JP2002315394A - Stepping motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the driving speed of a stepping motor from slowing down, caused by simultaneous drive of a plurality of stepping motors. SOLUTION: When a plurality of stepping motors 8, 11 and 14 go into drive state simultaneously, a decision is made as to whether or not the power supply voltage drops below a specified level which is set, based on a voltage level drivable in a low torque high speed drive mode, and if the power supply voltage drops below the specified level, the stepping motors 8, 11 and 14 which are driven simultaneously are driven in the low torque high-speed driving mode according to a predetermined priority, such that the power supply voltage will not drop below the specified level. Consequently, the stepping motors 8, 11 and 14 can be driven in the low torque high-speed drive mode in accordance with the priority.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stepping motor control device used for, for example, drive control of a stepping motor actuator for driving an air conditioning door of a vehicle air conditioning system.

[0002]

2. Description of the Related Art In a stepping motor control device, a drive mode of a stepping motor is set to a high torque low speed drive based on a power supply voltage from the viewpoint of improving torque shortage of the stepping motor when a power supply voltage drops and preventing step-out. Mode or low-torque high-speed drive mode. In the high torque low speed driving mode, the stepping motor is driven at the first driving frequency, and in the low torque high speed driving mode, the stepping motor is driven at the second driving frequency higher than the first driving frequency. Accordingly, when the power supply voltage becomes equal to or lower than the voltage value at which the low torque high speed drive mode is switched to the high torque low speed drive mode, the drive mode of the stepping motor is switched to the high torque low speed drive mode having a low drive frequency, In order to prevent the torque shortage from occurring at the time of the decrease in the torque.

[0003]

However, in such a stepping motor control device, when driving and controlling a plurality of stepping motor actuators as in controlling an air conditioning door in a vehicle air conditioning system, a plurality of stepping motor actuators are required. At the same time, the power supply voltage may be lower than the voltage value at which the low-torque high-speed driving mode is switched to the high-torque low-speed driving mode. In such a case, the stepping motor actuator is driven in the high-torque low-speed drive mode with a low drive frequency, and the operation speed is reduced. For this reason, for example, the switching of the intake door from the introduction of outside air to the circulation of inside air is delayed, and an unpleasant odor outside the vehicle is more likely to enter the vehicle interior, thereby causing a problem such as increasing discomfort to a passenger. Such an operation delay of the stepping motor actuator is caused by a left and right independent type air conditioning system for a vehicle that can change air conditioning control between a driver side and a passenger side, and a front side provided on a front side of the vehicle. In a so-called twin-type vehicle air conditioning system having a side air conditioning unit and a rear air conditioning unit provided on the rear side, the number of stepping motor actuators is increased, so that it is more likely to occur.

The present invention has been made based on the above-described viewpoint, and an object of the present invention is to prevent the adverse effects caused by a decrease in the driving speed of a stepping motor due to a plurality of stepping motors being simultaneously driven. It is an object of the present invention to provide a stepping motor control device capable of performing the following.

[0005]

According to the present invention, there is provided a high-torque low-speed driving mode in which a plurality of stepping motors are driven and a driving mode of each stepping motor is driven at a first driving frequency based on a power supply voltage. In the stepping motor control device for switching to a low torque high speed driving mode driven at a second driving frequency higher than the first driving frequency, when a plurality of the stepping motors are simultaneously driven in a state of the low torque high speed driving mode, ,
Power supply voltage estimating means for estimating whether or not the power supply voltage falls below a predetermined voltage value set based on a voltage value drivable in the low torque high speed drive mode by the simultaneous driving; and When the power supply voltage is estimated to be equal to or lower than the predetermined voltage value by means, the stepping motors that are simultaneously driven are set to a predetermined priority so that the power supply voltage does not become lower than the predetermined voltage value. The above object is achieved by a stepping motor control device having priority control means for driving in the low-torque high-speed drive mode according to the order.

According to such a configuration, when a plurality of stepping motors are simultaneously driven in the low-torque high-speed driving mode, the power supply voltage can be reduced in the low-torque high-speed driving mode by the simultaneous driving. It is estimated by the power supply voltage estimating means whether or not the power supply voltage becomes equal to or less than the predetermined voltage value set based on the power supply voltage.If the power supply voltage is estimated to be equal to or less than the predetermined voltage value, the priority control means
Each stepping motor to be driven simultaneously is driven in a low-torque high-speed drive mode according to a predetermined priority so that the power supply voltage does not fall below a predetermined voltage value. Therefore, each stepping motor can be driven in the low-torque high-speed drive mode according to the priority, and the power supply voltage is driven in the low-torque high-speed drive mode set based on the voltage value that can be driven in the low-torque high-speed drive mode. Since the driving is performed so as not to be lower than a predetermined voltage value, the driving can be performed at high speed without causing step-out. Therefore, for example, when the stepping motor actuator of the intake door is given the highest priority when applied to an air conditioning system for a vehicle, the internal air circulation from the introduction of outside air to the intake door due to the simultaneous activation of a plurality of stepping motor actuators. It is possible to effectively prevent the adverse effects and the like caused by the delay in switching to the mode.

