JP5217217B2 - Damping device and device to be damped provided with damping device - Google Patents

Description

The present invention relates to a vibration suppression device that performs vibration suppression control of a vibration suppression target device such as an automobile and a vibration suppression target device including the vibration suppression device .

  2. Description of the Related Art Conventionally, a vehicle vibration control apparatus using an actuator that generates a damping force according to an engine speed by using a reaction force generated by driving a movable part is known (see, for example, Patent Document 1). ). According to this device, since the vehicle vibration can be predicted from the engine speed and the force applied to the vehicle body from the engine by the actuator can be offset, the vibration of the vehicle body can be reduced. Such a vibration damping device uses a linear actuator that reciprocates, and vibrates the auxiliary mass to reduce the vibration of the vibration damping object.

On the other hand, as a linear actuator, a linear actuator is known in which an elastic support portion (plate spring) holds a mover at a fixed position and elastically deforms itself to support the mover (see, for example, Patent Document 2). ). Since this linear actuator does not cause wear or sliding resistance on the mover, high reliability can be obtained without deterioration of shaft support accuracy even after a long period of use. There is no loss of power consumption, and performance can be improved. In addition, the bulky coil and the elastic support portion are arranged closer to each other by supporting the elastic support portion on the stator at a position farther than the coil with the mover as a base point while avoiding interference with the coil. Therefore, the linear actuator can be reduced in size.
JP-A-61-220925 JP 2004-343964 A

By the way, when the vibration of the vehicle body of an automobile is reduced using the linear actuator described in Patent Document 2, it is necessary to match the vibration direction to be reduced with the vibration direction of the auxiliary mass supported by the linear actuator. When the vibration direction to be reduced is the same direction as the gravity direction, it is necessary to reciprocate the mover of the linear actuator in the gravity direction (vertical direction) to vibrate the auxiliary mass. In this case, a phenomenon occurs in which the mover shifts in the neutral position (origin shift) due to its own weight. When such origin deviation occurs, there are the following problems in performing vibration suppression control.
(1) Since the neutral position (initial position) of the mover is deviated, driving in the deviated state increases the amplitude on one side (in the direction of gravity), applying excessive stress to the leaf spring, and setting the allowable amplitude limit of the leaf spring. There is a possibility of exceeding. For this reason, the possibility of breakage of the leaf spring is increased, and the reliability of the entire linear actuator is lowered.
(2) Since the control force (reaction force) caused by vibrating the auxiliary mass is determined by the acceleration determined by the mass and the movable range (stroke), the required control force is output when the movable range of the mover is limited. This is not possible and the vibration control effect is insufficient.
(3) Since the non-linearity of the leaf spring increases as the stroke increases, if the initial position is shifted, the linear region of the leaf spring is deviated, and vibration control is difficult.

On the other hand, in order to solve the origin deviation, the method of correcting the origin deviation by providing a new spring for the linear actuator has the following problems.
(4) When mounted on an automobile, the height in the stroke direction must be reduced because the mounting space is small. However, if an external spring is arranged in series in the stroke direction of the mover, the size of the damping device will be in the stroke direction. It becomes long (high).
(5) In the vicinity of the natural frequency of the vibration control device, the resonance magnification is high, and the phase change of the amplitude of the movable part with respect to the command is large, so the natural frequency of the controlled object (vehicle body) and the natural frequency of the vibration control device are separated. It is easier to control. Further, since the frequency of the excitation force (engine vibration) is in the upper range from the idling frequency, it is easier to control the natural frequency of the vibration damping device than the idling frequency. However, the addition of an external spring increases the natural frequency of the entire vibration damping device, and is close to or within the frequency range to be controlled, thus impairing controllability.

The present invention has been made in view of such circumstances, and provides a vibration damping device capable of correcting a shift in the neutral position of the mover due to the weight of the auxiliary mass and a vibration suppression target device including the vibration damping device. The purpose is to do.

Vibration damping device of the present invention, the auxiliary mass member, an actuator for reciprocating said auxiliary mass member, a control for vibration suppression using a reaction force when the auxiliary mass member was reciprocated by the actuator and a control means for outputting a signal to the actuator, and a offset compensation means that a direct current for correcting the deviation of the neutral position of the actuator is added to the control signal due to the weight of the auxiliary mass, the actuator, A pair of coils, a mover made of a magnetic material, to which the auxiliary mass member is joined, and a pair of magnetic poles that are different from each other along the reciprocating direction of the auxiliary mass member and whose opposing surfaces are different from each other. A stator including a permanent magnet; and a leaf spring that supports the mover with respect to the stator so as to be movable in the reciprocating direction. And when the current flows through the coil in a predetermined direction, a magnetic flux loop formed in the permanent magnet causes one of the reciprocating directions to extend between the different magnetic poles disposed along the reciprocating direction. When a current in a direction opposite to the predetermined direction flows through the coil, the coil moves to the other of the reciprocating directions by a magnetic flux loop formed in the permanent magnet .

