of the movable part of the electromagnetically driven actuator from the position error signal;
The position control apparatus of the electromagnetic drive type actuator of any one of Claim 1 to 3 which has a drive part which outputs the drive signal for driving the said electromagnetic drive type actuator from the said position control signal. The electromagnetically driven actuator is
A subtractor that outputs a voltage difference signal indicating a difference between the drive signal and the first counter electromotive force;
A model voltage-to-current converter that outputs a first current based on the voltage difference signal;
A current torque converter for outputting a first torque based on the first current;
A torque speed converter for outputting a first speed based on the first torque;
A speed counter electromotive force converter that outputs the first counter electromotive force based on the first speed;
A speed position converter that outputs a first position based on the first speed;
The position control device for an electromagnetically driven actuator according to claim 4, further comprising: a position unit conversion unit that outputs the position target signal based on the first position. The actuator position control model unit is
An actuator nominal model unit that outputs the model position detection signal simulating a position detection signal indicating the position of the movable part of the electromagnetically driven actuator;
A model position target signal generating unit that outputs a model position target signal indicating a target position in the position control of the actuator nominal model unit; and
A model position error detector that outputs a model position error signal that is a difference between the model position target signal and the model position detection signal;
A model control filter unit that outputs a model position control signal for controlling the actuator nominal model unit from the model position error signal;
The position control apparatus for an electromagnetically driven actuator according to claim 5, further comprising: a model drive unit that outputs a model drive signal for driving the actuator nominal model unit from the model position control signal. The position target signal and the model position target signal are signals having the same value,
The control filter unit and the model control filter unit have the same configuration,
The position control device for an electromagnetically driven actuator according to claim 6, wherein the drive unit and the model drive unit have the same configuration. The actuator nominal model part is:
A model subtraction unit that outputs a model voltage difference signal indicating a difference between the drive signal and a second counter electromotive force;
A model voltage / current converter for outputting a second current based on the model voltage difference signal;
A model current torque converter for outputting a second torque based on the second current;
A model torque speed converter for outputting a second speed based on the second torque;
A model speed counter electromotive force conversion unit that outputs the second counter electromotive force based on the second speed;
A model speed position converter that outputs a second position based on the second speed;
The position control apparatus for an electromagnetically driven actuator according to claim 6, further comprising: a model position unit conversion unit that outputs the model position detection signal based on the second position. A first inverse obtained by integrating the first counter electromotive force in the electromagnetic drive actuator when the position target signal in the position control of the electromagnetic drive actuator is changed is integrated for the predetermined time. Obtained by integrating the second back electromotive force in the actuator nominal model unit for a predetermined time when the model position target signal in the actuator position control model unit is changed with respect to the electromotive force integral value. A first multiplier that obtains a ratio of a second counter electromotive force integral value in advance and multiplies the position target signal by the ratio;
A second multiplier for acquiring the ratio in advance and multiplying the model position detection signal by the ratio;
The position control device for an electromagnetically driven actuator according to claim 8. The position control device for an electromagnetically driven actuator according to claim 9, wherein the predetermined time includes at least a time until the model position detection signal converges to the model position target signal. A position control method for controlling the position of a movable part of an electromagnetically driven actuator,
Outputting a position target signal indicating a target position of the movable part in position control of the movable part of the electromagnetically driven actuator;
A model position detection signal indicating the position of the movable part of the electromagnetic drive actuator is output based on the model transfer characteristic by an actuator position control model unit having a model transfer characteristic simulating the transfer characteristic of the electromagnetic drive actuator. And steps to
Controlling the position of the movable portion of the electromagnetically driven actuator based on the position target signal and the model position detection signal;
The position control method of the electromagnetic drive type actuator which has this. Further comprising obtaining the model position detection signal;
In the step of acquiring the model position detection signal, the actuator position control model unit performs in advance a process of outputting a model position detection signal candidate indicating the position of the movable part of the electromagnetically driven actuator based on the model transfer characteristic. The position control method for an electromagnetically driven actuator according to claim 11, wherein the model position detection signal candidate at the reference time is used as the model position detection signal repeatedly until a predetermined reference time is reached.

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