阅读说明：本技术 旋转型操作装置、旋转型操作装置的控制方法、以及程序 (The control method and program of rotary operation device, rotary operation device ) 是由 涌田宏 于 2018-04-10 设计创作，主要内容包括：基于旋转角传感器(105)中的操作部件(102)的旋转角的检测值的时间变化,以将使操作部件(102)相对于旋转操作的表观上的惯性力矩与原本的惯性力矩(J2)不同的校正转矩追加到控制转矩(T1)的方式,对控制信号(D1、D2)进行校正。通过使操作部件(102)的表观上的惯性力矩与原本的惯性力矩(J2)不同,能够使该表观上的惯性力矩适合于操作部件(102)的外观的质感。因而,能够有效地减少由操作部件(102)的外观的质感与实际的操作中所感觉到的负荷的差异引起的操作触感的不协调感。(The time change of the detected value of rotation angle based on the operating member (102) in rotation angle sensor (105), in such a way that the correction torque for keeping operating member (102) different relative to the apparent moment of inertia of rotation process and moment of inertia (J2) of script to be appended to control torque (T1), control signal (D1, D2) is corrected.By keeping the apparent moment of inertia of operating member (102) different from moment of inertia (J2) of script, the apparent moment of inertia can be made to be suitable for the texture of the appearance of operating member (102).Thus, it is possible to efficiently reduce the incongruity of operation feeling caused by the difference for the load felt in texture and actual operation as the appearance of operating member (102).)

1. a kind of rotary operation device, comprising:

Operating member can correspond to rotation process and be rotated；

Torque generating unit is generated according to the control signal inputted for carrying out rotation driving or system to the operating member Dynamic control torque；

Rotation angle sensor detects the rotation angle of the operating member；

Control signal generating unit generates the control corresponding with the detected value of the rotation angle in the rotation angle sensor Signal；And

First correction unit, the time change of the detected value based on the rotation angle, will be used to making the operating member relative to The correction torque different from the moment of inertia of script of the apparent moment of inertia of the rotation process is appended to the control and turns The mode of square is corrected the control signal.

2. rotary operation device as described in claim 1, wherein

First correction unit calculates the angular acceleration of the operating member based on the detected value of the rotation angle, will be based on The corresponding correction torque of the first inertia torque that the moment of inertia of the operating member and the angular acceleration are inferred is additional To the mode of the control torque, the control signal is corrected.

3. rotary operation device as claimed in claim 1 or 2, wherein

The rotary operation device includes

Torque sensor, to the part and quilt for acting on the operation torque for being applied the rotation process in the operating member The torque applied between the part of the control torque is detected；And

Second correction unit is corrected the control signal, so that the detected value based on the torque and the rotation angle Difference, that is, error torque of the control torque and the control torque corresponding to the control signal that detected value is inferred becomes smaller.

4. rotary operation device as claimed in claim 3, wherein

Second correction unit calculates the angular acceleration of the operating member based on the detected value of the rotation angle, is based on from described The moment of inertia of the component of the rotation of torque generating unit side and the angular acceleration calculate second when torque sensor is observed Inertia torque is corrected the control signal, so that the detected value based on the torque and second inertia torque push away Difference, that is, error torque of disconnected the control torque and the control torque for corresponding to the control signal becomes smaller.

5. rotary operation device as described in claim 3 or 4, wherein

The torque generating unit includes:

Driving machine generates the driving torque that rotation driving is carried out to the operating member according to the first control signal inputted； And

Brake generates the braking braked to the rotation of the operating member and turns according to the second control signal inputted Square,

First correction unit is corrected at least one party of the first control signal and the second control signal,

Second correction unit is corrected at least one party of the first control signal and the second control signal.

6. rotary operation device as claimed in claim 5, wherein

The brake includes:

Magnetic viscosity fluid is contacted with the operating member；And

Magnetic field control unit generates magnetic field corresponding with the second control signal, makes the magnetic viscosity fluid by the magnetic field Viscosity change.

7. such as rotary operation device described in claim 5 or 6, wherein

Rotation angle of the control signal generating unit based on the operating member is pre- with the signal value of the first control signal The corresponding relationship and the rotation angle of the operating member that first set and presetting for the signal value of the second control signal Corresponding relationship, generate the first control signal and the second control signal, the first control signal and described Second control signal has signal value corresponding with the detected value of the rotation angle.

8. the rotary operation device as described in what one of claim 5 to 7, wherein

The rotary operation device has shell, which is that can rotate by operating member bearing,

The operating member includes by axis that the shell can be supported rotatably and being fixed on the rotation process of the axis and using Knob,

The driving machine generates the driving torque that rotation driving is carried out to the axis,

The brake generates the braking moment braked to the rotation of the axis,

The torque sensor to acted in the axis part that is applied the driving torque and the braking moment with The torque between the part of the fixed knob is detected.

9. a kind of control method of rotary operation device, wherein

The rotary operation device includes

Operating member can be rotated according to the operation torque applied by rotation process；

Torque generating unit is generated according to the control signal inputted for carrying out rotation driving or system to the operating member Dynamic control torque；And

Rotation angle sensor detects the rotation angle of the operating member,

The control method of the rotary operation device has following steps:

Generate the control signal corresponding with the detected value of the rotation angle in the rotation angle sensor；And

The time change of detected value based on the rotation angle will be used to make the operating member relative to the rotation process The correction torque different from the moment of inertia of script of apparent moment of inertia be appended to the mode of the control torque, to institute Control signal is stated to be corrected.

10. the control method of rotary operation device as claimed in claim 9, wherein

The rotary operation device has torque sensor, which is applied to acting in the operating member The torque between the part of the operation torque and the part for being applied the control torque is added to be detected,

The control method of the rotary operation device has following steps: being corrected to the control signal, so as to be based on The control torque and correspond to the control signal that the detected value of the torque and the detected value of the rotation angle are inferred Difference, that is, error torque of the control torque becomes smaller.

11. a kind of program, for making the control method of rotary operation device described in computer perform claim requirement 9 or 10.

Technical field

The present invention relates to can be to rotary operation device that the operation feeling along with rotation process is controlled, rotation The control method and program of type operating device.

