阅读说明：本技术 输入装置 (Input device ) 是由 高桥一成 后藤厚志 于 2017-09-13 设计创作，主要内容包括：提供通过将旋转转矩与制动力组合来实现适当的操作感触的输入装置。输入装置设置有固定部、以旋转自如的方式支承于固定部的旋转体及检测旋转体的旋转的旋转检测部,所述输入装置的特征在于,设置有对旋转体施加制动力的制动施加部、及对旋转体施加转矩的转矩施加部,制动施加部具有设置于旋转体的旋转板、介于固定部与旋转板的间隙的磁性粘性流体及对磁性粘性流体赋予磁场的制动施加线圈,转矩施加部具有对旋转体施加旋转转矩的转矩施加线圈,该输入装置中设置有控制对制动施加线圈和转矩施加线圈赋予的电流的控制部,控制部设定对旋转体的旋转角度进行分割的分割角度,通过对制动施加线圈的通电,在分割角度的边界部对旋转体赋予制动力。(Provided is an input device which achieves an appropriate operation feeling by combining a rotation torque and a braking force. The input device is provided with a fixed part, a rotating body rotatably supported on the fixed part, and a rotation detecting part for detecting the rotation of the rotating body, the input device is characterized in that a brake applying part for applying a braking force to the rotating body and a torque applying part for applying a torque to the rotating body are provided, the brake applying part comprises a rotating plate provided on the rotating body, a magnetic viscous fluid interposed between the fixed part and the rotating plate, and a brake applying coil for applying a magnetic field to the magnetic viscous fluid, the torque applying part comprises a torque applying coil for applying a rotating torque to the rotating body, the input device is provided with a control unit for controlling the current applied to the brake application coil and the torque application coil, the control unit sets a division angle for dividing the rotation angle of the rotating body, by energizing the brake application coil, a braking force is applied to the rotating body at the boundary portion of the divided angle.)

1. An input device provided with a fixed portion, a rotating body rotatably supported by the fixed portion, and a rotation detecting portion detecting rotation of the rotating body, characterized in that,

a brake applying section for applying a braking force to the rotating body and a torque applying section for applying a torque to the rotating body,

the brake applying unit includes a rotating plate provided on the rotating body, a magnetic viscous fluid interposed between the fixed unit and the rotating plate, and a brake applying coil for applying a magnetic field to the magnetic viscous fluid,

the torque applying part has a torque applying coil for applying a rotational torque to the rotating body,

the input device is provided with a control unit for controlling the current applied to the brake application coil and the torque application coil,

the control unit sets a division angle for dividing the rotation angle of the rotating body, and applies a braking force to the rotating body at a boundary portion of the division angle by energizing the brake application coil.

2. The input device of claim 1,

in the divided angle, a rotational torque whose magnitude changes in a manner similar to a sine wave is applied by energizing the torque application coil.

3. Input device as claimed in claim 1 or 2,

within the division angle, a resisting torque opposite to the operation direction is applied to the rotating body in a first half part from the middle point, and a drawing torque in the operation direction is applied to the rotating body in a second half part from the middle point.

4. Input device as claimed in claim 1 or 2,

the division angle is controlled so as to be freely changeable.

5. Input device as claimed in claim 1 or 2,

the torque applying part has coils of A phase and B phase with different phases,

the rotation torque is changed within the divided angle by determining the current value of the relative control angle between the a-phase and the B-phase.

6. The input device of claim 4,

a division angle setting screen is provided, and the division angle is displayed on the division angle setting screen.

Technical Field

The present invention relates to an input device capable of generating a resisting torque in a direction opposite to an operation direction and a pull-in torque in the same direction as the operation direction when an operation portion is rotated.

Background

Patent document 1 describes an invention relating to a brake having a magnetic field-responsive material. In this brake, a shaft is rotatably supported by a housing, and a rotor that rotates together with the shaft is provided in the 1 st chamber of the housing. A magnetic field responsive material and a magnetic field generator are provided in the 1 st chamber. The magnetic field responsive material changes in fluidity according to the strength of the magnetic field. When the magnetic field is generated by the magnetic field generator, the viscosity or shear flow resistance of the magnetic field responsive material becomes large, and the shaft and the rotor are braked.

