JPH05152125A - Method for controlling actuator - Google Patents

Abstract

PURPOSE:To make an operating noise quiet by a constitution wherein, during the latter half of a drive operation, an electric current is reversed in such a way that its impulse and its magnitude which have been applied during a first half are equal and that its direction is exactly opposite and the speed of an output member is set to be nearly zero when it reaches a prescribed stroke. CONSTITUTION:When a trigger terminal for reverse-direction excitation use at a microcomputer is set to a high level while an output member 8 is being moved from a return position A to an output position B, a power supply is fed toward external terminals 13 (16) form external terminals 14 (15) of a controller 17. The output member 8 is braked in the direction of an electric current flowing to the external terminal 13 from the external terminal 14 of a coil 11 with reference to a magnetic flux phi6 of a magnet 6 and in the direction of an electric current flowing to the external terminal 16 form the external terminal 15 of a coil 12 with reference to a magnetic flux phi7 at a permanent magnet 7. As a result, the speed of the output member 8 becomes zero by the time it reaches the output position B. Thereby, the title actuator can be stopped without causing a shock noise, and its operating noise can be made quiet.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direct-acting actuator used as a drive source for opening and closing a door lock of an automobile, and more particularly to a control method thereof.

[0002]

2. Description of the Related Art FIGS. 5 and 6 illustrate an actuator used as a drive source for opening and closing a door lock of an automobile. An actuator 50 shown in the drawing has a cylindrical shape and is made of a magnetic material. FIG. 5 of the forming yoke 51
Inside is a hole for core insertion 5 in the shape of a disk at the bottom edge
A magnetic body 2a provided with a bottom 52 for forming a magnetic path is fixed, and the yoke 51 has a substantially disc-shaped bottom and a core insertion hole 53a formed in the center at the upper end in FIG. The top 53 for manufacturing magnetic paths is fixed. Further, the core insertion hole 52a of the bottom 52 is assembled with a base end side of a magnetic path forming core 54 having a columnar shape and made of a magnetic material, and the tip end side of the core 54 is a core insertion hole of the top 53. It passes through 53a.

On the inner peripheral side of the yoke 51, cylindrical magnets 55 and 56, which are spaced apart along the axial direction of the yoke 51, are fixed, and the inside of each of these magnets 55 and 56 is S. It is magnetized so that the pole and the outside become the N pole.

Also, each of the magnets 55, 56 is
Between the core 54 and the core 54, there is disposed an output member 57 having a cylindrical winding frame portion 57a made of a magnetic material, and the winding frame portion 57a has a core insertion hole 53a of the top 53 near the tip thereof. And the core 54.

The output member 57 is provided with a load connecting portion 57b at the tip of a winding frame portion 57a protruding from the top 53 to the upper side in FIG. 5, and the load connecting portion 57b is provided with a door lock or the like (not shown). It is designed to connect loads.

Further, the winding frame portion 57a of the output member 57 is provided with lead wire winding portions 57c and 57d which are separated from each other along the axial direction of the winding frame portion 57a. 57c and 57d are provided with coils 60 and 61 having coil portions 58 and 59 wound in a coil shape in the same direction with the numbers of turns N1 and N2, respectively, and end portions 58a of the coil portions 58 and 59, 58b,
External terminals 62, 63, 64, 6 on 59a, 59b
5 is connected.

The actuator 50 having such a structure
In each of the external terminals 62, 63, 64, 6
When a current of the same potential is supplied to each of the coils 60, 61 through the coil 5 in the direction shown in the drawing for a predetermined time t50 shown in FIG. 6, the magnet 55 has the N pole → the yoke 51 → the top 53 →
Core 54 → Winding frame 57a → Magnetic force φ55 of magnet 55 passing through S pole of magnet 55 and N pole of magnet 56 → Yoke 51 → Bottom 52 → Core 54 → Winding frame 57a
→ Magnetic flux φ of the magnet 56 passing through the S pole of the magnet 56
A force according to Fleming's left-hand rule is generated by the illustrated current direction of the coils 60 and 61 with respect to 56, and the output member 57 is output-moved from the return position a to the output position b. The load connected to 57b is driven.

