JP6209430B2 - Voltage controller for actuators using dielectrics - Google Patents

Description

  The present invention relates to an actuator driving technique using a dielectric.

  There is an actuator using a dielectric polymer (hereinafter referred to as “polymer actuator”). FIG. 13 is a diagram showing a basic configuration of an example of a polymer actuator according to a conventional technique. The polymer actuator 11 illustrated in FIG. 13 includes a dielectric polymer 113 disposed between a plate-shaped negative electrode 111 and a mesh plate-shaped positive electrode 112.

  The positive electrode and the negative electrode of the driving device 18 are connected to the negative electrode 111 and the positive electrode 112 of the polymer actuator 11, respectively. The driving device 18 includes a power source 181 and a switch 182 that opens and closes the circuit. FIG. 13A shows a state in which the circuit is opened by the switch 182.

  When the switch 182 closes the circuit (FIG. 13B), a voltage is applied to the dielectric polymer 113. The dielectric polymer 113 negatively charged by the application of the voltage is attracted to the positive electrode 112 side by Coulomb force, and a part of the dielectric polymer 113 is pushed outward from the gap of the mesh plate-shaped positive electrode 112 (upper side in FIG. 13). (FIG. 13C). As a result, the driven body 9 disposed so as to be in contact with the outside of the positive electrode 112 is pushed by the dielectric polymer 113.

  In the present application, the dielectric polymer means a polymer that is negatively charged by application of a voltage and causes displacement due to Coulomb force.

  Patent Document 1 is an example of a document disclosing an actuator using a dielectric polymer. In Patent Document 1, a plurality of positive electrode plates made of stainless steel mesh plates having countless mesh holes on the entire surface and negative electrode plates made of stainless steel foil having no mesh holes are alternately stacked, A polymer actuator having a configuration in which a polymer gel in which a dielectric polymer and a plasticizer are mixed is disposed between a positive electrode plate and a negative electrode plate adjacent to each other is described. The polymer actuator described in Patent Document 1 is deformed so as to contract in a direction perpendicular to the positive electrode plate and the negative electrode plate when a voltage is applied between the positive electrode plate and the negative electrode plate.

  Another example of a document disclosing an actuator using a dielectric polymer is Patent Document 2. Patent Document 2 discloses a shrinkable gel actuator in which a gel made of a dielectric polymer material is interposed between an anode and a cathode, and contracts in the thickness direction when a voltage is applied between the anode and the cathode. Have been described. The contraction-type gel actuator described in Patent Document 2 feedback-controls the voltage to be applied based on the voltage to be applied and a sampling value for displacement caused by the voltage.

JP 2012-125087 A JP2012-130201A

  It is known that actuators using these dielectric polymers have different currents flowing through the circuit when a voltage is applied to the dielectric polymer of the polymer actuator, depending on the length of time elapsed since the last use. It has been. For example, if a constant voltage is continuously applied to a dielectric polymer of a polymer actuator that has not been used for a long time (for example, several hours to several days), the current flowing through the circuit gradually decreases with time. After that, it stabilizes at a constant value. After that, if the application of voltage is stopped and the same voltage is continuously applied to the same dielectric polymer after a short time (for example, several minutes to several hours), the current flowing through the circuit will have elapsed over time. Accordingly, the phenomenon of decreasing is not noticeably generated, and does not substantially change at the above-mentioned constant value from the start of voltage application.

  In the present application, hereinafter, a charged dielectric polymer in which the current flowing through the circuit is not stable when a constant voltage is applied is described as “an unstable polymer polymer”, and when a constant voltage is applied. A dielectric polymer in a charged state in which a current flowing through a circuit is stable is described as “a dielectric polymer in a stable operation state”.

  As described above, when a voltage is applied to a dielectric polymer in an unstable operation state, more current flows through the circuit than when a voltage is applied to a dielectric polymer in a stable operation state. Therefore, when following a conventional technique that does not consider whether the dielectric polymer is in an unstable operation state or a stable operation state, the voltage generator that supplies power to the polymer actuator includes a dielectric polymer in an unstable operation state. When applying a voltage, it must have a power supply capability corresponding to the current flowing through the circuit.

  However, once the dielectric polymer is in a stable operating state, the power supply capability described above becomes excessive. The adoption of a voltage generator having an excessive power supply capability increases the cost of the device itself and increases the standby power, and hinders the overall size and weight of the device from being reduced.

  Further, when the dielectric polymer is in an unstable operation state, the polymer actuator does not always exhibit sufficient performance.

  As mentioned above, the actuator using the dielectric polymer has been described, but other than the polymer showing the characteristic that the current flowing through the circuit differs when a certain voltage is applied depending on the length of time elapsed after the last voltage application. There is a similar problem with actuators using dielectrics.

  The present invention has been made in view of the above-mentioned background, and does not require a voltage generator having an excessive power supply capability, and shows an actuator using a dielectric that exhibits stable performance even after a long period of non-use. The purpose is to provide means for realizing the above.

In order to solve the above-described problem, the present invention provides a voltage control device that instructs a voltage generator to apply a voltage to a dielectric, and the dielectric is generated by applying the voltage performed by the voltage generator according to the instruction of the device itself. A charge state of the dielectric is determined based on a result of comparison between a current flowing through a circuit including a body and a threshold value determined in advance according to a voltage performed by the voltage generator, and based on the determination result A voltage control device that determines whether or not to instruct the voltage generation device to apply a voltage in accordance with a predetermined rule is provided as a first aspect.
According to the voltage control device of the first aspect, if the charged state of the dielectric is a charged state in which the relationship between the applied voltage and the current flowing by the voltage is unstable, the voltage according to a predetermined rule is set. By application, the state is shifted to a stable charged state. As a result, the voltage generator does not need to have an excessive power supply capability for applying an unstable charged dielectric.

In the voltage control device according to the first aspect, a configuration in which the voltage generation device is instructed to apply a voltage that changes with time according to the predetermined rule is adopted as the second aspect. May be.
According to the voltage control device of the second aspect, it is possible to avoid the danger that a high voltage is applied to the unstable charged dielectric and an excessive current flows in the circuit.

Further, in the voltage control device of the first or second aspect, in accordance with the predetermined rule, the voltage generation device is instructed to apply a voltage according to a difference between the current flowing through the circuit and the threshold value. This configuration may be employed as the third aspect.
According to the voltage control device of the third aspect, the dielectric is applied to the dielectric in order to shift the dielectric to a stable charged state according to the degree to which the charged state deviates from the stable charged state. The voltage is determined. Therefore, for example, the closer the dielectric is to a stable charged state, the shorter the time required for the transfer can be by increasing the voltage for shifting the dielectric to a stable charged state.