Background technique

It has been known that there is accept the adjusting of the switching of the speed changer of vehicle, the volume of audio devices by making operating member rotation The rotary operation device of equal inputs.For example, power documented by following patent documents 1 feels that applying input unit has by operating Person carry out the operating member of rotation process, the electric actuator for applying torque to operating member, to the rotation angle of operating member into The rotation angle detecting unit of row detection, the rotation speed detection unit that the angular speed of operating member is detected, Yi Jigen The control unit that electric actuator is controlled according to the rotation angle and angular speed of operating member.The power feels that applying input unit leads to It crosses according to the rotation angle of the operating member along with rotation process and rotation speed and controls from electric actuator to operation portion The torque that part applies can generate the operation feeling for being similar to and clicking mechanism.

Summary of the invention

Subject to be solved by the invention

However, feeling of the operation feeling of rotary operation device based on the load along with rotation process, transmitting are in one's hands Feeling of the impact of finger etc. by feeling obtained by actual operation, if but the actual feeling and operator's anticipation feeling Difference becomes larger, then brings incongruity to operator sometimes.

Such as in vehicle-mounted equipment, in order to realize lightweight and show the feeling of high class of appearance, implement sometimes to tree The surface of the material of the light weights such as rouge assigns the processing of metal-like.Operating member appearance texture close to metal the case where Under, operator can unconsciously envision the heavier load to match with metal.Therefore, if that is felt in actual operation is negative Lotus is lighter than the load of anticipation, then the difference of the feeling can bring incongruity to operator.

When the quality difference of operating member, the inertia torque of operating member is different, therefore the different meetings of the inertia torque Feel to affect to the load of rotation process.The inertia torque of operating member adds according to the moment of inertia of operating member with angle Speed and change.Assuming that even if applying certain torque to operating member using electric actuator etc., also due to not added according to angle Certain torque of velocity variations is different from inertia torque and can not eliminate the incongruity of above-mentioned operator.

The present invention is completed in view of the above situation, it is intended that providing one kind can be reduced by operating member Appearance texture and actual operation in operation feeling caused by the difference of load felt incongruity rotation Type operating device, the control method of rotary operation device and program.

For the means to solve the problem

The rotary operation device of first viewpoint of the invention includes operating member, can correspond to rotation process and into Row rotation；Torque generating unit, according to the control signal inputted, generate for the operating member carry out rotation driving or The control torque of braking；Rotation angle sensor detects the rotation angle of the operating member；Control signal generating unit, it is raw At the control signal corresponding with the detected value of the rotation angle in the rotation angle sensor；And first correction unit, The time change of detected value based on the rotation angle will be used for the table for making the operating member relative to the rotation process The correction torque different from the moment of inertia of script of moment of inertia in sight is appended to the mode of the control torque, to the control Signal processed is corrected.

According to this constitution, passing through the apparent inertia force that will be used to make the operating member relative to the rotation process The square correction torque different from the moment of inertia of script is appended to the control torque, can make the table of the operating member Moment of inertia in sight is suitable for the texture of the appearance of the operating member.Therefore, it can reduce by the appearance of the operating member Texture and actual operation in operation feeling caused by the difference of load felt incongruity.

Preferably, the angle that first correction unit can calculate the operating member based on the detected value of the rotation angle adds Speed, by school corresponding with the first inertia torque of moment of inertia and angular acceleration deduction based on the operating member Positive torque is appended to the mode of the control torque, is corrected to the control signal.

According to this constitution, by by with based on the operating member moment of inertia and the angular acceleration infer first The corresponding correction torque of inertia torque is appended to the control torque, and the operating member is relative to the rotation process Imaginary moment variations of the apparent moment of inertia relative to script.

Preferably, above-mentioned rotary operation device can have: torque sensor is acted on in the operating member The torque being applied between the part of the operation torque of the rotation process and the part for being applied the control torque is examined It surveys；And second correction unit, the control signal is corrected, so that the detected value based on the torque and the rotation angle Detected value infer the control torque with correspond to it is described control signal the control torque difference, that is, error torque change It is small.

According to this constitution, the control torque that the detected value of detected value and the rotation angle based on the torque is inferred And difference, that is, the error torque for corresponding to the control torque of the control signal becomes smaller.It can accurately set as a result, The apparent moment of inertia of the operating member.

Preferably, the angle that second correction unit can calculate the operating member based on the detected value of the rotation angle adds Speed, the moment of inertia of the component of the rotation of torque generating unit side and the angle when based on from the torque sensor The second inertia torque of acceleration calculation is corrected the control signal, so that the detected value based on the torque and described Difference, that is, mistake of the control torque and the control torque corresponding to the control signal that second inertia torque is inferred Poor torque becomes smaller.

According to this constitution, when based on from the torque sensor component of the rotation of torque generating unit side it is used Property the torque and angular acceleration, calculate second inertia torque.The error torque is the detected value based on the torque The difference of the control torque and the control torque corresponding to the control signal inferred with second inertia torque.It is logical It crosses and reduces the error torque, can accurately set the apparent moment of inertia of the operating member.

Preferably, the torque generating unit may include: driving machine, according to the first control signal inputted, generation pair The operating member carries out the driving torque of rotation driving；And brake, according to the second control signal inputted, generation pair The braking moment that the rotation of the operating member is braked.First correction unit can to the first control signal and At least one party of the second control signal is corrected.Second correction unit can be to the first control signal and institute At least one party for stating second control signal is corrected.

According to this constitution, the driving torque corresponding with the first control signal generates in the driving machine, with The corresponding braking moment of the second control signal generates in the brake.Therefore, by the driving torque with The combination of the braking moment can generate the control torque for generating various operation feelings.In addition, in first correction In portion and second correction unit, by correcting the first control signal and the second control signal respectively at least One side so that the correction torque is appended to the control torque, and realizes the reduction of the error torque.

Preferably, the brake may include: magnetic viscosity fluid, contact with the operating member；And magnetic field control Portion processed generates magnetic field corresponding with the second control signal, the viscosity change of the magnetic viscosity fluid is made by the magnetic field.

According to this constitution, by making the viscosity change of the magnetic viscosity fluid, so that being applied to the operating member The braking moment changes.Thus, compared with the method for applying mechanical frictional force to the operating member, Neng Goujin The accurate control of the row braking moment.