In this state, a current of the same potential is applied to the coils 60 and 61 through the external terminals 62, 63, 64 and 65 in the direction opposite to the direction shown in the figure.
When it is supplied in the same manner as the predetermined time t50 shown in Fig. 5, the magnet 5 passing through the N pole of the magnet 55 → the yoke 51 → the top 53 → the core 54 → the winding frame 57a → the S pole of the magnet 55.
5 magnetic flux φ55 and magnet 56 N pole → yoke 51 →
Bottom 52 → core 54 → reel 57a → magnet 5
Since the output member 57 is moved back from the output position b to the return position a in the opposite current direction of the coils 60 and 61 to the magnetic force φ56 of the magnet 56 passing through the S pole of No. 6, the load of the output member 57 is increased. The load connected to the connecting portion 57b is restored.

Here, the number of turns of the coil 60 on the one side is N
1 and the number of turns of the coil 61 on the other side is N2, the permeance of the magnetic path with respect to the magnetic flux generated by energizing the coil 60 on one side is P1 and the magnetic flux generated by energizing the coil 61 on the other side. Letting P2 be the permeance of the magnetic path with respect to, the value of the induced voltage E1 generated in the coil 60 by energizing the coil 60 is

[Equation 1] Then, by energizing the coil 69, the coil 61
The value of the induced voltage E2 acting on

[Equation 2] Then, by energizing the coil 61, the coil 61
The value of the induced voltage E3 generated in

[Equation 3] Then, by energizing the coil 61, the coil 60
The value of the induced voltage E4 acting on

[Equation 4] And the value of the induced voltage E50 of the entire coil energization circuit is

[Equation 5] Therefore, if the coils 60 and 61 have the same number of turns,

[Equation 6] If the permeance of the magnetic path with respect to the magnetic flux generated by energizing the coils 60 and 61 is the same,

[Equation 7] Therefore, the value of the induced voltage E50 is

[Equation 8] And the value of the inductance L50 of the entire coil energizing circuit is

[Equation 9] Becomes

Then, as is clear from the relationship diagram between the stroke and the time shown in FIG. 6, the predetermined stroke st5
When the velocity of the output member 57 having a mass m changes from 0 to v1 when moving to 0, from the physical law,

[Equation 10] Then, after the speed reaches v1, the speed is rapidly reduced and the vehicle stops.

However, in the above-described conventional control method for the actuator 50, the output member 57 suddenly decreases its speed and stops when the stroke end is reached. There is a problem that it is necessary to mount a shock absorbing material such as a shock absorbing damper in order to suppress the speed v1, and it is difficult to prevent a large impact sound even when the shock absorbing material is attached.

[0012]

The problem to be solved by the present invention is that the speed of the output member is large at the stroke end, which causes an impact when stopping the output member.

[0013]

In the actuator control method according to the present invention, in order to reduce the speed without generating impact noise, a yoke for passing a magnetic flux generated by a permanent magnet and a magnetic flux generated when a coil is energized is provided. , Having a permanent magnet magnetized along the axial direction of the yoke on the inner peripheral side of the yoke and a coil attachment portion corresponding to the permanent magnet, and moving with a predetermined stroke in an output member moving portion provided in the permanent magnet An output member for driving a load, a core for passing a magnetic flux generated by a permanent magnet on the inner peripheral side of the output member and a magnetic flux generated when a coil is energized, and a coil attachment portion of the output member corresponding to the permanent magnet. It is provided with a number of coils, and is generated between the magnetic field generated by the permanent magnet and the current of the coil by reversing the direction of energization of the coils. In an actuator that can reverse the direction of force according to the Lemming left-hand rule, reverse the current so that the magnitude is the same as the impulse applied in the first half in the second half of the drive and the direction is just opposite. It is characterized by setting the speed of the output member to almost zero when it reaches 0, and realizes the purpose of making the operating noise extremely quiet by making the speed of the output member zero at the stroke end.

[0014]

In the actuator control method according to the present invention, when the output member is in the middle of the stroke, the adjacent members are energized in the alternating current directions so that the magnetic flux and the current of the permanent magnet are adjacent to each other. Braking is performed so that the directions of the forces generated between and are the same, and the total inductance of the coil energizing circuit is small. Then, when the output member reaches a predetermined stroke by this braking, the speed of the output member is set to substantially zero, so that the output member stops without impact at the end of the stroke.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an actuator control method according to the present invention will be described below with reference to FIGS.

That is, the actuator 1 shown in FIG.
Shows a bottom 3 for forming a magnetic path, which is made of a magnetic material and has a substantially disk shape at the lower end edge and a core insertion hole 3a at the center in the figure, of a yoke 2 made of a magnetic material and having a magnetic path. A top 4 for forming a magnetic path, which is made of a magnetic material and is substantially disk-shaped and has a core insertion hole 4a in the center, is fixed to the upper end edge of the yoke 2 in the figure.