Further, in the voltage control device according to any one of the first to third aspects, the voltage generation device is instructed to apply at least a predetermined lower limit voltage and an upper limit voltage according to the predetermined rule. May be employed as the fourth aspect.
According to the voltage control device of the fourth aspect, it is confirmed that the dielectric exhibits a stable charged state within the range of the lower limit voltage and the upper limit voltage.

Further, in the voltage control device according to any one of the first to fourth aspects, a configuration in which voltage application is instructed intermittently to the voltage generator according to the predetermined rule is adopted as the fifth aspect. May be.
When the inventor of the present application shifts an unstable charged dielectric to a stable charged state, the transition can be completed in a shorter time by intermittently applying the voltage than by continuously applying the voltage. Found that there is. In such a case, according to the voltage control device of the fifth aspect, the time for shifting the dielectric from an unstable charged state to a stable charged state is shortened.

Further, in the voltage control device according to any one of the first to fifth aspects, an elapsed time after the voltage is last applied to the dielectric by the voltage generation device and a voltage of the last time by the voltage generation device. A configuration in which it is determined whether or not to perform the comparison based on at least one of the charged states of the dielectric when the application is performed may be adopted as a sixth aspect.
According to the voltage control device of the fifth aspect, depending on the length of the elapsed time after the last voltage application to the dielectric and the charge state of the dielectric when the voltage is finally applied. The necessity of applying a voltage for shifting the dielectric to a stable charged state is determined. Therefore, it is desirable to avoid unnecessary processing.

In addition, the present invention includes the voltage control device according to any one of the first to sixth aspects, the voltage generation device, and a current measurement device that measures a current used by the voltage control device for the comparison. As a seventh aspect, the present invention provides a driving device that drives an actuator that uses the displacement generated in the dielectric.
According to the drive device of the seventh aspect, an actuator drive device that does not have excessive power supply capability is realized.

  According to the present invention, a low-cost, low-power consumption, small-sized, light-weighted device including a voltage generator that does not have an excessive power supply capability for responding to the power accompanying the application of a voltage to an unstable charged dielectric. An actuator exhibiting stable performance is realized.

It is the figure which showed the hardware constitutions of the drive system concerning one Embodiment of this invention. It is the figure which showed the function structure of the voltage control apparatus concerning one Embodiment of this invention. It is the figure which showed the structure of the lower limit voltage data concerning one Embodiment of this invention, and upper limit voltage data. It is a graph which shows the relationship between the voltage and electric current which the power supply characteristic data, usable characteristic data, and stable operation characteristic data concerning one Embodiment of this invention show. It is another example of the graph which shows the relationship between the voltage and current which the power supply characteristic data concerning one Embodiment of this invention, usable characteristic data, and stable operation characteristic data show. It is the figure which showed the structure of the historical data concerning one Embodiment of this invention. It is the graph which showed the relationship between the elapsed time which the elapsed time multiplier data concerning one Embodiment of this invention shows, and elapsed time multiplier. It is the figure which showed the structure of the drive characteristic data concerning one Embodiment of this invention. It is the flowchart which showed the operation | movement of the necessity determination of the initialization process which the drive device concerning one Embodiment of this invention performs. It is the flowchart which showed the operation | movement of the initialization process which the drive device concerning one Embodiment of this invention performs. It is the flowchart which showed the operation | movement of the initialization process which the drive device concerning one Embodiment of this invention performs. It is the flowchart which showed the operation | movement of the drive process which the drive device concerning one Embodiment of this invention performs. It is the figure which illustrated the time change of the voltage which the voltage control apparatus concerning one modification of this invention instruct | indicates an application to a voltage generator. It is the figure which showed the basic composition and operation | movement of an example of the polymer actuator concerning a prior art.

[Embodiment]
Hereinafter, a drive system 1 according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a hardware configuration of the drive system 1. The drive system 1 includes a polymer actuator 11 that drives a driven body (not shown), a drive device 12 that drives the polymer actuator 11 by applying a voltage to the dielectric polymer 113 of the polymer actuator 11, and the drive device 12. A request source device 17 for making a drive request is provided.

  The polymer actuator 11 is a conventional polymer actuator, and the configuration and operation thereof are as described above. The request source device 17 is a device that outputs a request signal for requesting driving of the driven body by the polymer actuator 11 to the driving device 12, and its form is not limited.

  The drive device 12 includes a voltage generation device 121, a voltage control device 122, and a current measurement device 123. The voltage generator 121 applies a voltage instructed from the voltage controller 122 to the dielectric polymer 113.

  The voltage control device 122 instructs the voltage generation device 121 to apply a voltage to the dielectric polymer 113 in response to a drive request from the request source device 17. The voltage control device 122 has a so-called computer hardware configuration. Specifically, the voltage control device 122 includes a memory 1221, a processor 1222, a clock 1223, and a communication IF (Interface) 1224. The memory 1221, the processor 1222, the clock 1223, and the communication IF 1224 are connected to each other via the bus 1229.

  The memory 1221 includes a volatile memory such as a RAM and a non-volatile memory such as a flash memory. The memory 1221 stores a program executed by the processor 1222 and various data described later, and is used as a work area for data processing performed by the processor 1222. . The processor 1222 performs various data processing according to the program stored in the memory 1221. The clock 1223 continuously measures the elapsed time from the reference time, and generates current time data indicating the current time in response to a request from the processor 1222.

  The communication IF 1224 exchanges various data between the processor 1222 and the request source device 17. Note that data communication between the communication IF 1224 and the request source device 17 may be performed by either wire or wireless. In the drive system 1, the processor 1222 receives drive request data indicating a drive request from the request source device 17 via the communication IF 1224. Further, the processor 1222 transmits notification data indicating various notifications to the request source device 17 via the communication IF 1224.

  The current measuring device 123 continuously measures the current flowing through the circuit by applying a voltage to the dielectric polymer 113 by the voltage generating device 121, and generates current data indicating the result of the measurement.

  FIG. 2 is a diagram illustrating a functional configuration of the voltage control device 122. That is, when the processor 1222 of the voltage control device 122 executes the program stored in the memory 1221, a device including the functional components shown in FIG. 2 is realized. FIG. 2 also shows the polymer actuator 11, the request source device 17, the voltage generator 121, and the current measuring device 123 in order to show the relationship between the voltage control device 122 and other components of the drive system 1. ing. The functional components of the voltage control device 122 will be described below.