Patent document 2 describes an invention relating to a manual input device. The manual input device includes an operating member, a carrier shaft that rotates together with the operating member, and an encoder provided on an output shaft of a motor. A carrier is fixed to the carrier shaft, a plurality of planetary gears are rotatably supported by the carrier, a sun gear is fixed to an output shaft of the motor, and the planetary gears are meshed around the sun gear. When the encoder is operated by rotating the operation member by a hand operation, a rotational force in the same direction as or the opposite direction to the operation direction is applied from the motor to the carriage shaft, and a resistance feeling and an acceleration feeling can be applied to the hand operating the operation member.

Patent document 1: japanese patent laid-open publication No. 2005-507061

Patent document 2: japanese patent laid-open publication No. 2003-50639

The brake described in patent document 1 can apply a braking force to the rotor by the action of the magnetic field responding material, but cannot provide a rotational force to the rotor, and thus it is difficult to provide various operation feelings to the operator.

The manual input device described in patent document 2 can provide a resistance feeling and an acceleration feeling to the hand that operates the operation member by applying power to the motor to the carriage shaft. However, in order to appropriately provide a resistance feeling and an acceleration feeling to the hand, control of the motor becomes complicated, and unnecessary vibration may be generated by switching the rotation direction of the motor. Further, in order to deactivate the operation member in the stopped state, the motor needs to be energized during the stop, and power consumption also increases.

Disclosure of Invention

The present invention has been made to solve the above conventional problems, and an object of the present invention is to provide an input device capable of providing a rotating body with appropriate resistance feeling and pull-in feeling in a stable state.

The input device of the present invention is an input device provided with a fixed portion, a rotating body rotatably supported by the fixed portion, and a rotation detecting portion for detecting rotation of the rotating body,

a brake applying section for applying a braking force to the rotating body and a torque applying section for applying a torque to the rotating body,

the brake applying unit includes a rotating plate provided on the rotating body, a magnetic viscous fluid interposed between the fixed unit and the rotating plate, and a brake applying coil for applying a magnetic field to the magnetic viscous fluid,

the torque applying part has a torque applying coil for applying a rotational torque to the rotating body,

the input device is provided with a control unit for controlling the current applied to the brake application coil and the torque application coil,

the control unit sets a division angle for dividing the rotation angle of the rotating body, and applies a braking force to the rotating body at a boundary portion of the division angle by energizing the brake application coil.

In the input device according to the present invention, the torque applying coil is energized in the divided angle to apply a rotational torque whose magnitude changes in a manner similar to a sine wave.

In the input device according to the present invention, the rotational body is provided with a drag torque in a direction opposite to the operation direction in a first half up to a midpoint of the division angle, and a pull-in torque in the operation direction is provided to the rotational body in a second half up to the midpoint.

In addition, the input device of the present invention is characterized in that the input device is controlled so that the division angle can be freely changed.

In the input device according to the present invention, the torque applying section includes a phase-a coil and a phase-B coil having different phases, and determines a current value of a relative control angle between the phase a and the phase B to change the rotational torque within the divided angle.

In the input device according to the present invention, a division angle setting screen is provided, and the division angle is displayed on the division angle setting screen.

ADVANTAGEOUS EFFECTS OF INVENTION

The input device of the present invention is provided with a brake application unit that uses a magnetic viscous fluid and a torque application unit that generates a rotational torque by a magnetic field, and thereby can provide a hand that operates an operation unit with an appropriate resistance feeling and a pulling-in feeling. Further, by applying torque and braking force to the rotating body, the energization control of the torque applying portion can be easily completed, and the vibration of the operating body to which the torque is applied can be prevented.

Further, by stopping the torque application unit when the brake is applied by the brake application unit, the power consumption can be reduced.

Drawings

Fig. 1 is a sectional view showing an overall configuration of an input device according to embodiment 1 of the present invention.