Preferably, the control signal generating unit can rotation angle based on the operating member and first control believe Number signal value preset corresponding relationship and the operating member rotation angle and the second control signal letter The preset corresponding relationship of number value, generates the first control signal and the second control signal, first control Signal processed and the second control signal have signal value corresponding with the detected value of the rotation angle.

According to this constitution, based on being set in advance for each of the first control signal and the second control signal The fixed corresponding relationship generates the first control letter with signal value corresponding with the detected value of the rotation angle respectively Number and the second control signal.

Preferably, above-mentioned rotary operation device can have shell, which is by operating member bearing can Rotation.The operating member may include the axis supported by the shell as that can rotate and the rotation for being fixed on the axis The knob of operation.The driving machine can produce the driving torque that rotation driving is carried out to the axis.The brake It can produce the braking moment braked to the rotation of the axis.The torque sensor can be made in the axis The torque for being applied between the part of the driving torque and the braking moment and the part of the fixed knob It is detected.

According to this constitution, the texture by the appearance of the knob and the actual rotation process to the knob can be reduced The incongruity of operation feeling caused by the difference of middle felt load.

Second viewpoint of the invention is related to a kind of control method of rotary operation device, rotary operation device tool Have: operating member can be rotated according to the operation torque applied by rotation process；Torque generating unit, according to what is inputted Signal is controlled, the control torque for carrying out rotation driving or braking to the operating member is generated；And rotation angle sensing Device detects the rotation angle of the operating member.The control method has following steps: generating and senses with the rotation angle The corresponding control signal of the detected value of the rotation angle in device；And the time of the detected value based on the rotation angle becomes Change, will be used to make the operating member relative to the apparent moment of inertia of the rotation process and the moment of inertia of script Different correction torques is appended to the mode of the control torque, is corrected to the control signal.

The rotary operation device can have torque sensor, which makees in the operating member Torque for being applied between the part of the operation torque and the part for being applied the control torque is detected.It is described The control method of rotary operation device can have following steps: be corrected to the control signal, so that based on described The control torque that the detected value of torque and the detected value of the rotation angle are inferred controls the described of signal with corresponding to described Difference, that is, error torque of control torque becomes smaller.

Third viewpoint of the invention is related to a kind of program, for making computer execute the rotary-type operation of above-mentioned second viewpoint The control method of device.

Invention effect

In accordance with the invention it is possible to reduce the load felt in texture and actual operation by the appearance of operating member Difference caused by operation feeling incongruity.

Detailed description of the invention

Fig. 1 is the perspective view for indicating an example of appearance for the rotary operation device of embodiments of the present invention.

Fig. 2 is the partial cross-sectional view of the rotary operation device in the section by 2-2 line shown in FIG. 1.

Fig. 3 is the block diagram for indicating an example of composition for rotary operation device shown in FIG. 1.

Fig. 4 is the block diagram for indicating an example of composition relevant to the generation of the control signal of control torque and correction.

Fig. 5 is the first control signal for indicating to be changed according to rotation angle and second control signal and corresponding The figure of driving torque and the example of control torque.

Fig. 6 is for illustration in the figure of the torque in each portion of rotary operation device shown in FIG. 1.

Fig. 7 is the flow chart of the relevant processing of generation and correction for illustrating to controlling signal.

Specific embodiment

Hereinafter, being illustrated referring to rotary operation device of the attached drawing to embodiments of the present invention.Fig. 1 is to indicate this reality Apply the perspective view of an example of the appearance of the rotary operation device 100 of mode.Fig. 2 is by 2-2 line shown in FIG. 1 The partial cross-sectional view of rotary operation device 100 in section.Fig. 3 is the structure for indicating rotary operation device 100 shown in FIG. 1 At an example block diagram.

As shown in Figure 1, rotary operation device 100, which has, can correspond to the behaviour that the rotation process of operator is rotated Make component 102 and the shell 101 by the bearing of operating member 102 for that can rotate.Rotary operation device 100 generates operation The operation information relevant to rotation process such as the rotation angle of component 102 or rotation position, rotation speed.Rotary operation device 100 such as the switching for the speed changer in the adjustment of the volume in audio devices, vehicle.

The section of Fig. 2 passes through the rotary shaft AX of operating member 102.As shown in Fig. 2, operating member 102 includes by shell 101 Bearing is the axis 112 that can be rotated and the knob 111 for being fixed on axis 112.Axis 112 is contained in the inside of shell 101.Knob 111 expose in the outside of shell 101, receive the rotation process of operator.In the example of Fig. 1 and Fig. 2, knob 111 and axis 112 have using rotary shaft AX as the columned shape of center axis, integrally rotate around rotary shaft AX.

As shown in Fig. 2, composition of the rotary operation device 100 as mechanical system, has torque generating unit 103, torque Sensor 104 and rotation angle sensor 105.Torque generating unit 103, torque sensor 104 and rotation angle sensor 105 It is respectively accommodated in the inside of shell 101, and is arranged along the axis of operating member 102 112.

In addition, as shown in figure 3, composition of the rotary operation device 100 as control system, further includes processing unit 108, deposits Storage portion 109 and interface portion 110.

(torque generating unit 103)

According to the control signal (D1, D2) inputted from aftermentioned processing unit 108 (Fig. 3), generation is used for torque generating unit 103 The control torque T1 of rotation driving or braking is carried out to operating member 102.In the example in figure 2, torque generating unit 103 includes Driving machine 106 and brake 107.

Driving machine 106 revolves operating member 102 according to the first control signal D1 inputted from processing unit 108, generation Turn the driving torque Td of driving.Driving machine 106 is for example as shown in Figure 2, including the motor such as DC motor 120.In the example of Fig. 2 In son, motor 120 includes the multiple rotors 121 integrally rotated with axis 112 and is opposed to the more of configuration with rotor 121 A stator 122.Rotor 121 is, for example, permanent magnet, and stator 122 is, for example, coil.By distinguishing to the coil of multiple stators 122 The driving current of waveform as defined in supplying generates the magnetic field for acting on multiple rotors 121, and generates multiple rotors 121 and axis 112 rotate the driving torque Td of driving together.The size of driving torque Td according to supply to stator 122 coil driving current Size and change.