  The drive device 12 determines, as a functional component, a voltage to be applied to the dielectric polymer 113, a voltage control unit 124 that instructs the voltage generator 121 to apply the determined voltage, and a storage unit that stores various data. 125, clocking means 126 that counts the current time and generates current time data indicating the timing result, and reads various data from the storage means 125, current data from the current measuring device 123, and dielectric from the voltage control means 124 Using voltage data indicating the voltage applied to the polymer 113, data acquisition means 127 for acquiring current time data from the time measuring means 126, and current time data, voltage data, and current data acquired by the data acquisition means 127. History data generating means 128 for generating history data and other functional configurations of the voltage control device 122 And control means 129 for controlling, a communication unit 130 for transmitting and receiving various data to and from the requesting device 17.

  The storage unit 125 stores in advance lower limit voltage data, upper limit voltage data, power supply characteristic data, usable characteristic data, stable operation characteristic data, discharge constant data, and drive characteristic data. The storage unit 125 stores history data that is updated each time a voltage is applied to the dielectric polymer 113. Hereinafter, various data stored in the storage unit 125 will be described.

FIG. 3 is a diagram showing a configuration of lower limit voltage data and upper limit voltage data. Lower limit voltage data is applied can be the lower limit of the voltage V _min (hereinafter, "as the lower limit voltage V _min") to the polymer actuator 11 is data indicating. The upper limit voltage data is applied the upper-limit voltage V _max (hereinafter, "as the upper limit voltage V _max") to the polymer actuator 11 is data indicating. The voltage controller 122 instructs the voltage generator 121 to apply a voltage within the range of the lower limit voltage V _min and the upper limit voltage V _max indicated by these data.

FIG. 4 is a graph showing the relationship between the voltage and current indicated by the power supply characteristic data, the usable characteristic data, and the stable operation characteristic data. For reference, FIG. 4 also shows a graph showing the relationship between voltage and current at the output limit of the voltage generator 121. The first graph from the top in FIG. 4 is a graph showing the relationship between voltage and current at the output limit. That is, the current I _lim corresponding to the voltage V indicated by the graph (hereinafter, the current I corresponding to the voltage V is described as “I (V)”. Also, the first graph from the top of FIG. Is the “output limit current I _lim (V)”) means the current that reaches the output limit when the voltage generator 121 applies the voltage V.

The second graph from the top in FIG. 4 is a graph showing the relationship between the voltage and current indicated by the power supply characteristic data. The current I _max (V) corresponding to the voltage V indicated by the graph (hereinafter referred to as “upper limit current I _max (V)”) ensures a safe operation when the voltage generator 121 applies the voltage V. It means the upper limit current. The upper limit current I _max (V) takes, for example, a value obtained by multiplying the output limit current I _lim (V) by a predetermined multiplier less than 1.

The third graph from the top in FIG. 4 is a graph showing the relationship between the voltage and current indicated by the usable characteristic data. The current I _p (V) corresponding to the voltage V indicated by the graph (hereinafter referred to as “usable current I _p (V)”) is in a charged state that is still unstable but operates with performance sufficient to withstand use. The upper limit value of the current flowing through the circuit when the voltage V is applied to the dielectric polymer 113 (hereinafter referred to as “usable state”) is shown. That is, when the voltage V is applied to the dielectric polymer 113, if the current measured by the current measuring device 123 (hereinafter referred to as “current I _c ”) is less than the usable current I _p (V), the dielectric It is determined that the polymer 113 is in a usable charged state.

The fourth graph from the top in FIG. 4 is a graph showing the relationship between the voltage and current indicated by the stable operation specifying data. The current I _s (V) (hereinafter referred to as “stable operation current I _s (V)”) corresponding to the voltage V shown in the graph is a circuit when the voltage V is applied to the dielectric polymer 113 in the stable operation state. The current flowing through That is, when the voltage V is applied to the dielectric polymer 113, the dielectric polymer 113 is in a stable operation state if the current I _c measured by the current measuring device 123 is equal to or less than the stable operation current I _s (V). It is judged. As long as the dielectric polymer 113 maintains normal characteristics, when the voltage V is applied to the dielectric polymer 113, the current flowing through the circuit does not greatly drop below the stable operating current I _s (V).

  In addition, the graph shown in FIG. 4 is an example, Comprising: This invention is not limited. FIG. 5 is another example of a graph showing the relationship between the voltage and current indicated by the power supply characteristic data, the usable characteristic data, and the stable operation characteristic data. In addition, also in FIG. 5, the graph which shows the relationship between the voltage in the output limit of the voltage generator 121 and an electric current is shown as reference.

The first and second graphs from the top illustrated in FIG. 4 have characteristics that the voltage generator 121 shows a constant output limit current I _lim (V) and upper limit current I _max (V) regardless of the voltage V. It is shown that. On the other hand, in the first and second graphs illustrated in FIG. 5, the voltage generator 121 shows that the output limit current I _lim (V) and the upper limit current I _max (V) are increased as the voltage V increases. It shows that it has a deteriorating characteristic.

  FIG. 6 is a diagram showing the structure of history data. The history data is data indicating the time when the voltage was last applied to the dielectric polymer 113, the applied voltage, and the current flowing through the circuit by the application of the voltage.

  FIG. 7 is a graph showing the relationship between the elapsed time T indicated by the elapsed time multiplier data and the elapsed time multiplier W (T). The elapsed time multiplier data is data indicating the degree of increase in current associated with discharge according to the elapsed time after the voltage is last applied to the dielectric polymer 113. Specifically, the elapsed time multiplier W (T) is a numerical value greater than or equal to 1 indicating the degree to which the current flowing through the circuit increases when the same voltage V is applied to the dielectric polymer 113 as the elapsed time T elapses. Yes, it is a simple increase function of elapsed time T.

  When the time from the time indicated by the history data (FIG. 6) to the current time is defined as the elapsed time T, the current indicated by the history data is multiplied by the elapsed time multiplier W (T) corresponding to the elapsed time T indicated by the elapsed time multiplier data. At the present time, when the voltage indicated by the history data is applied to the dielectric polymer 113, an estimated value of the current flowing through the circuit is obtained.

  In the present embodiment, as an example, a configuration in which the degree of increase in current due to discharge is regarded as the same regardless of the level of the voltage V and the elapsed time multiplier W is a function of only the elapsed time T is adopted. . Instead, a configuration in which the elapsed time multiplier W is a function of the elapsed time T and the voltage V may be employed.

  FIG. 8 is a diagram showing the configuration of the drive characteristic data. The drive characteristic data indicates the amount of displacement generated in the dielectric polymer 113 and the speed of the displacement when a specific voltage is applied for a specific time.