Fig. 2 is a perspective view showing a main part of the input device according to embodiment 1.

Fig. 3 is a perspective view showing a rotor (magnet) provided in a rotating body of the input device according to embodiment 1.

Fig. 4 is a block diagram showing a circuit configuration of the input device according to embodiment 1.

Fig. 5A is an explanatory diagram illustrating a setting operation of the braking force and the rotational torque using the set value input unit shown in fig. 4.

Fig. 5B is a waveform diagram showing changes in the feedback force set in fig. 5A.

Fig. 6A is an explanatory diagram illustrating a setting operation of the braking force and the rotational torque using the set value input unit shown in fig. 4.

Fig. 6B is a waveform diagram showing changes in the feedback force set in fig. 6A.

Fig. 7A and 7B are explanatory diagrams showing an example of setting of the rotational torque in the input device according to embodiment 1.

Fig. 8 is a sectional view showing the overall configuration of an input device according to embodiment 2 of the present invention.

Fig. 9 is a partial plan view showing a part of a rotating body of the input device shown in fig. 8.

Fig. 10A and 10B are explanatory diagrams showing an example of setting of the rotational torque in the input device according to embodiment 2.

Description of the symbols

1: input device

2: fixing part

10: rotating body

11: operating shaft

12: detection board

13: rotor

14: rotary plate

20: rotation detecting unit

22: rotation detecting element

30: torque applying part

36A: a-phase torque application coil

36B: b-phase torque application coil

40: brake application part

44: gap

45: magnetic viscous fluid

47: brake application coil

50: control unit

51: arithmetic unit

101: input device

102: fixing part

113: rotor

113 a: opposite part

114: fixed magnetic yoke

114 a: opposite part

115: torque application coil

O: center line of rotation

Detailed Description

Fig. 1 to 3 show the configuration of an input device 1 according to embodiment 1 of the present invention.

As shown in fig. 1, the input device 1 includes a fixed portion 2 and a rotating body 10 rotatably supported by the fixed portion 2. The rotating body 10 has an operating shaft 11. Fig. 1 shows a rotation center line O of the operation shaft 11. The rotating body 10 has a detection plate 12, a rotor (magnet) 13, and a rotating plate 14 fixed to an operation shaft 11.

A plurality of radial bearings 4, 5, and 6 are provided inside the fixed portion 2, and an operation shaft 11 of the rotating body 10 is rotatably supported by the radial bearings 4, 5, and 6. A thrust bearing 7 is provided at the lower part of the fixed part 2, and a pivot part 15 provided at the lower end of the operation shaft 11 of the rotating body is supported by the thrust bearing 7.

The input device 1 is provided with a rotation detection unit 20, a torque application unit 30, and a brake application unit 40.

In the rotation detecting unit 20, the detecting plate 12 is located in an inner space of an intermediate case 21 which is a part of the fixing unit 2. A rotation detecting element 22 facing the detection plate 12 is fixed to the fixing portion 2, and constitutes a noncontact rotation detecting device. The rotation detecting element 22 is an optical detector or a magnetic detector. In the case of the optical detector, the detection plate 12 has a reflection portion and a non-reflection portion alternately formed along a circumferential direction around the rotation center line O. Alternatively, the light transmissive portion and the light non-transmissive portion are alternately formed. In the case of a magnetic detector, the detection plate 12 has a magnet. In any case, the rotation detecting unit 20 detects the rotation angle of the rotating body 10.

In the torque application portion 30, an upper support plate 32 and a lower support plate 33 are fixed to an upper case 31 which is a part of the portion 2. An upper coil support 34 is fixed to the upper support plate 32, and a lower coil support 35 is fixed to the lower support plate 33. The radial bearing 4 is fixed to the upper coil support 34, and the radial bearing 5 is fixed to the lower coil support 35.

A phase-a torque application coil 36A and a phase-B torque application coil 36B are fixed to the upper coil support 34 and the lower coil support 35. As shown in fig. 2, the torque application coil 36A of the a phase and the torque application coil 36B of the B phase are wound in a rectangular shape so that the lead wire avoids the upper coil support 34 and the lower coil support 35 and surrounds the rotor 13 by a plurality of turns. The torque application coils 36A and 36B of the a and B phases are supplied with control currents of different phases.