As shown in figure 3, driving machine 106 further includes driving circuit 123 and drive signal generating unit 124.Driving circuit 123 produces Raw driving current corresponding with the driving signal inputted, and it is respectively fed to multiple stators 122 of motor 120.Driving letter Number generating unit 124 generates driving signal corresponding with first control signal D1 input from processing unit 108, and be input to drive it is electric Road 123.First control signal D1 is the signal set to the size of the driving current of the coil of supply to stator 122.It drives Dynamic signal generation portion 124 generates driving signal, for giving the corresponding driving current of setting of first control signal D1.

For example, drive signal generating unit 124 includes D/A converter, D/A converter output has and first control signal The driving signal of the simulation of the corresponding amplitude of signal value (digital value) of D1.Alternatively, drive signal generating unit 124 also may include Smooth circuit, the smooth circuit will carry out pulse width modulation according to the signal value of first control signal D1 (digital value) Pwm signal smoothing, and exported as driving signal.

In addition, driving machine 106 is not limited to above-mentioned motor 120, it also may include being generated based on other power sources Various types of prime mover of torque.

Brake 107 generates the rotation to operating member 102 according to the second control signal D2 inputted from processing unit 108 The braking moment Tb braked.For example, brake 107 include the magnetic viscosity fluid 134 contacted with operating member 102, with And to the magnetic field control unit 132 that the magnetic field for acting on magnetic viscosity fluid 134 is controlled.

Magnetic field control unit 132 generates magnetic field corresponding with second control signal D2, makes magnetic viscosity fluid by the magnetic field 134 viscosity change.For example, magnetic field control unit 132 is to be wound into cricoid coil around axis 112.As shown in Fig. 2, magnetic Field control unit 132 is configured among fixed cricoid solenoid housing 131 on the axis 112 of operating member 102.Solenoid housing 131 have the opposed faces 133 substantially vertical with rotary shaft AX.It is fixed on axis 112 with substantially vertical with rotary shaft AX The discoid resistance discs 135 in face, the face of a side of the resistance discs 135 and the opposed faces 133 of solenoid housing 131 approach and match It sets.Magnetic viscosity fluid 134 is filled in the opposed faces 133 of solenoid housing 131 and the gap of resistance discs 135, by (not shown) Seal member is enclosed among the gap.

If the driving current for flowing through magnetic field control unit 132 changes, occurred by the magnetic field of magnetic viscosity fluid 134 Variation, due to the variation in magnetic field, the binding force for constituting the particle of magnetic viscosity fluid 134 changes, due to the combination of particle The viscosity of the variation of power, magnetic viscosity fluid 134 changes.If the viscosity of magnetic viscosity fluid 134 changes, hinder Solenoid housing 131 changes with the power of the relative rotation of resistance discs 135, i.e. frictional force.The frictional force is bigger, to operating member The braking moment Tb that 102 rotation is braked is bigger.The size of braking moment Tb is according to the driving for flowing through magnetic field control unit 132 The size of electric current and change.

As shown in figure 3, brake 107 further includes driving circuit 136 and drive signal generating unit 137.Driving circuit 136 produces Raw driving current corresponding with the driving signal of input, and supply to magnetic field control unit 132.Drive signal generating unit 137 generates Driving signal corresponding with the second control signal D2 inputted from processing unit 108, and it is input to driving circuit 136.Second control Signal D2 is the signal set to the size of the driving current of supply to magnetic field control unit 132.Drive signal generating unit 137 Driving signal is generated, for giving the corresponding driving current of setting of second control signal D2.

For example, drive signal generating unit 137 includes D/A converter, D/A converter output has and second control signal The driving signal of the simulation of the corresponding amplitude of signal value (digital value) of D2.Alternatively, drive signal generating unit 137 also may include Smooth circuit, the smooth circuit will carry out pulse width modulation according to the signal value of second control signal D2 (digital value) Pwm signal smoothing, and exported as driving signal.

In addition, brake 107 is not limited to the sticky brake using magnetic viscosity fluid 134 as described above, Braking moment Tb can also be generated by other various methods.For example, brake 107 can also by make component mechanically with behaviour Make the method for the contact of component 102, generate braking moment Tb using the method for electromagnetic force.

(rotation angle sensor 105)

Rotation angle sensor 105 is the sensor for detecting the rotation angle of operating member 102, for example including rotary encoder 140.Rotary encoder 140 is for example as shown in Figure 2, the discoid detection of the axis 112 including being fixed on operating member 102 The optical detection portion 142 that the outer peripheral edge of disk 141 and proximity test disk 141 nearby configures.In detection plate 141, in periphery Edge has been formed about multiple holes.Optical detection portion 142 is detected optically by the presence or absence of the hole.According to the detection in optical detection portion 142 As a result, being detected to the rotation angle of operating member 102.

In addition, rotation angle sensor 105 is not limited to above-mentioned rotary encoder 140, it can also be various by other Method detects rotation angle.For example, rotation angle sensor 105 can be based on the change in the magnetic field for the permanent magnet for being fixed on axis 112 Change to detect rotation angle, the rotation resistance value corresponding to axis 112, the changed sensor of other physical quantitys can also be passed through To detect rotation angle.

(torque sensor 104)

Torque sensor 104 is to the part for acting on the operation torque T2 for being applied rotation process in operating member 102 Torque T s between the part for the control torque T1 for being applied torque generating unit 103 is detected.That is, torque sensor 104 To being acted on axis 112 between the part of the part and fixed knob 111 that are applied driving torque Td and braking moment Tb Torque T s is detected.

Torque sensor 104 for example detects torque T s using the magnetostrictive effect of ferromagnetic.In the example of Fig. 2 In son, torque sensor 104 has the magnetostrictive film 115A and 115B that are formed in axis 112, is wound in magnetostrictive film 115A Around detection coil 116A and the detection coil 116B that is wound in around magnetostrictive film 115B.It, will in Fig. 3 Detection coil 116A and 116B are expressed as " detection coil 116 " together.Torque sensor 104 include will test coil 116A with And the amplifier circuit 117 of the difference amplification of the output signal of 116B.