  The drive characteristic data is used when the voltage control device 122 determines the voltage and time to be applied in order to obtain the displacement and the displacement speed according to the drive request from the request source device 17. The above is the description of various data stored in the storage unit 125.

  As described above, the data acquisition unit 127 reads out the above-described various data from the storage unit 125, current data from the current measurement device 123, and voltage indicating the voltage applied to the dielectric polymer 113 from the voltage control unit 124. Data and current time data are acquired from the time measuring means 126. Therefore, the data acquisition means 127 acquires means corresponding to each of the data to be acquired, for example, usable characteristic data acquisition means for acquiring usable characteristic data, stable operation characteristic data acquisition means for acquiring stable operation characteristic data, and acquisition of history data. History data acquisition means for acquiring current time data acquisition means for acquiring current time data (not shown). The above is the description of the configuration of the drive system 1.

  Subsequently, the operation of the drive system 1 will be described focusing on the operation of the voltage control device 122. For example, the voltage control device 122 is triggered by the occurrence of a specific event such as activation of its own device, and first, a process of shifting the dielectric polymer 113 from the unstable operation state to the usable state (hereinafter, “initialization process”). Is necessary). In the present embodiment, the voltage control device 122 includes the voltage and current when the voltage is applied to the dielectric polymer 113 at the end indicated by the history data, and the stable operation characteristic data (the fourth from the top in FIG. 4). Whether the dielectric polymer 113 is currently in a stable operation state is estimated based on the relationship between the voltage and current shown in the graph. The voltage control device 122 instructs the voltage generation device 121 to perform initialization processing only when it is estimated that the operation state is not stable, and avoids unnecessary initialization processing. Further, the voltage controller 122 corrects the current indicated by the history data in accordance with the elapsed time multiplier data (FIG. 7) in the estimation of the charged state of the dielectric polymer 113, and finally the voltage is applied to the dielectric polymer 113. By reflecting the influence of the later elapsed time, the current charged state of the dielectric polymer 113 is estimated more accurately.

  FIG. 9 is a flowchart showing an operation performed by the driving device 12 for the determination. First, history data acquisition means (not shown) included in the data acquisition means 127 reads history data (FIG. 6) from the storage means 125. The elapsed time multiplier data acquisition means (not shown) provided in the data acquisition means 127 reads the elapsed time multiplier data (FIG. 7) from the storage means 125. A current time data acquisition unit (not shown) included in the data acquisition unit 127 acquires current time data from the time measuring unit 126. The data acquisition unit 127 delivers the history data, the elapsed time multiplier data, and the current time data to the voltage control unit 124 (step S101).

Subsequently, the voltage control unit 124 specifies an elapsed time multiplier W (T) corresponding to the elapsed time T from the time indicated by the history data to the current time indicated by the current time data according to the elapsed time multiplier data, and the specified elapsed time. The correction history data is generated by multiplying the multiplier W (T) by the current indicated by the history data (step S102). Hereinafter, the voltage indicated by the correction history data is referred to as voltage V _c ′, and the current indicated by the correction history data is referred to as current I _c ′.

Subsequently, the stable operation characteristic data acquisition means (not shown) included in the data acquisition means 127 reads the stable operation characteristic data (fourth graph from the top in FIG. 4) from the storage means 125 and passes it to the voltage control means 124 (step) S103). Subsequently, the voltage control means 124 specifies the stable operation current I _s (V _c ′) when the voltage V _c ′ indicated by the correction history data is applied to the dielectric polymer 113 in the stable operation state according to the stable operation characteristic data. Then, by comparing with the current I _c ′ indicated by the correction history data, it is estimated whether or not the current dielectric polymer 113 is in a stable operation state (step S104).

If the current I _c ′ is equal to or smaller than the stable operation current I _s (V _c ′) in step S104, the voltage control unit 124 estimates that the current dielectric polymer 113 is in a stable operation state (step S104; “Yes”). "). In this case, the voltage control unit 124 generates notification data indicating that preparation for normal operation is completed without performing initialization processing, and transmits the notification data to the request source device 17 via the communication unit 130 (step S105). ). Thereafter, the voltage control device 122 waits until drive request data is transmitted from the request source device 17.

If the current I _c ′ is larger than the stable operation current I _s (V _c ′) in step S104, the voltage control means 124 estimates that the current dielectric polymer 113 is in an unstable operation state (step S104; “No” "). In this case, the voltage control unit 124 generates notification data for starting the initialization process, and transmits the notification data to the request source device 17 via the communication unit 130 (step S106). Then, the driving device 12 executes an initialization process (step S107).

In the present embodiment, the drive device 12 intermittently applies a voltage to the dielectric polymer 113 to shift the dielectric polymer 113 from the unstable operation state to the stable operation state. At that time, the driving device 12 starts application at a low voltage, the combination of the applied voltage and the current flowing through the circuit by the application of the voltage, power supply characteristic data (second graph from the top in FIG. 4), use By comparing the relationship between the voltage and current indicated by the possible characteristic data (third graph from the top in FIG. 4) and the stable operation characteristic data (fourth graph from the top in FIG. 4), The charging state is determined. Then, the driving device 12 repeats the application of the voltage to the dielectric polymer 113 while increasing the voltage with a rising width according to the determined current charging state of the dielectric polymer 113, thereby the upper limit current I indicated by the power supply characteristic data. _The initialization process is performed safely and in a short time without exceeding _max (V).

FIG. 10A and FIG. 10B (hereinafter collectively referred to as “FIG. 10”) are flowcharts showing the operation of the initialization process performed by the drive device 12. First, lower limit voltage data acquisition means (not shown), upper limit voltage data acquisition means (not shown), power supply characteristic data acquisition means (not shown), and usable characteristic data acquisition means (not shown) included in the data acquisition means 127 are provided. Lower limit voltage data (upper part of FIG. 3), upper limit voltage data (lower part of FIG. 3), power supply characteristic data (second graph from the top of FIG. 4), usable characteristic data (third graph from the top of FIG. 4) ) And handed over to the voltage control means 124 (step S201). Subsequently, the voltage control unit 124 sets the lower limit voltage V _min as an initial drive voltage to a voltage applied to the dielectric polymer 113 (hereinafter referred to as “applied voltage V _c ”) (step S202).