A vibration suppression target device of the present invention includes the above-described vibration suppression device .

  According to the present invention, since the direct current for correcting the neutral position shift of the actuator due to the weight of the auxiliary mass is added to the control signal, the actuator mover can always be driven within the normal stroke range. An effect is obtained. This makes it possible to generate a necessary control force and reduce vibration without impairing the performance of vibration suppression control. In addition, by adjusting the magnitude of the direct current, it is possible to operate within the range of the positive current, so that it is possible to drive a single power source and to reduce the cost of the power source and the power amplifier.

  Hereinafter, a vibration damping device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the embodiment. In this figure, reference numeral 1 denotes a control target device 4 that is fixed to a control target device 4 that is an object of vibration suppression control, and an auxiliary mass member is driven by a linear actuator (for example, a reciprocating motor) provided therein. It is a vibration control device that suppresses vibration. The control target device 4 here is, for example, an automobile body.

  Reference numeral 2 denotes a controller that controls the vibration damping device 1. Here, in order to reduce the vibration of the vehicle body due to the engine rotation of the automobile, information on the number of revolutions of the engine mounted in the automobile to be controlled is input and the vibration damping device 1 is controlled. Reference numeral 3 denotes a power amplifier that drives the vibration damping device 1. Reference numeral 11 is an auxiliary mass (weight) added to the control target device 4. Reference numeral 12 denotes a stator constituting a linear actuator, which is fixed to the control target device 4. Reference numeral 13 denotes a mover constituting a linear actuator, which reciprocates in the gravitational direction (up and down movement on the paper surface of FIG. 1). The vibration damping device 1 is fixed to the control target device 4 so that the direction of vibration to be suppressed of the control target device 4 matches the reciprocating direction (thrust direction) of the mover 13. Reference numeral 14 denotes a leaf spring that supports the mover 13 and the auxiliary mass 11 so as to be movable in the thrust direction. Reference numeral 15 denotes a shaft that joins the mover 13 and the auxiliary mass 11, and is supported by a leaf spring 14. Reference numeral 5 denotes an offset correction unit for correcting the shift of the neutral position of the movable element 13 due to the weight of the auxiliary mass 11, and a DC current value corresponding to an offset amount obtained from the mass of the auxiliary mass and the spring constant of the leaf spring. Output. The controller 2 adds a DC component based on the DC current value output from the offset correction unit 5 to the control signal output to the power amplifier 3, and adds the control signal to which the DC component corresponding to the offset amount is added to the power amplifier 3. Output to. The power amplifier 3 controls the reciprocation of the mover 13 by controlling the current output to the linear actuator based on the control signal to which the DC component output from the controller 2 is added.

  Next, the operation of the vibration damping device 1 shown in FIG. 1 will be described. When an alternating current (sine wave current, rectangular wave current) is passed through a coil (not shown) constituting the linear actuator, the magnetic flux is changed from the S pole to the N pole in the permanent magnet when a current in a predetermined direction flows through the coil. As a result, a magnetic flux loop is formed. As a result, the mover 13 moves in a direction (upward) against gravity. On the other hand, when a current in a direction opposite to the predetermined direction is passed through the coil, the mover 13 moves in the direction of gravity (downward). The mover 13 repeats the above operation by alternately changing the direction of the current flow to the coil by the alternating current, and reciprocates in the axial direction of the shaft 15 with respect to the stator 12. As a result, the auxiliary mass 11 joined to the shaft 15 vibrates in the vertical direction. By controlling the acceleration of the auxiliary mass 11 based on the control signal output from the controller 2, the control force can be adjusted so as to cancel the vibration of the controlled object, and the vibration of the controlled object device 4 can be reduced. .

  In the linear actuator shown in FIG. 1, each leaf spring 14 does not slide and move the mover and supports the mover 13, but holds the mover 13 at two locations on the upper end side and the lower end side of the shaft 15. The movable element 13 is supported so that it can reciprocate in the axial direction of the shaft 15 by elastically deforming itself. As a result, neither the wear nor the sliding resistance occurs in the mover 13, so that the accuracy of the shaft support is not deteriorated even after a long period of use, and high reliability is obtained and the consumption due to the sliding resistance is obtained. There is no loss of power, and performance can be improved.