The core insertion hole 3a of the bottom 3 is assembled with a base end side of a core 5 made of a magnetic material and for forming a magnetic path, and the tip end side of the core 5 is a top 4 core. It is passed through the insertion hole 4a.

On the inner peripheral side of the yoke 2, two cylindrical permanent magnets 6 and 7 which are spaced apart along the axial direction of the yoke 2 are fixed, and these permanent magnets 6 and 7 are fixed.
One of the permanent magnets 6 on the upper side in FIG.
Of the permanent magnet 7 on the other side, which is the lower side in FIG. 1, is magnetized to the N pole and the outside thereof is magnetized to the S pole.

Further, output member moving parts 6a, 7a coaxial with the yoke 2 are formed on the inner peripheral side of each of the permanent magnets 6, 7 and these output member moving parts 6 are formed.
Between the a and 7a and the core 5, there is provided an output member 8 having a cylindrical shape and a winding frame portion 8a made of a magnetic material.
The tip of the winding frame 8a is inserted between the core insertion hole 4a of the top 4 and the core 5.

The output member 8 is provided with a load connecting portion 8b near the tip of the winding frame portion 8a protruding upward from the top 4 in FIG. 1, and the load connecting portion 8b has a door lock or the like (not shown). It is designed to connect the loads of.

Further, the winding frame portion 8a of the output member 8 has two coil mounting portions 8c spaced apart along the axial direction of the winding frame portion 8a so as to correspond to the permanent magnets 6 and 7, respectively. 8d is provided, and each coil mounting portion 8 is provided.
Exciting coils (coils) 11 and 12 having coil portions 9 and 10 wound in a coil shape in the same direction with the numbers of turns N3 and N4 are disposed on the c and 8d.

Furthermore, the external terminals 13 and 9 are attached to the end portions 9a, 9b, 10a and 10b of the coil portions 9 and 10, respectively.
14, 15, 16 are connected to each other, the external terminal 13 of the coil portion 9 is connected to the external terminal 16 of the coil portion 10, and the external terminal 14 of the coil portion 9 is connected to the coil portion 1.
The controller 17 is connected to these external terminals 13, 14, 15, 16 while being connected to the external terminal 15 of 0.
Is connected.

Here, the controller 17 includes a microcomputer 18, a P-channel type first FET 19, a second FET 20, an N-channel type third FET 21, and a fourth FET 22, as is apparent from FIG. An inverter INV having a power source Vcc for an inverter and a capacitor C1 connected to a positive-direction excitation trigger terminal 18a provided mainly in the microcomputer 18
1 is connected, and a resistor R is connected to this inverter INV1.
The gate of the first FET 19 is connected via 1 and the power source B is connected to the resistor R1 via the resistor R2. Further, the power source B is connected to the drain of the first FET 19, the source of the first FET 19 is connected to the power source B via the diode D1 in the reverse direction, and the source of the first FET 19 is connected to the source. An external terminal 17a on one side provided in the controller 17 is connected.

Then, the gate of the second FET 20 is connected to the positive direction excitation trigger terminal 18a of the microcomputer 18 via the resistor R3.
The diode D2 in the reverse direction and the external terminal 17b on the other side provided in the controller 17 are connected to the drain of
The ground is connected to the source of the second FET 20.

On the other hand, the reverse-direction excitation trigger terminal 18b provided in the microcomputer 18 is connected to the inverter power source V.
An inverter INV2 connecting cc and a capacitor C2 is connected, the inverter INV2 is connected to the gate of the third FET 21 via a resistor R4, and the resistor R4 is connected to a power source B via a resistor R5. I am doing it. Further, the power source B is connected to the drain of the third FET 21, and the source of the third FET 21 is connected to the power source B via the diode D3 in the reverse direction.
The source of the ET 21 is connected to the external terminal 17b on the other side of the controller 17.

The gate of the fourth FET 22 is connected to the reverse excitation trigger terminal 18b of the microcomputer 18 via the resistor R6.
The diode D4 in the reverse direction and the external terminal 17a on one side provided in the controller 17 are connected to the drain of
The ground is connected to the source of the fourth FET 22.