Magnetostrictive film 115A and 115B have the magnetic anisotropy of opposite direction each other, if the magnetic susceptibility of a side is according to right Ying Yu acts on the torque T s of axis 112 and increases, then the magnetic susceptibility of another party is reduced.Detection coil 116A and 116B with do not scheme The magnet exciting coil magnetic coupling shown distinguishes the signal of output electromagnetic induction according to the signal for being applied to magnet exciting coil.Detection coil The difference of the output signal of 116A and 116B changes according to the difference of the magnetic susceptibility of magnetostrictive film 115A and 115B, indicates to turn round The size of square Ts.Torque sensor 104 will be equivalent to the signal conduct of the difference of the output signal of detection coil 116A and 116B The testing result of torque T s and export.

In addition, torque sensor 104 is not limited to the method using above-mentioned magnetostrictive effect, it can also be passed through His various methods detect torque.For example, torque sensor 104 can also be by being installed on axis 112 via outputs such as slip rings The method of the signal of torque meter detects torque T s.

As shown in Fig. 2, knob 111 is fixed in the side of the axis 112 of clamping torque sensor 104, in the another of axis 112 Side is equipped with rotation angle sensor 105 and torque generating unit 103.In addition, in the example in figure 2, rotation angle sensor 105 be located at than Torque generating unit 103 is close to the position of torque sensor 104, and in torque generating unit 103, driving machine 106 is located at than braking Machine 107 is close to the position of torque sensor 104.

(processing unit 108)

Processing unit 108 is to execute control relevant to the movement of rotary operation device 100, the input and output of data etc. The device of reason, for example including the computer for executing various processing based on the program 155 for being stored in storage unit 109.Processing unit 108 can To execute whole processing by computer, at least part of place can also be executed by dedicated hardware (logic circuit) Reason.

Processing unit 108 is related to the control of the torque (control torque T1) generated in torque generating unit 103 as carrying out Processing constituent element, including control signal generating unit 151, the first correction unit 152 and the second correction unit 153.

(control signal generating unit 151)

Control signal generating unit 151 generates control letter corresponding with the detected value of rotation angle in rotation angle sensor 105 Number (D1, D2).That is, the signal value of control signal generating unit 151 rotation angle based on operating member 102 and first control signal D1 Preset corresponding relationship and operating member 102 rotation angle and the signal value of second control signal D2 in advance set Fixed corresponding relationship generates the control of the first control signal D1 with signal value corresponding with the detected value of rotation angle and second Signal D2.The corresponding relationship of the signal value of the rotation angle and first control signal D1 of operating member 102 and operating member 102 The corresponding relationship of the signal value of rotation angle and second control signal D2 is stored in storage unit 109 as mode data 156.Control letter Number generating unit 151 generates first control signal D1 and second corresponding with the detected value of rotation angle referring to the mode data 156 Control signal D2.

Fig. 4 is an example for indicating composition relevant to the generation of the control signal (D1, D2) of control torque T1 and correction The block diagram of son.In the example in fig. 4, control signal generating unit 151 includes angle-data generating unit 161, first control signal life At portion 162 and second control signal generating unit 163.

Angle-data generating unit 161 generates angle number corresponding with the detected value of rotation angle in rotation angle sensor 105 According to A.For example, angle-data generating unit 161 will enable the detected value conversion of the rotation angle in the range of the rotation of operating member 102 For angle-data A, angle-data A indicate multiple angular ranges contained by the range it is each in opposite rotation angle.Make For concrete example, the range of (360 °) of being set as in the range that can be rotated turning around there is no limit, rotation is divided into 12 angle models It encloses, each angular range has 30 ° of amplitude.In this case, angle-data generating unit 161 becomes in the detected value of rotation angle from 0 ° Change to during 360 °, making angle-data A ° variation 12 times from 0 ° to 30.

First control signal generating unit 162 is based on the signal value of first control signal D1 and angle contained by mode data 156 Degree generates the first control signal D1 with signal value corresponding with angle-data A according to the corresponding relationship of A.

Second control signal generating unit 163 is based on the signal value of second control signal D2 and angle contained by mode data 156 Degree generates the second control signal D2 with signal value corresponding with angle-data A according to the corresponding relationship of A.

Fig. 5 is the first control signal D1 for indicating to be changed according to rotation angle and second control signal D2 and right with it The figure of the example of the driving torque Td and control torque T1 that answer.Horizontal axis in Fig. 5 indicates rotation angularly with the rotation of operating member 102 Turn the variation in the direction that direction is positive.Positive first control signal D1 in Fig. 5 is indicated in the rotation for inhibiting operating member 102 Driving torque Td is generated on the direction turned, negative first control signal D1 is indicated on the direction of rotation for promoting operating member 102 Generate driving torque Td.Positive driving torque Td in Fig. 5 indicates to inhibit the torque of the rotation of operating member 102, negative driving Torque Td indicates to promote the torque of the rotation of operating member 102.The size of second control signal D2 in Fig. 5 to braking moment Tb It is specified.Control torque T1 in Fig. 5 indicates the sum of driving torque Td and braking moment Tb, the meaning and drive of positive and negative symbol Dynamic torque Td is identical.In addition, control torque T1 illustrated by Fig. 5 is to make the case where operating member 102 is with certain speed rotation Under control torque, do not receive the correction carried out by aftermentioned first correction unit 152.

In the case where being inverted by dextrorotation and the left-handed direction of rotation for making operating member 102, such as control signal generates Portion 151 can generate first control signal D1 identical with Fig. 5 and second control signal D2 on each direction of rotation.At this In the case of, on each direction of rotation, the positive first control signal D1 in Fig. 5 is indicated in the rotation for inhibiting operating member 102 Direction on generate driving torque Td, negative first control signal D1 indicates to produce on the direction of rotation for promoting operating member 102 Raw driving torque Td.

As shown in figure 5, in continuous two angular ranges R0-1 and R0-2, of the variation relative to rotation angle The mode of the variation of one control signal D1 is identical.In the range (360 °) to rotate a circle, including with angular range R0-1, The identical multiple angular ranges of R0-2.It is known as " R0 " with not distinguishing these multiple angular ranges.Angle-data generating unit 161 exists In all angles range R0, the angle-data A similarly changed from starting point towards terminal is generated.First control signal is raw as a result, The the first control letter similarly changed is generated in all angles range R0 at portion 162 and second control signal generating unit 163 Number D1 and second control signal D2.