  Next, with reference to FIG. 2 and FIG. 3, the operation | movement which the offset correction | amendment part 5 correct | amends the origin deviation of the needle | mover 13 is demonstrated. Since the control force generated by the vibration damping device 1 is determined by the weight (mass) of the auxiliary mass and the acceleration when the auxiliary mass is vibrated, the necessary control force is required to reduce the vibration of the automobile body and the like. Based on this, the weight of the auxiliary mass must be determined. Since the weight of the auxiliary mass 11 cannot be determined based on the spring constant of the plate spring 14, when the vibration control direction coincides with the direction of gravity, as shown in FIG. The bent state becomes the neutral position of the movable element 13. In such a state, if the same control signal as when the mover 13 reciprocates horizontally is given to the linear actuator, the above-described problem occurs. Therefore, the offset correction unit 5 is configured to output to the controller 2 a direct current value corresponding to the deflection amount (offset amount) of the leaf spring 14 obtained from the spring constant of the leaf spring 14 and the weight of the auxiliary mass 11. Has been. The DC current value output by the offset correction unit 5 is obtained in advance as a DC current value corresponding to the deflection amount (offset amount) of the leaf spring 14 obtained from the spring constant of the leaf spring 14 and the weight of the auxiliary mass 11. This is set inside the offset correction unit 5.

  As shown in FIG. 3, the controller 2 adds a direct current component based on the direct current value output from the offset correction unit 5 to the control signal obtained from the input engine speed, and outputs the control signal to the power amplifier 3. To do. As a result, a control signal to which a DC component corresponding to the offset amount is added is output to the power amplifier 3. The power amplifier 3 controls the reciprocation of the mover 13 by controlling the current output to the linear actuator based on the control signal to which the DC component output from the controller 2 is added. This operation makes it possible to correct the offset due to the weight of the auxiliary mass 11.

  The offset correction unit 5 may be provided with input means for inputting a direct current value corresponding to the offset amount, and the direct current value input by the input means may be added to the control signal. By doing in this way, even when the weight of the auxiliary | assistant mass 11 is changed, the amount of direct-current components added can be changed easily.

  In this way, by correcting the offset, the vibration damping device 1 is driven within the normal stroke range (control force generation), the controllability is not impaired, and the necessary control force can be output. Can be obtained. In addition, since the operation is within the normal stroke range of the vibration damping device, the operation can be performed within the allowable amplitude range of the leaf spring 14, and the leaf spring 14 can be driven without applying excessive stress. . For this reason, the life of the leaf spring 14 can be extended, and the reliability of the entire vibration damping device can be improved. Especially when it is installed in an automobile, reliability is very important. In addition, since the leaf spring 14 is driven in the linear region, the controllability (linearity) is excellent, a good damping performance can be obtained, and the unstable operation of the damping device can be prevented.

  Further, since offset correction is performed by adding a direct current, it is not necessary to use an external spring, the stroke direction (height) of the mover is not lengthened, and the apparatus can be downsized (flattened). In particular, when mounted on an automobile, it is important to reduce the size and flatness due to the mounting space. Moreover, since it is not necessary to provide an external spring, a spring holding part, etc., cost can be reduced. In addition, when the direct current component of the current is added, the natural frequency of the entire vibration damping device is not affected, and the controllability and the vibration damping effect are not impaired. In addition, by adjusting the magnitude of the direct current, it is possible to operate within the range of the positive current, so that it is possible to drive a single power source and to reduce the cost of the power source and the power amplifier.

It is a block diagram which shows the structure of one Embodiment of this invention. It is a figure which shows the state of origin deviation. It is explanatory drawing which shows the control signal to which the direct current for offset correction was added.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Damping device, 11 ... Auxiliary mass (weight), 12 ... Linear actuator (stator), 13 ... Linear actuator (mover), 14 ... Leaf spring, 15 ...・ Axis 2 ・ ・ ・ Controller 3 ・ ・ ・ Power amplifier 4 ・ ・ ・ Control target device 5 ・ ・ ・ Offset correction unit

Claims (2)

And auxiliary mass member,
An actuator for reciprocating the auxiliary mass member;
Control means for outputting a control signal to the actuator for suppressing vibration using a reaction force when the auxiliary mass member is reciprocated by the actuator;
Offset correction means for adding a direct current to the control signal to correct a shift in the neutral position of the actuator due to the weight of the auxiliary mass ;
Equipped with a,
The actuator is
Coils,
A mover made of a magnetic material to which the auxiliary mass member is joined;
A stator including a pair of permanent magnets provided such that different magnetic poles are arranged along the reciprocating direction of the auxiliary mass member and the opposed surfaces are different from each other;
A leaf spring that supports the mover movably in the reciprocating direction with respect to the stator,
The mover is arranged between different magnetic poles arranged along the reciprocating direction, and when a current in a predetermined direction flows through the coil, the reciprocating unit is moved by a magnetic flux loop formed in the permanent magnet. When the coil moves in one direction and a current in the direction opposite to the predetermined direction flows through the coil, the coil moves to the other in the reciprocating direction by a magnetic flux loop formed in the permanent magnet. Shaker. A vibration control target device comprising the vibration damping device, comprising the vibration damping device according to claim 1.

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