Subsequently, the voltage control means 124 sets “0” to the timer TM ₁ indicating the elapsed time (step S203). The timer TM ₁ is a timer for measuring the time of application of voltage. Subsequently, the voltage control unit 124 instructs the voltage generator 121 to apply the applied voltage V _c . In accordance with this instruction, the voltage generator 121 starts applying the applied voltage V _{c to} the dielectric polymer 113 (step S204). Then, the voltage control means 124 determines whether or not reached in the time T ₁ that the elapsed time reaches a predetermined indicated timer TM ₁ (step S205). Determination in step S205, the elapsed time timer TM ₁ is shown is the loop processing until the time T ₁ (step S205; "No"). When the elapsed time indicated by the timer TM ₁ reaches the time T ₁ (step S205; “Yes”), the voltage control means 124 instructs the voltage generator 121 to stop applying the voltage, and the voltage generator 121 applies the voltage. Is stopped (step S206).

Subsequently, the voltage control means 124 sets “0” to the timer TM ₂ indicating the elapsed time (step S207). The timer TM ₂ is a timer for measuring the elapsed time after the end of application of the voltage due to the initialization process.

In parallel with the processing of steps S203~S207 above, the history data generating unit 128 sets "0" to the timer TM ₃ showing the elapsed time (step S208). This timer TM ₃ is checked every time a predetermined time elapses to determine whether the power output from the voltage generator 121 exceeds the upper limit in the application of the voltage started in step S204 and ended in step S206. It is a timer for measuring the elapsed time from the time of the last check.

Subsequently, the historical data generation unit 128 determines whether or not reached time T ₃ the elapsed time indicated by the timer TM ₃ reaches a predetermined (step S209). The time T ₃ is shorter than the time T ₁ . Determination in step S209, the elapsed time indicated by the timer TM ₃ is loop processing until the time T ₃ (step S209; "No"). When the elapsed time indicated by the timer TM ₃ reaches the time T ₃ (step S209; “Yes”), the history data generation unit 128 instructs the data acquisition unit 127 to acquire current time data, voltage data, and current data.

In accordance with this instruction, current time data acquisition means (not shown) provided in the data acquisition means 127 acquires current time data from the time measuring means 126. A voltage data acquisition unit (not shown) included in the data acquisition unit 127 acquires voltage data indicating the applied voltage V _c applied to the dielectric polymer 113 at that time from the voltage control unit 124. In addition, current data acquisition means (not shown) included in the data acquisition means 127 acquires current data indicating the current I _c flowing into the dielectric polymer 113 from the current measurement device 123 at that time. The data acquisition unit 127 delivers the acquired current time data, voltage data, and current data to the history data generation unit 128 (step S210).

  The history data generation means 128 generates new history data using those data delivered from the data acquisition means 127, and updates the history data stored in the storage means 125 (step S211).

When the history data is updated, the voltage control unit 124 specifies the upper limit current I _max (V _c ) at the voltage V _c indicated by the updated history data, based on the power supply characteristic data acquired by the data acquisition unit 127 in step S201. Then, it is determined whether or not the current I _c indicated by the history data exceeds the upper limit current I _max (V _c ) (step S212).

If it is determined in step S212 that the current I _c exceeds the upper limit current I _max (V _c ) (step S212; “Yes”), the voltage control unit 124 applies voltage to the voltage generator 121. The stop is instructed, and the voltage generator 121 stops the application of the voltage to the dielectric polymer 113 according to the instruction (step S213). This stop of the application of voltage is a forced stop of the initialization process for avoiding failure due to the output of power exceeding the output limit by the voltage generator 121 due to some error. The voltage control unit 124 generates notification data indicating that the initialization process has been forcibly stopped due to an error, and transmits the notification data to the request source apparatus 17 via the communication unit 130 (step S214).

On the other hand, when it is determined in step S212 that the current I _c does not exceed the upper limit current I _max (V _c ) (step S212; “No”), the voltage control unit 124 sets the timer TM ₁ to the time T ₁ . It is determined whether or not it has been reached (step S215). When the timer TM ₁ does not reach the time T ₁ , that is, when the voltage generator 121 continues to apply a voltage to the dielectric polymer 113 (step S215; “No”), the driving device 12 performs the process. Returning to S208, the processing of steps S208 to S215 is repeated. If the timer TM ₁ has reached the time T _1, that is, when the application of a voltage to the dielectric polymer 113 by the voltage generator 121 has been completed (step S215; "Yes"), the drive device 12 the next step The process proceeds to S216.

  In step S216, the voltage control unit 124 determines whether or not the initialization process is forcibly stopped in step S213. When the initialization process is forcibly stopped (step S216; “Yes”), the drive device 12 ends the series of processes.

On the other hand, when the initialization process is not forcibly stopped in step S213 (step S216; “No”), the voltage control unit 124 determines that the combination of the voltage V _c and the current I _c indicated by the history data (FIG. 6) The power supply characteristic data (second graph from the top of FIG. 4), usable characteristic data (third graph from the top of FIG. 4), and stable operation characteristic data (fourth graph from the top of FIG. 4) are compared. Thus, it is determined whether the dielectric polymer 113 is in a charged state (hereinafter referred to as “unusable state”), usable state, or stable operational state that is currently in an unstable operation state and not usable (step S217). ).

When the current I _c is larger than the usable current I _p (V _c ), the voltage control means 124 determines that the dielectric polymer 113 is in an unusable state (step S217; “1”), and the applied voltage V _c A constant V _s is set to ΔV _c indicating the amount of increase (step S218). The constant V _s is 0 or more. On the other hand, when the current I _c is equal to or less than the usable current I _p (V _c ) and larger than the stable operation current I _s (V _c ), the voltage control unit 124 determines that the dielectric polymer 113 is in a usable state. (Step S217; “2”), a constant V _m is set to ΔV _c (Step S219). The constant V _m is larger than the constant V _s . If the current I _c is equal to or less than the stable operation current I _s (V _c ), the voltage control unit 124 determines that the dielectric polymer 113 is in a stable operation state (step S217; “3”), and sets ΔV _c to A constant V _l is set (step S220). The constant V _l is larger than the constant V _m .

Thus, in the present embodiment, a configuration is adopted in which the initialization process is accelerated by increasing the increase width of the applied voltage V _c as the charged state of the dielectric polymer 113 is closer to the stable operation state. Yes.

Then, the voltage control means 124 updates the applied voltage V _c by adding the [Delta] V _c to the applied voltage V _c (step S221). The voltage control unit 124 determines whether or not the updated applied voltage V _c exceeds the upper limit voltage V _max (step S222). If the applied voltage V _c does not exceed the upper limit voltage V _max (step S222; "No"), the voltage control unit 124 time the elapsed time indicated by the timer TM ₂ has been set to "0" in step S207 reaches a predetermined It determines whether reached T ₂ (step S223). Determination in step S223 the elapsed time indicated by the timer TM ₂ is loop processing until the time T ₂ (step S223; "No"). Time indicated by the timer TM ₂ and reaches the time T ₂ (step S223; "Yes"), the drive unit 12 returns the process to step S203 and step S208, step S203 and repeats the subsequent processing. As a result, the applied voltage V _c updated in step S220 is applied to the dielectric polymer 113.