As shown in fig. 3, the rotor (magnet) 13 is cylindrical, and the magnetized region is divided into 2 regions with 180 degrees as a boundary, one magnetized region is magnetized with an N-pole on the upper surface and an S-pole on the lower surface, and the other magnetized region is magnetized with an S-pole on the upper surface and an N-pole on the lower surface. The magnetic flux B emitted from the 2 magnetized regions of the rotor 13 intersects the torque applying coil 36A of the a phase and the torque applying coil 36B of the B phase.

As shown in fig. 1, the brake application unit 40 is formed by combining a lower yoke 41 and an upper yoke 42. The lower yoke 41 and the upper yoke 42 are formed of a soft magnetic material such as a Ni — Fe alloy. A spacer 43 formed of a metal plate is attached to the outer peripheries of the lower yoke 41 and the upper yoke 42. The relative position of the lower yoke 41 and the upper yoke 42 in the vertical direction in the figure is determined by the spacer 43, and the vertical interval of the gap 44 between the lower yoke 41 and the upper yoke 42 is set to be uniform. The gap 44 is closed from the outer peripheral side by the spacer 43. The lower yoke 41 and the upper yoke 42 are fixed to each other using a housing or the like in a state where the relative positions of the lower yoke 41 and the upper yoke 42 are determined by the spacer 43.

When the lower yoke 41 and the upper yoke 42 are combined, the rotating plate 14 provided on the rotating body 10 is housed in the gap 44. Further, a magnetic viscous fluid 45 is supplied between the upper surface of the lower yoke 41 and the rotating plate 14 and between the lower surface of the upper yoke 42 and the rotating plate 14. The magnetic viscous fluid 45 is a mixture of magnetic powder or magnetic particles such as Ni — Fe alloy powder inside an oil agent such as silicone oil.

As shown in fig. 1, the thrust bearing 6 is fixed to the upper yoke 42, and the thrust bearing 7 is fixed to the lower yoke 41. Further, an O-ring 46 is interposed between the gap 44 and the thrust bearing 6 and between the upper yoke 42 and the operating shaft 11, and the outflow of the magnetic viscous fluid 45 in the gap 44 toward the thrust bearing 6 is restricted.

As shown in fig. 1, a brake application coil 47 as a magnetic field generating unit is provided inside the lower yoke 41. In the brake application coil 47, the wire is wound multiple times in the circumferential direction around the rotation center line O.

Fig. 4 shows a circuit configuration of the input device 1 according to embodiment 1.

The input device 1 is provided with a control unit 50. The control unit 50 is mainly configured by a CPU and a memory. The control unit 50 performs various processes in accordance with a program read from the memory. In fig. 4, a processing section that performs various processes executed by the control section 50 is shown as a block diagram.

The control unit 50 is provided with an arithmetic unit 51, and the arithmetic unit 51 includes a torque setting unit 52 and a brake setting unit 53. The control unit 50 is provided with a division angle setting unit 54. The input device 1 is provided with a set value input unit 55. The set value input unit 55 includes an input device such as a keyboard and a display. The set value is input to the calculation unit 51 and the division angle setting unit 54 by operating the set value input unit 55.

The control unit 50 is provided with a current angle detection unit 56, and the detection output from the rotation detection element 22 provided in the rotation detection unit 20 is converted into a digital value by an a/D conversion unit 57 and supplied to the current angle detection unit 56.

The control unit 50 is provided with an a-phase modulation unit 58A and a B-phase modulation unit 58B. Based on the calculation result of the calculation unit 51, the a-phase modulation unit 58A controls the PWM energization unit 59A, and a control current having a duty ratio corresponding to the control value is supplied to the a-phase torque application coil 36A. Similarly, the B-phase modulation unit 58B controls the PWM energization unit 59B based on the calculation result of the calculation unit 51, and a control current having a duty ratio corresponding to the control value is supplied to the B-phase torque application coil 36B.