In the example of fig. 5, first interval R1 and second interval R2 is included in an angular range R0.In angle-data In the first interval R1 of from " A1 " to " A3 ", first control signal D1 continuously becomes from negative peak value DL1 to positive peak value DH1 Change, driving torque Td continuously changes from negative peak value TL1 to positive peak value TH1.In the angle-data A2 of first interval R1, First control signal D1 becomes zero, and driving torque Td also correspondingly becomes zero.

In the second interval R2 of angle-data from " A3 " to " A1 ", first control signal D1 is from positive peak value DH1 to negative Peak value DL1 continuously change, driving torque Td continuously changes from positive peak value TH1 to negative peak value TL1.In second interval In the angle-data A4 of R2, first control signal D1 is become zero, and driving torque Td also correspondingly becomes zero.

The 4th secondary area of S1 and angle-data from " A4 " to " A1 " the first secondary area of angle-data from " A1 " to " A2 " Between in S4, since driving torque Td is negative, driving torque Td is to the direction for the rotation for promoting operating member 102 (hereinafter, having Shi Jizuo " promotes direction ".) change.The second secondary area of angle-data from " A2 " to " A3 " S2 and angle-data from " A3 " to Between the third secondary area of " A4 " in S3, since driving torque Td is positive, rotation of the driving torque Td to inhibition operating member 102 Direction (" inhibit direction " hereinafter, be denoted as sometimes.) change.

In the example of fig. 5, second control signal D2 remains certain value DL2.Therefore, the braking of brake 107 turns Square Tb also remains certain value TM3.

Due to control torque T1 be driving torque Td and braking moment Tb and, it is shown in fig. 5 to control torque T1's Curve graph is the curve for being displaced the curve graph of driving torque Td shown in fig. 5 to positive direction after the value TM3 of braking moment Tb Figure.

Control torque T1 becomes zero in the angle-data A5 of first interval R1.If making operating member 102 from angle-data A5 to A3 rotation then controls torque T1 and increases to positive direction, inhibits the control torque T1 in direction to increase, therefore operator feels The resistance become larger.When angle-data is more than " A3 ", since control torque T1 switchs to reduce from increase, operator's sense Feel the variation of resistance.If rotating operating member 102 from angle-data A3 to A1, the control torque T1 of positive direction It gradually decreases, therefore operator feels the feeling that resistance lightens.If becoming zero in the midway of rotation control torque T1, one is gone forward side by side It walks and increases to negative direction, then promote the control torque T1 in direction to increase, therefore operator feels operating member 102 to rotation side To the feeling of drawing.It rotates operating member 102 if being more than angle-data A1, dies down to the traction force in promotion direction, In Torque T1 is controlled as in zero angle-data A5, traction force becomes zero.Therefore, operator can be in the position of angle-data A5 Stop with making the spin stabilization of operating member 102.

(the first correction unit 152)

The time change of first detected value of the correction unit 152 based on the rotation angle in rotation angle sensor 105, will be used for The correction torque for keeping operating member 102 different relative to the apparent moment of inertia of rotation process and the imaginary torque of script chases after The mode for being added to control torque T1 is corrected control signal (D1, D2).

Fig. 6 is for illustration in the figure of the torque in each portion of rotary operation device 100 shown in FIG. 1.In Fig. 6 In, " T1 " indicates the control torque that torque generating unit 103 generates, and " T2 " indicates to be applied to knob by the rotation process of operator 111 operation torque, " Ts " indicate the torque detected by torque sensor 104." Tf " is indicated by aftermentioned second correction unit The error torque of 153 corrections.

In Fig. 6, " α 2 " indicates that the angular acceleration of knob 111, " α 1 " indicate the acceleration of the rotation of torque generating unit 103 Degree.In the present embodiment, it since the torsion of axis 112 does not generate substantially, is set as angular acceleration " α 1 " and " α 2 " adds with angle Speed " α " is equal.

In Fig. 6, " J1 " indicates the component (rotor of the rotation of 103 side of torque generating unit when from torque sensor 104 121, resistance discs 135, detection plate 141, a part of axis 112 etc.) moment of inertia.In addition, " J2 " is indicated from torque sensor The moment of inertia of the script of the component (a part of knob 111, axis 112) of the rotation of 111 side of knob when 104 observation.

If error torque Tf is set as zero, specific torque sensor 104 is in the component of 111 side of knob in Fig. 6, following formula It sets up.

J2 α=Ts-T2 ... (1)

Here, in the case where " k " is set as certain coefficient, formula (1) can be deformed as following formula.

(k+1) J2 α=(k+1) (Ts-T2) ... (2)

Formula (2) can also be deformed as following formula.

(k+1) J2 α=(Ts-T2)+kJ2 α ... (3)

Here, consider for control torque T1 to be added with correction torque " kJ2 α ".If will control torque T1 and correction turn Square " kJ2 α " is added, then it is " Ts+kJ2 that the detected value of the torque detected by torque sensor 104 changes from " Ts " α".If the detected value after the variation is set as " Ts ", formula (3) indicates as described below.

(k+1) J2 α=(Ts '-T2) ... (4)

By formula (4) it is found that being added by the way that torque T1 will be controlled with correction torque " kJ2 α ", operation compared with formula (1) Component 102 becomes (k+1) times relative to the moment of inertia J2 of script relative to the apparent inertia torque of rotation process.

Therefore, the first correction unit 152 carries out that the correction that torque T1 is added with correction torque " kJ2 α " will be controlled.That is, The angular acceleration of the detected value calculating operation component 102 of first rotation angle of the correction unit 152 based on rotation angle sensor 105, with Correction torque " kJ2 α " corresponding with the first inertia torque Ti1 based on moment of inertia J2 and angular acceleration deduction is chased after The mode for being added to control torque T1 is corrected control signal (D1, D2).Here, the first inertia torque Ti1 is by formula (1) table " the J2 α " shown.

First correction unit 152 for example, as shown in figure 4, including angular acceleration calculating portion 164, inertia torque calculation part 165, correction signal generating unit 166 and adder 167.

Angular acceleration calculating portion 164 is micro- by the second order for carrying out the detected value θ of the rotation angle in rotation angle sensor 105 Point, to calculate angular acceleration.