Here, the microcomputer 18 in which the program is incorporated in advance is activated by receiving a signal from a switching circuit (not shown), and at that time, from the positive direction excitation trigger terminal 18a and the reverse direction excitation trigger terminal 18b. The outputs are inverted respectively, so that the outputs are not simultaneously output from the terminals 18a and 18b.

Therefore, when the positive direction excitation trigger terminal 18a becomes high level, the first FET 19 is driven by INV1.
Since the gate of is at low level, the first FET 19 is turned on. Further, since the positive direction excitation trigger terminal 18a becomes high level, the second FET 20 is turned on, so that power is supplied from the external terminal 17a on one side of the controller 17 to the external terminal 17b on the other side. Then, when the forward direction excitation trigger terminal 18a is inverted and the reverse direction excitation trigger terminal 18b becomes high level, INV2
As a result, the gate of the third FET 21 becomes low level, so that the third FET 21 is turned on. Further, since the reverse direction excitation trigger terminal 18b becomes high level, the fourth FET 22 is turned on, so that power is supplied from the other external terminal 17b of the controller 17 to the one external terminal 17a.

In the actuator 1 having such a structure, a signal from the switching circuit is received from the state where the output member 8 shown in FIG. 1 is returned, and at T10 shown in FIG. When the direction excitation trigger terminal 18a becomes high level, power is supplied from the external terminal 17a on one side of the controller 17 to the external terminal 17b on the other side, as described above. A predetermined exciting current is applied to the terminals 14 and 15, and the N pole of the permanent magnet 6 on one side → the yoke 2 → the top 4 →
Core 5 → winding member 8a of the output member 8 → the magnetic flux φ6 of the permanent magnet 6 on one side that passes through the S pole of the permanent magnet 6 on one side, the coil 11 on one side, the external terminal 13 to the external terminal 14, Direction of current flowing toward the target, that is, Fig. 1
The direction of current flowing in the direction shown in the figure and the permanent magnet 7 on the other side
N pole → reel part 8a → core 54 → bottom 3 → yoke 2
→ The permanent magnet 7 on the other side that passes through the south pole of the permanent magnet 7 on the other side
1 in accordance with the direction of the current flowing from the external terminal 16 toward the external terminal 15 with respect to the coil 12 on the other side with respect to the magnetic flux φ7 of FIG. 1, that is, the direction of the current flowing in the direction shown in FIG. Since the output is moved from the return position A to the output position B, the load connected to the load connecting portion 8b of the output member 8 is driven.

Then, at T12 shown in FIG. 3 in which the output member 8 is moving from the return position A toward the output position B, an inversion signal from the switching circuit is received at T12 shown in FIG. When the trigger terminal 18b for high level becomes high level, power is supplied from the external terminal 17b on the other side of the controller 17 to the external terminal 17a on one side as described above.
From external terminals 14 and 15 to external terminals 13 and 1
6, a predetermined exciting current flows, and the N pole of the magnet 6 on one side → yoke 2 → top 4 → core 5 → output member 8
Of the current flowing from the external terminal 14 to the external terminal 13 to the coil 11 on one side with respect to the magnetic flux φ6 of the permanent magnet 6 on one side passing through the S pole of the permanent magnet 6 on one side. Direction, that is, the direction of current flowing in the direction shown in FIG. 1, and the N pole of the permanent magnet 7 on the other side → the winding frame 8
a → core 54 → bottom 3 → yoke 2 → the magnetic flux φ7 of the permanent magnet 7 on the other side passing through the S pole of the permanent magnet 7 on the other side, the coil 12 on the other side, from the external terminal 15 to the external terminal 16 Direction of the electric current that was made to flow, that is, Figure 1
Since the output member 8 is braked by the direction of the current flowing in the direction shown in the figure, the speed of the output member 8 becomes zero by the time it reaches the output position B (stroke end), and the output member 8 stops at the output position B.

Here, the number of turns of the coil 11 on the one side is N
3 and the number of turns of the coil 12 on the other side is N4, if the permeance of the magnetic path for the coil 11 on the one side is P3 and the permeance of the magnetic path for the coil 12 on the other side is P4, the coil on the one side is The value of the induced voltage E5 generated in the coil 11 on one side by energizing 11 is

[Equation 11] The value of the induced voltage E6 that acts on the coil 12 on the other side by energizing the coil 11 on the other side is such that the polarity of the permanent magnet 7 in the coil 12 on the other side is opposite to that of the permanent magnet 6. Since the current direction to the coil 12 is opposite,

[Equation 12] The value of the induced voltage E7 generated in the coil 12 on the other side by energizing the coil 12 on the other side is

[Equation 13] Therefore, the value of the induced voltage E8 that acts on the coil 11 on the one side by energizing the coil 12 on the other side is that the direction of the generated magnetic flux is opposite to the direction of the magnetic flux generated when the coil 11 is energized.