The control unit 50 is provided with a brake modulator 61. Based on the calculation result of the calculation unit 51, the brake modulation unit 61 controls the PWM energization unit 62, and a control current having a duty ratio corresponding to the control value is supplied to the brake application coil 47.

Next, the operation of the input device 1 will be described.

Fig. 5A shows an example of an input screen displayed on the display of the set value input unit 55. The set value is input using a keyboard device or another input device provided in the set value input unit 55.

As shown in fig. 5A, a division angle setting screen 65 is displayed on the display of the set value input unit 55. The set value is input from the set value input unit 55 to the division angle setting unit 54 of the control unit 50, and the division angle Φ, which is 1 unit of the tactile control when the operation shaft 11 is rotated, is set. The division angle phi can be freely set, and in the display example of the division angle setting screen 65 shown in fig. 5A, one rotation of the rotating body 10 is divided by 12, and the division angle phi is set to a uniform angle of 30 degrees. The number of divisions within one revolution can be freely selected from 6, 24, and the like. In addition, the plurality of division angles Φ can be set to different angles instead of uniform angles. Also, the division angle may be only 1 angle. That is, the rotating body 10 may be rotatable only within a range of 1 division angle.

As shown in fig. 5A, a brake setting screen 66 and a torque setting screen 67 are displayed on the display of the set value input unit 55. In the brake setting screen 66, the 1 division angle Φ (in the example shown in fig. 5A, "Φ — 30 degrees") set by the division angle setting unit 54 is further subdivided into 31 angles, and the magnitude of the braking force at each angular position of the 31 division can be set to be variable. Similarly, in the torque setting screen 67, the 1-division angle (Φ equal to 30 degrees) set by the division angle setting unit 54 is further subdivided into 31 angles, and the direction and magnitude of the rotational torque at each angular position divided by 31 can be set to be variable.

The setting example shown in fig. 5A shows changes in the braking force and the rotational torque set within 1 division angle Φ when the operation portion fixed to the operation shaft 11 is held by hand and the rotating body 10 is rotated in the clockwise direction (CW).

In the brake setting screen 66 shown in fig. 5A, the braking force is set to a predetermined magnitude at the start point and the end point of 1 division angle (30 degrees), and the braking force is set to almost zero or a very weak force in the intermediate period between the start point and the end point. The set values of the braking force at the respective angular positions displayed on the brake setting screen 66 are supplied from the brake setting unit 53 shown in fig. 4 to the brake modulator 61, and the PWM energization unit 62 is controlled by the brake modulator 61 to determine the duty ratio of the pulse-shaped control current supplied to the brake application coil 47.

As a result, a large current is supplied to the brake application coil 47 at the start point and the end point of 1 division angle Φ, and the magnetic powder in the magnetic viscous fluid 45 filled in the gap 44 has an aggregated structure or a bridged structure due to the braking magnetic field induced by the brake application coil 47, thereby increasing the rotation resistance of the rotating body 10. In the middle period between the start point and the end point of the division angle Φ, the brake applying coil 47 is hardly energized, and no brake magnetic field is induced. During this period, the viscosity of the magnetic viscous fluid 45 does not increase, and the braking force applied to the rotary body 10 is reduced.

In the torque setting screen 67 shown in fig. 5A, the direction and magnitude of the rotational torque are set to change along a substantially sinusoidal curve from the start point to the end point of 1 division angle Φ (═ 30 degrees). At the start and end points of the division angle phi, the rotational torque provided to the rotating body 10 is almost zero. During a period from a start point of the division angle to an intermediate point of the division angle, a counterclockwise (CCW) rotation torque (resistance torque) is applied to the rotating body 10, and the magnitude of the rotation torque also gradually changes. The rotating torque (pull-in torque) in the clockwise direction (CW) is applied to the rotating body 10 from the middle point of the division angle Φ to the end point of the division angle Φ, and the magnitude thereof is set to gradually change.