Unless suspended in step S213 is not performed, the processing of steps S203~S223 is applied voltage V _c are repeated until the upper limit voltage V _max. Thereafter, when the applied voltage V _c exceeds the upper limit voltage V _max (step S222; “Yes”), the voltage control unit 124 can use the current I _c indicated by the history data in accordance with the applied voltage V _c indicated by the history data. It is determined whether or not the current is I _p (V _c ) or less (step S224).

When the current I _c is larger than the usable current I _p (V _c ) (step S224; “No”), the voltage control unit 124 generates notification data indicating that the initialization process has ended in error, via the communication unit 130. Is transmitted to the request source apparatus 17 (step S225), and the initialization process is terminated. In this case, even if a series of initialization processing is completed, the dielectric polymer 113 still remains in an unusable state, and thus the error ends.

On the other hand, when the current I _c is equal to or less than the usable current I _p (V _c ) (step S224; “Yes”), the voltage control unit 124 generates notification data indicating that preparation for normal operation is completed. Then, it is transmitted to the request source apparatus 17 via the communication means 130 (step S226). Thereafter, the drive device 12 stands by until drive request data is transmitted from the request source device 17. The above is the description of the operation of the initialization process.

  The drive device 12 transmits notification data indicating that preparation for normal operation is completed to the request source device 17 (step S105 in FIG. 9 and step S226 in FIG. 10), and then the drive request data from the request source device 17 Wait until is sent. Thereafter, when drive request data is transmitted from the request source device 17, the drive device 12 drives the polymer actuator 11 by applying a voltage to the dielectric polymer 113 according to the drive request data.

  FIG. 11 is a flowchart showing an operation performed when the drive device 12 drives the polymer actuator 11 according to the drive request data. The voltage control means 124 of the driving device 12 receives the drive request data via the communication means 130 (step S301). The drive request data indicates the displacement amount and displacement speed of the dielectric polymer 113 requested by the request source device 17.

The voltage control means 124 reads the drive characteristic data (FIG. 8) from the storage means 125 via the drive characteristic data acquisition means provided in the data acquisition means 127 (step S302), and responds to the displacement amount and displacement speed indicated in the drive request data. The applied voltage and application time are specified (step S303). Hereinafter, the application voltage specified in step S303 is referred to as application voltage V _c , and the application time specified in step S303 is referred to as application time T _c .

Subsequently, the voltage control unit 124 instructs the voltage generator 121 to apply the applied voltage V _c to the dielectric polymer 113 for an application time T _c (steps S304 to S307). Processing in step S304~S306 compares the process of step S203~S206 of FIG. 10, the same except a T _c in place of the time T ₁ to be compared with the value of the timer TM ₁ at step S306 Therefore, the description is omitted.

In parallel with the processing of step S304～S307, history data generating unit 128 updates the history data each time elapses time indicated by time T ₃ (step S308~S311). The voltage control means 124 determines whether the current I _c exceeds the upper limit current I _max (V _c ) every time the history data is updated, and if so, applies voltage to the voltage generator 121. Forcibly stop (steps S312 to S314). These processes (steps S308 to S314) are repeated while the voltage control unit 124 instructs the voltage generator 121 to apply a voltage and the voltage generator 121 applies the voltage to the dielectric polymer 113. (Step S315). Processing in step S308~S315 compares the process of step S208~S215 of FIG. 10, the same except a T _c in place of the time T ₁ to be compared with the value of the timer TM ₁ at step S315 Therefore, the description is omitted.

  Subsequently, the voltage controller 124 determines whether or not the voltage application is forcibly stopped in step S313 (step S316). When the voltage application is forcibly stopped (step S316; “Yes”), the driving device 12 ends the series of processes. On the other hand, when the forcible stop of the voltage application in step S316 is not performed (step S316; “No”), the voltage control unit 124 generates notification data indicating that the drive process corresponding to the drive request is completed, and the communication unit. It transmits to the request source apparatus 17 via 130 (step S317). The above is the description of the operation of the driving process according to the driving request.

  As described above, according to the drive system 1, in order to drive the polymer actuator 11, an unstable operation state is not required without requiring a voltage generator having an excessive power supply capability compared to a normally required power supply capability. The dielectric polymer 113 can be shifted to a stable operation state. At that time, the necessity of the initialization process is determined according to the charged state of the dielectric polymer 113, and when the initialization process is required, the increase in voltage applied according to the charged state of the dielectric polymer 113 is increased. Since it is changed, the initialization process is not unnecessarily prolonged.

[Modification]
The embodiment described above can be variously modified. Examples of these modifications are shown below. Note that the above-described embodiment and the modifications described below may be combined as appropriate.

(1) In the above-described embodiment, the voltage controller 122 determines the dielectric based on the applied voltage and current when the voltage is applied to the dielectric polymer 113 at the end indicated by the history data, and the elapsed time from that time to the present. The current charging state of the body polymer 113 is estimated, and the necessity of the initialization process is determined according to the estimation result.

  The method by which the voltage controller 122 estimates the current charged state of the dielectric polymer 113 is not limited to this, and the time after the last voltage application to the dielectric polymer 113 and the last voltage application are performed. Other methods may be employed as long as it is based on at least one of the charged states of the dielectric polymer 113 when broken.

  For example, when the voltage is finally applied to the dielectric polymer 113, whether the dielectric polymer 113 is in a “stable operation state” or “unstable operation state” is recorded as history data, and “stable operation state” is recorded. ”, It may be determined that the initialization process is unnecessary. In this example, the history data indicates either “stable operation state” or “unstable operation state” as information that can specify the charging state of the dielectric polymer 113 instead of the voltage and current.

  Further, for example, whether the elapsed time after the last voltage application to the dielectric polymer 113 is “10 hours or more” or “less than 10 hours” is recorded in the history data and according to the passage of time. The configuration may be such that it is updated, and if “less than 10 hours”, the initialization process is determined to be unnecessary. In this example, the history data is “10 hours or more” or “less than 10 hours” instead of showing the time as information that can specify the elapsed time after the voltage is applied to the dielectric polymer 113 at the end. Indicates one of the following.