Inertia torque calculation part 165 passes through will be by the calculated angular acceleration in angular acceleration calculating portion 164 multiplied by inertia force Square J2, to calculate the first inertia torque Ti1.

Correction signal generating unit 166 is generated for that will control to the corrected correction signal of first control signal D1 Torque T1 is added with correction torque " kJ2 α ".

Adder 167 is by the correction signal generated in correction signal generating unit 166 and by first control signal generating unit The 162 first control signal D1 generated are added.

In addition, in the example in fig. 4, the first correction unit 152 is only corrected first control signal D1, but in this implementation In other examples of mode, this two side of first control signal D1 and second control signal D2 can also be corrected or only right Second control signal D2 is corrected, and control torque T1 is added with correction torque " kJ2 α ".

(the second correction unit 153)

Second 153 pairs of correction unit control signal (D1, D2) is corrected, so that based on the torque in torque sensor 104 The control torque T1 and correspond to control signal that the detected value of Ts and the detected value of the rotation angle in rotation angle sensor 105 are inferred The difference of the control torque T1 of (D1, D2), that is, error torque Tf becomes smaller.

Error torque Tf is for example because the magnetic in the sliding friction of the motor 120 in driving machine 106, brake 107 is viscous Property fluid 134 viscosity temperature change etc. and generate.

Specific torque sensor 104 in the component of 106 side of driving machine, set up by following formula in Fig. 6.

T1=J1 α+Ts+Tf ... (5)

Control torque T1A in the case where error torque Tf is set as zero is expressed from the next.

T1A=J1 α+Ts ... (6)

According to formula (5) and formula (6), error torque Tf is expressed from the next.

Tf=T1-T1A

=T1- (J1 α+Ts) ... (7)

Here, if the signal value of first control signal D1 is set as " D1 ", will be used to for signal value D1 being scaled driving turn The coefficient of square Td is set as " Kd ", the signal value of second control signal D2 is set as to " D2 ", will be used to signal value D2 being scaled system The coefficient of dynamic torque Tb is set as " Kb ", then formula (7) can be deformed as following formula.

Tf=(Td-Tb)-(J1 α+Ts)

=(KdD1-KbD2)-(J1 α+Ts) ... (8)

Therefore, the relationship that the second correction unit 153 is based on formula (8) calculates error torque Tf.That is, the second correction unit 153 is based on The angular acceleration of the detected value calculating operation component 102 of rotation angle in rotation angle sensor 105, based on moment of inertia J1 with Angular acceleration calculates the second inertia torque Ti2, is corrected to control signal (D1, D2), so that the detected value based on torque T s It is missed with the difference of the second inertia torque Ti2 control torque T1A inferred and the control torque T1 for corresponding to control signal (D1, D2) Poor torque Tf becomes smaller.Here, the second inertia torque Ti2 is " J1 α ".

Second correction unit 153 for example, as shown in figure 4, including angular acceleration calculating portion 168, inertia torque calculation part 169, driving torque calculation part 170, braking moment calculation part 171, correction signal generating unit 172 and adder 173,174.

Angular acceleration calculating portion 168 is micro- by the second order for carrying out the detected value θ of the rotation angle in rotation angle sensor 105 Point, to calculate angular acceleration.

Inertia torque calculation part 169 passes through will be by the calculated angular acceleration in angular acceleration calculating portion 168 multiplied by inertia force Square J1, to calculate the second inertia torque Ti2.

Driving torque calculation part 170 to calculate driving by multiplied by COEFFICIENT K d, turning the signal value of first control signal D1 The inferred value of square Td.

Braking moment calculation part 171 to calculate braking by multiplied by coefficient Kb, turning the signal value of second control signal D2 The inferred value of square Tb.

Adder 173 by subtracted from the inferred value by the calculated driving torque Td of driving torque calculation part 170 by The inferred value of the calculated braking moment Tb of braking moment calculation part 171 is used to by inertia torque calculation part 169 calculated second The detected value of the property torque Ti2 and torque T s in torque sensor 104, to calculate error torque Tf.

Correction signal generating unit 172 is generated for that will offset to the corrected correction signal of first control signal D1 The torque of error torque Tf is appended to control torque T1.

Adder 174 is by the correction signal generated in correction signal generating unit 166 and by first control signal generating unit The 162 first control signal D1 generated are added.

In addition, in the example in fig. 4, the second correction unit 153 is only corrected first control signal D1, but in this implementation In other examples of mode, this two side of first control signal D1 and second control signal D2 can also be corrected or only right Second control signal D2 is corrected, and the torque of compensating error torque Tf is appended to control torque T1.

In addition, in the example in fig. 4, being respectively equipped with angular acceleration in the first correction unit 152 and the second correction unit 153 Calculation part (164,168), but in other examples of present embodiment, it can also be by the first correction unit 152 and the second correction unit 153 In angular acceleration calculation part sharing.

(storage unit 109)

Storage unit 109 by be used in processing unit 108 handle constant data or variable data, as processing result and The storage such as data obtained.In the case where processing unit 108 includes computer, storage unit 109 also can store to be held in a computer Capable program 155.Storage unit 109 is for example configured to, and volatile memory, flash memory etc. are non-easily including DRAM, SRAM etc. The property lost memory, hard disk etc..

(interface portion 110)

Interface portion 110 is for (inputting from rotary operation device 100 in rotary operation device 100 and other devices Operation information and master computer etc. for processing) swapping data circuit.Processing unit 108 will be stored in storage unit 109 Information (operation information relevant to the rotation process of operating member 102 etc.) exported from interface portion 110 to device (not shown).

In addition, interface portion 110 can also be obtained from server on network etc. and be executed in the computer of processing unit 108 Program 155, and it is loaded into storage unit 109.In other examples, interface portion 110 also may include the tangible medium from nonvolatile Program 155 is read in (CD, USB storage etc.) and is stored in the reading device of storage unit 109.

Here, about being executed in the rotary operation device 100 with above-mentioned composition and control signal (D1, D2) Generation and the relevant processing of correction, be illustrated referring to flow chart shown in Fig. 7.Such as whenever with the acquirement rotation of defined period When each testing result of rotary angle transmitter 105 and torque sensor 104, the processing of the flow chart of Fig. 7 is executed.

