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1. WO2020004840 - ACTUATOR CONTROL DEVICE AND METHOD

Publication Number WO/2020/004840
Publication Date 02.01.2020
International Application No. PCT/KR2019/007175
International Filing Date 14.06.2019
IPC
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
3
Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01
Input arrangements or combined input and output arrangements for interaction between user and computer
B PERFORMING OPERATIONS; TRANSPORTING
06
GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
B
GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
1
Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency
02
making use of electrical energy
G06F 3/01 (2006.01)
B06B 1/02 (2006.01)
CPC
B06B 1/02
G06F 3/01
Applicants
  • 주식회사 동운아나텍 DONGWOON ANATECH CO., LTD. [KR/KR]; 서울시 서초구 남부순환로 2351, 아리랑타워 9층 9th Floor, Arirang Tower 2351, Nambusunhwan-ro Seocho-gu, Seoul 06713, KR
Inventors
  • 이수열 LEE, Su Yeol; KR
  • 진태 JIN, Tae; KR
  • 유태경 YOO, Tae Kyeong; KR
Agents
  • 특허법인 다래 DARAE IP FIRM; 서울시 강남구 테헤란로 132, 10층 (역삼동, 한독타워) (Handok Tower, Yeoksam-dong) 10th Floor, 132, Teheran-ro Gangnam-gu, Seoul 06235, KR
Priority Data
10-2018-007469628.06.2018KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) ACTUATOR CONTROL DEVICE AND METHOD
(FR) DISPOSITIF ET PROCÉDÉ DE COMMANDE D’ACTIONNEUR
(KO) 액츄에이터 제어장치 및 방법
Abstract
(EN)
The present invention relates to a haptic feedback system and, specifically, to a device and method for controlling an actuator for haptic feedback, the method comprising: an actuator resonance frequency correction operation step of operating an actuator by repeatedly generating and outputting an operating signal including an operating time interval in which operating voltage is applied to the actuator and a guard time interval in which a back electromotive force (BEMF) signal of the actuator is detected, while correcting the length of the operating time interval according to detection time of a zero cross point of the BEMF signal detected within the guard time interval; and an actuator braking step of outputting at least one brake signal in synchronization with a zero cross point of the BEMF signal detected within the guard time interval, in order to remove residual vibration of the actuator.
(FR)
La présente invention concerne un système de rétroaction haptique et, plus spécifiquement, un dispositif et un procédé pour commander un actionneur pour une rétroaction haptique. Le procédé comprend : une étape de fonctionnement avec correction de fréquence de résonance de l’actionneur consistant à faire fonctionner un actionneur en générant et en délivrant de manière répétée un signal de fonctionnement incluant un intervalle de temps de fonctionnement, durant lequel une tension de fonctionnement est appliquée à l’actionneur, et un intervalle de temps de garde durant lequel un signal de contre-force électromotrice (BEMF) de l’actionneur est détecté, tout en corrigeant la durée de l’intervalle de temps de fonctionnement selon la détection du temps d’un point de passage à zéro du signal BEMF détecté à l’intérieur de l’intervalle de temps de garde ; et une étape de freinage de l’actionneur consistant à délivrer au moins un signal de freinage en synchronisation avec un point de passage à zéro du signal BEMF, détecté à l’intérieur de l’intervalle de temps de garde, afin de supprimer des vibrations résiduelles de l’actionneur.
(KO)
본 발명은 햅틱 피드백 시스템에 관한 것으로, 특히 햅틱 피드백을 위한 액츄에이터를 제어하는 장치 및 방법에 관한 것으로, 액츄에이터에 구동 전압을 인가하는 구동시간 구간과 상기 액츄에이터의 BEMF(Back ElectroMotive Force) 신호를 검출하는 보호시간 구간을 포함하는 구동신호를 반복 생성하여 출력하되, 상기 보호시간 구간 내에서 검출되는 상기 BEMF 신호의 제로 크로스 포인트 검출시간에 따라 상기 구동시간 구간의 길이를 보정하여 상기 액츄에이터를 구동시키는 액츄에이터의 공진 주파수 보정 구동 단계와; 상기 액츄에이터의 잔류 진동을 제거하기 위해 상기 보호시간 구간 내에서 검출되는 상기 BEMF 신호의 제로 크로스 포인트에 동기하여 하나 이상의 브레이크 신호를 출력하는 액츄에이터 브레이킹 단계;를 포함함을 특징으로 한다.
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