  Further, in the above-described embodiment, the voltage control device 122 performs a process according to the elapsed time in order to reflect the elapsed time after the voltage is finally applied to the dielectric polymer 113 in the determination of the necessity of the initialization process. Multiply the current by the time multiplier. The method in which the voltage control device 122 reflects the elapsed time in the determination of the necessity of the initialization process is not limited to this. For example, when the elapsed time is within a predetermined threshold and the applied voltage and current indicated by the history data indicate a stable operation state, it is determined that the initialization process is unnecessary, and otherwise the initialization process is required. Other methods such as determination may be employed.

  Further, it is not essential to determine whether the initialization process is necessary. For example, a configuration in which the drive device 12 always performs initialization processing when a predetermined event such as activation of the drive device 12 occurs may be employed.

(2) In the above-described embodiment, the voltage control device 122 does not need the initialization process when it is estimated that the current charged state of the dielectric polymer 113 is a stable operation state, and otherwise. It is determined that initialization processing is necessary. The criterion for determining whether or not the initialization process is necessary is not limited to this. For example, a configuration may be employed in which it is determined that the initialization process is unnecessary when it is estimated that the usable state is available.

  In the above-described embodiment, if the dielectric polymer 113 is in an unusable state when the applied voltage in the initialization process reaches the upper limit voltage, the driving device 12 ends the initialization process with an error, and otherwise. Terminates normally. The criterion for determining that the initialization process has ended in error is not limited to this. For example, a configuration may be adopted in which the initialization process ends in error if the applied voltage in the initialization process reaches the upper limit voltage and is not in a stable operation state.

(3) In the above-described embodiment, the driving device 12 changes the increase width of the applied voltage according to the charged state of the dielectric polymer 113 during the initialization process. This configuration is not essential. Therefore, for example, a configuration may be employed in which the voltage applied is increased with a constant increase width without the drive device 12 determining the charged state of the dielectric polymer 113.

(4) In the embodiment described above, the voltage control device 122 uses two types of characteristic data, that is, stable operation characteristic data and usable characteristic data, as a reference for determining the charged state of the dielectric polymer 113. The number of criteria for determining the charged state of the dielectric polymer 113 is not limited to this. For example, a configuration in which the voltage control device 122 uses only one of the stable operation characteristic data and the usable characteristic data as a reference for determining the charged state of the dielectric polymer 113 may be employed. Further, the voltage controller 122 does not estimate the charge state of the dielectric polymer 113 in determining whether the initialization process is necessary, and does not determine the charge state of the dielectric polymer 113 in the initialization process. In such a case, a configuration in which the voltage control device 122 uses neither stable operation characteristic data nor usable characteristic data may be employed.

(5) In the above-described embodiment, the voltage control device 122 is any one of the discrete divisions such as “stable operation state”, “usable state”, and “unusable state” of the dielectric polymer 113. Determine whether. Instead, a configuration in which the voltage controller 122 determines the charged state of the dielectric polymer 113 using a continuous index may be employed. For example, in the coordinate system as shown in FIG. 4, the voltage controller 122 has stable operation characteristics from a point A where the applied voltage and current, which are indicators of the charged state of the dielectric polymer 113, are X and Y coordinates, respectively. A configuration may be employed in which the distance D to the shortest point on the graph indicated by the data (the fourth graph from the top in FIG. 4) is calculated and the distance D is used as an index indicating the charged state of the dielectric polymer 113. In this example, as long as the point A is positioned in the upper region of the graph indicated by the stable operation characteristic data, the shorter the distance D, the closer the dielectric polymer 113 is to the stable operation state. Therefore, for example, the voltage control device 122 can shorten the time required for the initialization process by setting the increase width of the applied voltage in the initialization process to be larger as the distance D is shorter.

(6) In the above-described embodiment, the voltage control device 122 acquires various data such as stable operation specifying data and usable characteristic data by reading them from the storage means included in the own device. The method for acquiring various data required for the voltage control device 122 to determine the voltage applied to the dielectric polymer 113 is not limited to this. For example, the voltage control device 122 may acquire various data stored in an external storage device via a communication unit.

(7) In the above-described embodiment, the power supply characteristic data, the usable characteristic data, the stable operation characteristic data, and the elapsed time multiplier data indicate the relationship between the voltage and current or the elapsed time and the elapsed time multiplier as a function, while the drive characteristics The data discretely indicates the displacement amount and the displacement speed according to the applied voltage and the application time by using representative values. The data format used in the implementation of the present invention is not limited to these. For example, the usable characteristic data or the like is tabular data that discretely represents representative values of voltage and current, and the drive device 12 calculates values between these representative values by a known complementary process as necessary. May be adopted. The drive characteristic data may be configured as data indicating a function indicating the relationship between the combination of the applied voltage and the application time and the displacement amount, and a function indicating the relationship between the combination of the applied voltage and the application time and the displacement speed.

(8) In the above-described embodiment, the voltage control device 122 constitutes the drive device 12 together with the current measurement device 123 and the voltage generation device 121. In the above-described embodiment, the request source device 17 and the polymer actuator 11 are configured as devices different from the drive device 12. The arrangement of the components of the drive system according to the present invention is not limited to this. For example, at least one of the current measuring means and the DC power supply may be configured as an individual device arranged in a casing different from the voltage control device. Further, for example, the voltage control device may be configured integrally with the housing of the request source device. Further, the storage means provided in the voltage control device in the above-described embodiment may be configured as an external storage device arranged in a housing different from the voltage control device.

(9) In the embodiment described above, the driving device 12 intermittently applies a voltage in the initialization process. That is, the driving device 12 repeats the process of applying the voltage for the time T ₁ and not applying the voltage for the time T ₂ . Instead, a configuration in which the driving device 12 continuously applies a voltage in the initialization process may be employed. In addition, when the voltage application in the initialization process is continuously performed, the driving device 12 may be configured to increase the applied voltage stepwise (non-continuously) as time passes, or may be configured to increase continuously. It is good.

(10) In the above-described embodiment, the driving device 12 intermittently applies the voltage in the initialization process, but the time for applying the voltage at that time is constant. Instead of this, the drive device 12 may be configured to change the time during which the voltage is applied in the initialization process. For example, the voltage application time for the dielectric polymer 113 in the usable state can be made shorter than the voltage application time for the dielectric polymer 113 in the unusable state, and the voltage application time for the dielectric polymer 113 in the stable operation state can be used. A configuration in which the voltage application time for the dielectric polymer 113 in the state is shorter than that may be adopted.