ST100:

Processing unit 108 obtains detected value and the torque of the rotation angle of the operating member 102 in rotation angle sensor 105 respectively The detected value of torque T s in sensor 104.

ST105:

Control signal generating unit 151 generates corresponding with the detected value of rotation angle obtained in step ST100 respectively First control signal D1 and second control signal D2.

ST110:

The time change of first detected value of the correction unit 152 based on the rotation angle obtained in step ST100, will make The apparent moment of inertia of operating member 102 and the different correction torque of the moment of inertia J2 of script are appended to control torque T1 Mode to control signal (D1, D2) be corrected.For example, the first rotation angle of the correction unit 152 based on rotation angle sensor 105 Detected value calculating operation component 102 angular acceleration, and calculate with inferred based on moment of inertia J2 and angular acceleration the The corresponding correction torque of one inertia torque Ti1 " kJ2 α ".First correction unit 152 is with by calculated correction torque " k The mode that J2 α " is appended to control torque T1 is corrected control signal (D1, D2).

ST115:

In addition, the inspection of detected value and torque T s of second correction unit 153 based on the rotation angle obtained in step ST100 Measured value is corrected control signal (D1, D2), so that error torque Tf becomes smaller.For example, the first correction unit 152 is based on rotation angle The angular acceleration of the detected value calculating operation component 102 of rotation angle in sensor 105 is accelerated based on moment of inertia J1 and angle Spend α calculate the second inertia torque Ti2, and by based on torque T s detected value and the second inertia torque Ti2 infer control torque The difference of T1A and the control torque T1 corresponding to control signal (D1, D2) are calculated as error torque Tf.Second correction unit 153 School is carried out to control signal (D1, D2) in such a way that the torque for offsetting calculated error torque Tf to be appended to control torque T1 Just.

ST120:

Control signal (D1, D2) output to torque after processing unit 108 will correct in step ST110 and ST115 produces Life portion 103 generates control torque T1 corresponding with control signal (D1, D2).

As described above, according to the present embodiment, the rotation based on the operating member 102 in rotation angle sensor 105 The time change of the detected value of corner will make operating member 102 relative to the apparent moment of inertia of rotation process and original This moment of inertia J2 different correction torques is appended to the mode of control torque T1, is corrected to control signal (D1, D2). By keeping the apparent moment of inertia of operating member 102 different from the moment of inertia J2 of script, this can be made apparent used Property torque is suitable for the texture of the appearance of operating member 102.Thus, it is possible to efficiently reduce by the appearance of operating member 102 The incongruity of operation feeling caused by the difference for the load felt in texture and actual operation.For example, even if grasping Make the texture of the appearance of component 102 close to metal, actual moment of inertia it is smaller than metal in the case where, due to being capable of increasing operation The apparent moment of inertia of component 102, therefore as biggish inertia torque can be simulated metal.

According to the present embodiment, control signal (D1, D2) is corrected, so that detected value and rotation based on torque T s The control torque T1A and correspond to the difference, that is, error torque for controlling the control torque T1 of signal (D1, D2) that the detected value at angle is inferred Tf becomes smaller.By making error torque Tf become smaller using the correction, can accurately the apparent of setting operation component 102 be used to Property torque.Therefore, it is easy to make the apparent moment of inertia of operating member 102 consistent with the texture of the appearance of operating member 102, The incongruity of operation feeling can more effectively be reduced.

According to the present embodiment, driving torque Td corresponding with first control signal D1 is generated in driving machine 106, with The corresponding braking moment Tb of two control signal D2 is generated in brake 107.Therefore, pass through driving torque Td and braking moment Tb Combination, the control torque T1 for generating various operation feelings can be generated.

According to the present embodiment, become the viscosity of magnetic viscosity fluid 134 by the magnetic field using magnetic field control unit 132 Change, the braking moment Tb for being applied to operating member 102 changes.Thus, with the frictional force for applying machinery to operating member 102 Method compare, be able to carry out the accurate control of braking moment Tb.

The present invention is not limited to above-mentioned embodiments, include various changes.

For example, in the shape or construction of the operating member 102 enumerated in the above-described embodiment, torque generating unit 103 Control torque T1 generate unit, the detection unit of rotation angle in rotation angle sensor 105, in torque sensor 104 The detection unit etc. of torque T s is an example, can be replaced into the other shapes to match with embodiment, construction, machine respectively Structure, unit etc..

Description of symbols

100 ... rotary operation devices, 101 ... shells, 102 ... operating members, 103 ... torque generating units, 104 ... torques Sensor, 105 ... rotation angle sensors, 106 ... driving machines, 107 ... brakes, 108 ... processing units, 109 ... storage units, 110 ... interface portions, 111 ... knobs, 112 ... axis, 115A, 115B ... magnetostrictive film, 116 ... detection coils, 117 ... amplifiers Circuit, 120 ... motor, 121 ... rotors, 122 ... stators, 123 ... driving circuits, 124 ... drive signal generating units, 131 ... Solenoid housing, 132 ... magnetic field control units, 133 ... opposed faces, 134 ... magnetic viscosity fluids, 135 ... resistance discs, 136 ... drivings Circuit, 137 ... drive signal generating units, 140 ... rotary encoders, 141 ... detection plates, 142 ... optical detection portions, 151 ... controls Signal generation portion processed, 152 ... first correction units, 153 ... second correction units, 155 ... programs, 156 ... mode datas, 161 ... angles Spend data generating section, 162 ... first control signal generating units, 163 ... second control signal generating units, 164 ... angular accelerometers Calculation portion, 165 ... inertia torque calculation parts, 166 ... correction signal generating units, 167 ... adders, 168 ... angular acceleration calculating portions, 169 ... inertia torque calculation parts, 170 ... driving torque calculation parts, 171 ... braking moment calculation parts, 172 ... correction signals generate Portion, 173 ... adders, 174 ... adders, D1 ... first control signal, D2 ... second control signal, α ... angular acceleration, T1 ... Control torque, Td ... driving torque, Tb ... braking moment, Tf ... error torque, the first inertia torque of Ti1 ..., Ti2 ... second are used Property torque, T2 ... operate torque, Ts ... torque, J1, J2 ... moment of inertia, AX ... rotary shaft.