Control device, vehicle behavior control device, and force generation mechanism system
A control device controls a generation force of a force generating mechanism including a permanent magnet and an armature that generate an adjustable force between a first member and a second member. The control device includes: a command value acquisition unit that acquires a generation force command value of the force generating mechanism; a relative displacement acquisition unit that acquires a relative displacement of the permanent magnet and the armature; a movement direction command acquisition unit that acquires a movement direction command of the armature with respect to the permanent magnet from the generation force command value; and an actual movement direction acquisition unit that acquires an actual movement direction of the armature with respect to the permanent magnet from the relative displacement. The generation force command value is corrected by acquiring a correction value based on the movement direction command and the actual movement direction.
1 . A control device for controlling a generation force of a force generating mechanism including a permanent magnet and an armature that generate an adjustable force between a first member and a second member, the control device comprising:
a command value acquisition circuitry configured to acquire a generation force command value of the force generating mechanism by detecting or estimating a state where the first member behaves;
a relative displacement acquisition circuitry configured to acquire a relative displacement of the permanent magnet and the armature;
a movement direction command acquisition circuitry configured to acquire a movement direction command of the armature with respect to the permanent magnet from the generation force command value; and
an actual movement direction acquisition circuitry configured to acquire an actual movement direction of the armature with respect to the permanent magnet from the relative displacement,
wherein the generation force command value is corrected by acquiring a correction value through correcting a gradient of a relative speed of the permanent magnet and the armature, based on the movement direction command and the actual movement direction.
2 . A vehicle behavior control device for controlling a generation force of a force generating mechanism installed between a vehicle body and a wheel of a vehicle and including a permanent magnet and an armature that generate an adjustable force between the vehicle body and the wheel, the vehicle behavior control device comprising:
a command value acquisition circuitry configured to acquire a generation force command value of the force generating mechanism by detecting or estimating a state where the vehicle behaves; a relative displacement acquisition circuitry configured to acquire a relative displacement of the permanent magnet and the armature;
a movement direction command acquisition circuitry configured to acquire a movement direction command of the armature with respect to the permanent magnet from the generation force command value; and
an actual movement direction acquisition circuitry configured to acquire an actual movement direction of the armature with respect to the permanent magnet from the relative displacement,
wherein the generation force command value is corrected by acquiring a correction value, based on the movement direction command and the actual movement direction.
3 . The control device according to claim 1 , wherein the correction value is acquired according to following four patterns:
1) movement direction command: extension, actual movement direction: extension,
2) movement direction command: extension, actual movement direction: compression,
3) movement direction command: compression, actual movement direction: extension, and 4) movement direction command: compression, actual movement direction: compression.
4 . The control device according to claim 1 , wherein a second correction value is acquired based on a cogging force generated between the permanent magnet and the armature, and
the generation force command value is corrected by using the second correction value.
5 . The control device according to claim 1 , wherein the generation force command value is corrected by using a frictional force of the force generating mechanism.
6 . A force generating mechanism system comprising: a force generating mechanism installed between a vehicle body and a wheel of a vehicle and including a permanent magnet and an armature that generate an adjustable force between the vehicle body and the wheel; and
a control device configured to control a generation force of the force generating mechanism,
wherein the control device includes:
a command value acquisition circuitry configured to acquire a generation force command value of the force generating mechanism by detecting or estimating a state where the vehicle behaves;
a relative displacement acquisition circuitry configured to acquire a relative displacement of the permanent magnet and the armature;
a movement direction command acquisition circuitry configured to acquire a movement direction command of the armature with respect to the permanent magnet from the generation force command value; and
an actual movement direction acquisition circuitry configured to acquire an actual movement direction of the armature with respect to the permanent magnet from the relative displacement,
wherein the generation force command value is corrected by acquiring a current operating state from four operating modes based on the movement direction command and the actual movement direction.