When the braking force is set as shown in the brake setting screen 66 in fig. 5A and the rotational torque is set as shown in the torque setting screen 67, the feedback force of the operation to the hand holding the operation unit and attempting to rotate the rotating body 10 in the clockwise direction changes as shown in fig. 5B. Fig. 5B shows a change in feedback force given to the hand during the rotation of the rotating body 10 in the clockwise direction (CW) by operating the operating portion with the hand by 360 degrees.

When the rotating body 10 is rotated in the clockwise direction, a braking force is applied to the rotating body 10 by the brake applying unit 40 at the start point of the division angle Φ, and thus the rotational resistance increases. When the operating section is slightly rotated, the braking force is released, but a resisting torque in the counterclockwise direction (CCW) is applied from the start point to the intermediate point of the division angle phi, and a pulling torque in the clockwise direction (CW) is applied when the resisting torque exceeds the intermediate point, and the braking force is applied again at the end point of the division angle phi. As a result, while the rotary body 10 is rotated 360 degrees, the braking force intermittently acts for each of the divided angles Φ, and the resistance torque and the pull-in torque act within the divided angles Φ, so that the operation feeling as rotating a rotary switch having mechanical contacts can be obtained.

Fig. 6A and 6B show different setting examples from fig. 5A and 5B.

In the setting example shown in fig. 6A, the division angle of rotation Φ is 30 degrees, which is the same as the setting of fig. 5A. The setting of the change in the braking force displayed on the brake setting screen 66 shown in fig. 6A is the same as that shown in fig. 5A.

However, the setting of the rotational torque displayed on the torque setting screen 67 shown in fig. 6A is different from that shown in fig. 5A. In the setting example of fig. 6A, the rotational torque is almost zero at the start point and the end point of the division angle Φ. The same magnitude of counterclockwise (CCW) rotational torque (drag torque) is set from the starting point to the intermediate point of the division angle phi, and the same magnitude of Clockwise (CW) rotational torque (pull-in torque) is set from the intermediate point to the end point of the division angle phi.

As a result, the feedback force given to the hand when the operation unit is rotated 360 in the clockwise direction shows a change shown in fig. 6B. In fig. 5B, the magnitudes of the resisting torque and the pull-in torque within the division angle Φ are set to be close to sinusoidal changes, and therefore the feeling of resistance and the feeling of pull-in felt by the hand within the division angle Φ flexibly change. In contrast, in fig. 6B, since the torque changes rapidly by switching from the resisting torque to the retracting torque within the division angle Φ, the resisting feeling and the retracting feeling are given to the hand that rotates the rotating body 10 so as to change sharply.

Here, the setting of the rotational torque to be applied to the rotor (magnet) 13 by the torque application unit 30 will be described.

The vertical axis of fig. 7A represents the change in the current supplied to the torque application coil 36A of the a-phase and the torque application coil 36B of the B-phase. As shown in fig. 4, pulse currents whose duty ratios are modulated by the PWM conduction portions 59A and 59B are supplied to the torque application coils 36A and 36B, but for convenience of explanation, the integrated values of the pulse currents are shown in fig. 7A. That is, the dc current is applied to the torque application coils 36A and 36B.

In fig. 7A, assuming that the horizontal axis is a time transition, if currents having phases different by 90 degrees from each other are supplied to 2 torque application coils 36A and 36B in accordance with the time transition, a rotational force can be applied to the rotor (magnet) 13. However, the purpose of the torque application portion 30 is not to rotate the rotor 13, but to provide a drag torque and a pull-in torque to the rotary body 10 when it is rotated by hand.

Therefore, the horizontal axis is defined as the rotation angle of the rotor 13 in fig. 7A. When the rotor 13 is moved to any one of the current angles along the horizontal axis of fig. 7A, a fixed current value indicated by the vertical axis at the current position is continuously supplied to each of the torque application coils 36A and 36B, whereby the rotor 13 can be stopped at the current angle. For example, when the current angle of the rotor 13 is 45 degrees, the rotor 13 can be stopped at the current angle position of 45 degrees when approximately 70% of the current is continuously passed through the torque application coil 36A of the a phase and the torque application coil 36B of the B phase.