(11) In the embodiment described above, the polymer actuator 11 is disposed so as to be in contact with the plate-shaped negative electrode 111, the mesh plate-shaped positive electrode 112, and the negative electrode 111 and the positive electrode 112. The dielectric polymer 113 is provided. The configuration of the polymer actuator is not limited to this, and any configuration may be adopted as long as it is a polymer actuator using a dielectric polymer that generates a displacement when a voltage is applied.

(12) In the above-described embodiment, the voltage control unit 124 determines whether or not the initialization process is necessary. The voltage and current when the voltage is finally applied to the dielectric polymer 113 and the stable operation characteristic data are obtained. Based on the relationship between the voltage and current shown, it is estimated whether the dielectric polymer 113 is currently in a stable operation state. Instead, the voltage control unit 124 instructs the voltage generator 121 to apply a predetermined voltage for a predetermined time, and the current measuring device 123 measures the voltage instructed to apply and the application of the voltage. Based on the current and the relationship between the voltage and the current indicated by the stable operation characteristic data, the charged state of the dielectric polymer 113 may be specified to determine whether or not the initialization process is necessary.

  In this modification, the time for which the voltage control unit 124 instructs the voltage generator 121 to apply for determining whether or not the initialization process is necessary is a short time (for example, about several milliseconds to several tens of milliseconds). Is desirable. If the dielectric polymer 113 is in a charged state that requires an initialization process, a current exceeding the output limit current of the voltage generator 121 may flow through the circuit by applying a voltage for determining whether the initialization process is necessary. This is because, if the time is short, the voltage generator 121 will not break down in practice. Note that the voltage may be a value close to the upper limit voltage or a value exceeding the upper limit voltage as long as the voltage application time for determining whether the initialization process is necessary is sufficiently short.

(13) In the above-described embodiment, the voltage control unit 124 instructs the voltage generator 121 to apply a voltage that changes so as to increase with time in the initialization process. The temporal change of the voltage to be applied to the dielectric polymer 113 in the initialization process is not limited to this. For example, the voltage control unit 124 may instruct the voltage generator 121 to apply the lower limit voltage or a relatively low voltage close to the lower limit voltage intermittently or continuously in the initialization process. .

(14) In the above-described embodiment, the voltage controller 124 instructs the voltage generator 121 to apply a voltage for a predetermined time in the initialization process, and then the dielectric polymer 113 based on the current measured by the current measuring device. Next, a voltage for instructing the voltage generator 121 to apply is determined in accordance with the determined current charging state of the dielectric polymer 113. Instead, the voltage control unit 124 does not determine the current charging state of the dielectric polymer 113 in the initialization process, but instructs the voltage generator 121 to apply a voltage determined according to a predetermined rule. It is good also as a structure. FIG. 13 is a graph exemplifying a temporal change in voltage instructed to be applied to the voltage generator 121 by the voltage control means 124 during the initialization process in this modification.

(15) In the above-described embodiment, the voltage control unit 124 instructs the voltage generator 121 to apply a voltage in the range from the lower limit voltage to the upper limit voltage in the initialization process. Thereby, in the initialization process, it is confirmed that the drive device 12 can operate safely in the entire range from the lower limit voltage to the upper limit voltage. However, in practice, if this confirmation is unnecessary, the voltage control unit 124 instructs the voltage generator 121 to apply a voltage that covers the entire range from the lower limit voltage to the upper limit voltage in the initialization process. There is no need. For example, when the current charged state of the dielectric polymer 113 reaches a stable operation state, even if the applied voltage at that time does not reach the upper limit voltage, the voltage control unit 124 controls the voltage generator 121 in the initialization process. The application instruction may be terminated.

(16) In the above-described embodiment, the voltage control unit 124 performs the initialization process only when it is determined that the initialization process is necessary after performing the necessity determination of the initialization process. Instead of this, the voltage control means 124 may be configured to always perform the initialization process when a specific event such as activation of the own apparatus occurs without determining whether the initialization process is necessary.

(17) In the above-described embodiment, the driving device 12 drives the actuator (polymer actuator 11) using the dielectric polymer 113. The actuator driven by the driving device 12 is not limited to an actuator using a dielectric polymer, and the current flowing through the circuit when a certain voltage is applied differs depending on the length of time elapsed after the last voltage application. An actuator using a dielectric other than a polymer exhibiting characteristics may be used.

(18) In the above-described embodiment, the voltage control device 122 is realized by a processor executing processing according to a program. Instead, a configuration in which the voltage control device 122 is realized by hardware as a so-called dedicated device may be employed.

DESCRIPTION OF SYMBOLS 1 ... Drive system, 11 ... Polymer actuator, 12 ... Drive apparatus, 17 ... Requester apparatus, 18 ... Drive apparatus, 111 ... Negative electrode, 112 ... Positive electrode, 113 ... Dielectric polymer, 120 ... Voltage application means, 121 ... Voltage generator, 122 ... Voltage controller, 123 ... Current measuring device, 124 ... Voltage controller, 125 ... Memory, 126 ... Timer, 127 ... Data acquisition, 128 ... History data generator, 129 ... Controller, 130: Communication means, 1221 ... Memory, 1222 ... Processor, 1223 ... Clock, 1224 ... Communication IF, 1229 ... Bus

Claims (7)

A voltage control device for instructing a voltage generator to apply a voltage to a dielectric, the current flowing through a circuit including the dielectric by the voltage applied by the voltage generator according to an instruction of the device, and the voltage generation Based on the result of comparison with a predetermined threshold according to the voltage performed by the device, the charged state of the dielectric is determined, and based on the result of the determination, a predetermined rule for the voltage generator is followed. A voltage control device that determines whether or not to instruct voltage application. The voltage control device according to claim 1, wherein the voltage generation device is instructed to apply a voltage that changes so as to increase with the passage of time in accordance with the predetermined rule. The voltage control device according to claim 1, wherein the voltage generation device is instructed to apply a voltage according to a difference between a current flowing through the circuit and the threshold value according to the predetermined rule. 4. The voltage control device according to claim 1, wherein the voltage generator is instructed to apply at least a predetermined lower limit voltage and an upper limit voltage according to the predetermined rule. 5. 5. The voltage control device according to claim 1, wherein the voltage generation device is instructed to intermittently apply a voltage according to the predetermined rule. 6. Based on at least one of the elapsed time after the voltage is last applied to the dielectric by the voltage generator and the charged state of the dielectric when the voltage is last applied by the voltage generator. The voltage control device according to claim 1, wherein whether or not to perform the comparison is determined. The voltage control device according to any one of claims 1 to 6,
The voltage generator;
A current measuring device that measures the current used by the voltage control device for the comparison;
A driving device that drives an actuator that uses displacement generated in the dielectric by application of a voltage.

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