[Equation 14] And the value of the induced voltage E9 of the entire coil energizing circuit is

[Equation 15] Therefore, if the coils 11 and 12 have the same number of turns,

[Equation 16] If the permeances of the coils 11 and 12 are the same,

[Equation 17] Therefore, the value of the induced voltage E9 is

[Equation 18] And the value of the inductance L2 of the entire coil energizing circuit is

[Formula 19] Therefore, the inductance of the entire coil energizing circuit becomes minute.

Then, as is clear from the relationship diagram between the stroke and the time shown in FIG. 3, the predetermined stroke st1
The velocity of the output member 8 having a mass of m from 0 to v when moving to
If it becomes 1, from the laws of physics

[Equation 20] Becomes Then, after that, in order to apply the braking for reducing the speed to zero, as shown by the diagonal lines in FIG. 4, the direction of the force is reversed, and the impulse equal to the impulse shown in Expression 19 is applied,

[Equation 21] Therefore, as shown in FIG. 3, the output member 8 stops at the stroke end because the speed becomes zero.

[0033]

As described above, since the actuator control method according to the present invention has the above-described structure, when the output member is in the middle of the stroke, the currents which are adjacent to each other are staggered. By energizing in the direction, the direction of the force generated between the magnetic flux of the permanent magnet and the current in adjacent ones is the same direction, and the total inductance of the coil energizing circuit becomes smaller, and the rise of the current becomes faster, The force rises faster, which improves the dynamism of the actuator.At the rear end of the drive, an electric current flows in the opposite direction to generate a force in the opposite direction. When the output member reaches the predetermined stroke by setting just the opposite, the speed of the output member is set to almost zero, so that the output member reaches the stroke end. In will stop without a shock, outputs moving the output member by passing current in the same direction the polarity of the permanent magnets disposed to and coils in the same direction,
Compared to the one that moves back, it does not require any cushioning material,
By setting the speed of the output member to zero at the stroke end, the output member can be stopped without being accompanied by an impact sound, thereby producing an excellent effect of quieting the operation sound.

[Brief description of drawings]

FIG. 1 is a vertical sectional side view of an actuator in an actuator control method according to the present invention.

FIG. 2 is a schematic circuit diagram of an embodiment of an actuator control method according to the present invention.

3 is a graph showing the relationship between the stroke and the elapsed time corresponding to the supply of current in the method of controlling the actuator shown in FIG.

FIG. 4 is a graph showing the relationship between force and time corresponding to the supply of current in the method of controlling the actuator shown in FIG.

FIG. 5 is a vertical sectional side view of an actuator in a conventional actuator control method.

6 is a graph showing the relationship between the stroke and the elapsed time corresponding to the supply of current in the method of controlling the actuator shown in FIG.

[Explanation of symbols]

 1 Actuator 2 Yoke 5 Core 6,7 Permanent magnet 6a, 7a Output member moving part 8 Output member 8c, 8d Coil mounting part 9,10 Coil part 11,12 Coil

Claims (1)

[Claims] 1. A yoke which allows a magnetic flux generated by a permanent magnet and a magnetic flux generated when a coil is energized to pass therethrough, a permanent magnet which is magnetized on an inner peripheral side of the yoke along an axial direction of the yoke, and corresponds to the permanent magnet. An output member that has a coil attachment portion and that drives a load by moving with a predetermined stroke in an output member moving portion provided in the permanent magnet, and a magnetic flux generated by the permanent magnet on the inner peripheral side of the output member and when the coil is energized. A core that passes the generated magnetic flux and a coil corresponding to the permanent magnet are provided in the coil attachment portion of the output member, and the magnetic field generated by the permanent magnet and the coil current are reversed by reversing the direction of energization to the coil. In an actuator that can reverse the direction of the force due to Fleming's left-hand rule that occurs between the impulse applied in the first half and the latter half of the drive, A method for controlling an actuator, characterized in that the current is reversed so that the magnitudes are equal and the directions are exactly opposite to each other, and the speed of the output member when a predetermined stroke is reached is set to substantially zero.