Further, as shown by the broken line in fig. 7A, which is marked to extend in the vertical direction, when the rotor 13 is rotated to a position of 180 degrees at the current angle, the rotor 13 can be stopped at the position of 180 degrees at the current angle by continuing to pass a negative 100% current to the torque application coil 36A of the a-phase and by setting the current to the torque application coil 36B of the B-phase to zero. At this time, the rotational torque acting on the rotor 13 is zero.

Therefore, based on the waveform shown in fig. 7A, a relative control angle is set on the positive side or the negative side of the current angle, and when the rotor 13 is at the current angle, a control current corresponding to the relative control angle is supplied to each of the torque application coils 36A and 36B, so that a rotational torque can be applied to the rotor 13 at the current angle.

For example, when the current angle of the rotor 13 is 180 degrees, the relative control angle is set to 90 degrees in the forward direction, and a current value indicated by a broken line at a position "+ 90 degrees" in fig. 7A is supplied to each of the torque application coils 36A and 36B. That is, the current supplied to the torque application coil 36A of the a phase is set to zero, and the current supplied to the torque application coil 36B of the B phase is set to negative 100%. Accordingly, the rotor 13 located at the current angle of 180 degrees can be provided with the pull-in torque having the maximum value in the clockwise direction (CW).

When the current angle of the rotor 13 is 180 degrees, the relative control angle is set to negative 90 degrees, and current values indicated by broken lines at the position of "-90 degrees" in fig. 7A are supplied to the torque application coils 36A and 36B. That is, when the current supplied to the a-phase torque application coil 36A is set to zero and the current supplied to the B-phase torque application coil 36B is set to 100% in the positive direction, the rotor 13 at the current angle of 180 degrees can be supplied with the resisting torque whose counterclockwise direction (CCW) is the maximum value.

This is the same regardless of the current angle of the rotor 13, and by setting the relative control angle to 90 degrees in the forward direction based on the current angle and supplying a current of 90 degrees in the forward direction to each of the torque application coils 36A and 36B, the pull-in torque, which is the rotational torque in the clockwise direction (CW), can be set to the maximum (100%) regardless of the current angle at which the rotor 13 is located. Further, by setting the relative control angle to be negative 90 degrees and supplying a current of negative 90 degrees to each of the torque application coils 36A and 36B, the resistance torque, which is the rotational torque in the counterclockwise direction (CCW), can be set to be maximum (100%).

In the setting example of the rotational torque on the torque setting screen 67 shown in fig. 6B, the state where the resisting torque is 100% continues in the first half of the division angle Φ. This means that the relative control angle is set to the negative 90 degrees regardless of the current angle of the rotor 13. In the latter half of the split angle Φ, the state where the pull-in torque is 100% continues, but this means that the relative control angle is set to 90 degrees in the forward direction regardless of the current angle of the rotor.

In the torque setting screen 67 shown in fig. 5B, at each current angle position divided by 31 within the range of the division angle Φ, the magnitude of the drag torque, which is the rotational torque in the counterclockwise direction (CCW), and the magnitude of the pull-in torque, which is the rotational torque in the clockwise direction (CW), change gradually in a manner similar to a sinusoidal curve. In order to change the magnitude of the rotation torque at each current angle in this manner, the following calculation process is performed in the torque setting unit 52.

As the 1 st calculation process, the torque setting unit 52 shown in fig. 4 multiplies the pull-in torque, which sets the relative control angle to 100% of the positive 90 degrees, by a predetermined coefficient, and obtains a set value of the pull-in torque, which changes at every moment, as shown in a torque setting screen 67 shown in fig. 5A. Further, the drag torque of 100% in which the relative control angle is set to negative 90 degrees is also multiplied by a predetermined coefficient, and a set value of the drag torque that changes every moment is obtained as shown in a torque setting screen 67 of fig. 5A.

As the 2 nd arithmetic processing, a torque variation table shown in fig. 7B is used. In fig. 7B, the horizontal axis represents the relative control angle, and the vertical axis represents the torque ratio. The torque ratio is represented by a ratio of the rotation torque when the rotation torque that becomes the maximum value when the relative control angle is ± 90 degrees is set to "1". If the rotational torque to be set at each current angle is determined, the rotational torque can be set by selecting a relative control angle corresponding to the magnitude of the rotational torque using the table shown in fig. 7B, and supplying a current corresponding to the relative control angle to each of the torque application coils 36A and 36B.

Fig. 8 and 9 show an input device 101 according to embodiment 2 of the present invention. In embodiment 2, the same reference numerals are given to those parts that perform the same functions as those in embodiment 1, and detailed description thereof is omitted.

In an input device 101 shown in fig. 8, a rotating body 10 is rotatably supported by a fixed portion 102. The rotating body 10 includes an operation shaft 11, a rotating plate 14 fixed to the operation shaft 11 as the rotating body 10, and a rotor 113 fixed to the operation shaft 11 as the rotating body 10.

The input device 101 is provided with a torque application unit 30 and a brake application unit 40. The rotation detecting unit 20 is not shown. The brake application unit 40 has the same structure as the input device 1 shown in fig. 1, and the rotating plate 14 and the magnetic viscous fluid 45 are provided in the gap 44 between the lower yoke 41 and the upper yoke 42. Further, a brake application coil 47 is provided to the lower yoke 41.

In the torque application unit 30, a rotor 113 is fixed to the operating shaft 11 as the rotating body 10. As shown in fig. 9, an opposing portion 113a is formed on the outer peripheral surface of the rotor 113 so as to protrude at a constant division angle Φ in the circumferential direction. The rotor 113 is formed of a magnetic material, but is not a magnet. The fixing portion 102 is provided with a fixing yoke 114. The opposing portion 114a is formed on the inner peripheral portion of the fixed yoke so as to protrude at a constant division angle phi in the circumferential direction. The opposing portion 113a of the rotor 113 and the opposing portion 114a of the fixed yoke 114 are formed to have the same division angle Φ.

The fixed yoke 114 is formed of a magnetic material, and the torque application coil 115 is held by the fixed yoke 114.

Next, the operation of the input device 101 according to embodiment 2 will be described.

In fig. 10A, the horizontal axis represents the rotation angle of the rotating body 10, and the vertical axis represents the change in the braking force (braking torque) applied to the rotating plate 14 when the current of the brake application coil 47 of the brake application unit 40 is controlled. Only by the control of the brake application unit 40, the braking force (braking torque) can be changed to change the resistance feeling of the hand rotating the operation body, but the rotational torque cannot be applied to the rotating body 10.

Therefore, when the torque application coil 115 provided in the torque application unit 30 is energized, the fixed yoke 114 is magnetized. When the facing portion 113a of the rotor 113 shown in fig. 9 faces the facing portion 114a of the fixed yoke 114, the rotor 113 is stabilized. However, when the rotating body 10 is rotated clockwise from the stable position, as shown in fig. 10B, a resisting torque in a direction opposite to the direction in which the rotating body is rotated in the first half portion Φ 1 of the division angle Φ is generated, and a pulling-in torque in the same direction as the rotating direction is generated in the second half portion Φ 2.

Therefore, by controlling the energization of the brake application coil 47 when the torque application coil 115 is energized, it is possible to make the hand that intends to rotate the operating body feel appropriate brake resistance feeling, resistance torque, and retraction torque. By combining the setting of the rotational torque by the torque application unit 30 and the setting of the braking force by the brake application unit 40, it is possible to realize various operation feelings and to suppress the generation of unnecessary vibration of the rotating body 10. In a steady state in which the facing portion 113a faces the facing portion 114a, a braking force is applied by the brake application unit 40, so that energization of the torque application coil 115 can be stopped, and power consumption can be reduced.

In the above embodiment, the torque application coils 36A, 36B, and 115 are provided at the fixed portions of the torque application portions, and the magnets are provided at the rotating body 10 in embodiment 1.