[0007]

FIG. 1 is a block diagram showing an example of an embodiment of the present invention, in which the present invention is applied to a vehicle air conditioning system.

In FIG. 1, reference numeral 1 denotes a control unit for inputting power supply voltage information, sensor information, set temperature information, and operation information, and an intake drive circuit 2, a mode drive circuit 3, an air mix drive circuit 4, and a compressor drive circuit. 5 and the blower drive circuit 6 are controlled. In this example, the power supply voltage information is an ignition voltage provided via an ignition switch. As the sensor information, the outside air temperature, the indoor temperature, the amount of solar radiation, and the like are given, and the set temperature information is given according to an external operation. As the operation information, an on / off operation of an air conditioner switch, a switching operation of inside air / outside air, a switching operation of a blowing mode, and the like are given according to an external operation. The intake drive circuit 2 drives a stepping motor 8 of an intake actuator 7 under the control of the control unit 1 to control an intake door 9 for switching between outside air introduction and inside air circulation. The mode driving circuit 3 drives the stepping motor 11 of the mode actuator 10 under the control of the control unit 1 to set the blowing mode to DEF, B /
The mode door 12 that switches between L and VENT is controlled. The air mix drive circuit 4 drives the stepping motor 14 of the air mix actuator 13 under the control of the control unit 1 to control the air mix door 15 that adjusts the mixing ratio of cool air and warm air. The compressor drive circuit 5 and the blower drive circuit 6 control the compressor 16 and the blower 17, respectively, under the control of the control unit 1.

The control unit 1 calculates and calculates a total signal representing the amount of heat load for controlling the vehicle interior to the set temperature using sensor information such as the outside air temperature, the indoor temperature and the amount of solar radiation, and the set temperature information. An intake control for controlling the intake door 9, a mode control for controlling the mode door 12, and an air mix control for controlling the air mix door 15 are performed so that the interior of the vehicle reaches the set temperature based on the integrated signal. And a function of performing well-known air-conditioning control for controlling the blower 17. Further, in the actuator drive processing in each of the intake control, the mode control, and the air mix control, the control unit 1 sets the drive modes of the stepping motors 8, 11, and 14 of the actuators 7, 10, 13 based on the power supply voltage. It has a function of switching between a high-torque low-speed driving mode in which the driving is performed at one driving frequency and a low-torque high-speed driving mode in which the driving is performed at a second driving frequency higher than the first driving frequency. Furthermore,
In addition to such a drive mode switching function, when a plurality of actuators 7, 10, and 13 are simultaneously driven in the low-torque high-speed drive mode, the control unit 1 drives the power supply voltage by the simultaneous drive. Estimating whether or not the power supply voltage becomes equal to or less than a predetermined voltage value that is switched to the low-frequency high-torque low-speed drive mode. The actuator 7,
It has a function of driving the motors 10 and 13 in a low-torque high-speed driving mode according to a predetermined priority. In this example, the priority order is such that intake actuator 7 has the first priority,
The mode actuator 10 is set to the second order, and the air mix actuator 13 is set to the third order. Therefore, for example, if it is estimated that the power supply voltage becomes equal to or lower than the predetermined voltage value due to the simultaneous activation of the intake actuator 7 and the air mix actuator 13, the intake actuator 7 takes priority and operates in the low-torque high-speed drive mode. Driven by

FIG. 2 is a main flowchart of the control unit 1 shown in FIG. 1, and FIG. 3 is a flowchart showing an actuator driving process in FIG.

When power is applied by turning on the ignition switch, the control unit 1 starts the control shown in FIG. 2, and first determines in step 20 whether the air conditioner switch is on or off based on operation information given by an external operation. I do. If the air-conditioner switch is off, the process returns to step 20 via the air-conditioning stop process of step 21, and if the air-conditioner switch is on, the air conditioning control is started. In the air-conditioning control, sensor information and set temperature information are input in step 22, and a total signal is calculated using the sensor information and set temperature information in the next step 23, and then the cabin is adjusted based on the calculated total signal. Intake control in step 24, mode control in step 25, air mix control in step 26, and step 2
7 is performed, and the control unit 1 returns to step 20. In the intake control, the mode control, and the air mix control, the intake door 9, the mode door 12, and the air mix door 15 are controlled by the actuator driving process of FIG. When an inside operation / outside air switching operation and a blowing mode switching operation are requested by an external operation, in the intake control in step 24 and the mode control in step 25, the external operation is recognized based on the operation information, and the external operation is recognized. The intake door 9 and the mode door 12 are controlled to respond to the request.

In the actuator driving process shown in FIG. 3, first, in step 30, power supply voltage information is input to recognize the power supply voltage Vm, and then the driving frequency determination in step 31 is started. In the drive frequency determination, based on the power supply voltage Vm, the stepping motor of the actuator to be driven is stopped, or is driven in the high-torque low-speed drive mode in which the actuator is driven at the first drive frequency. It is determined whether to drive in the low-torque high-speed driving mode in which the driving is performed at the second driving frequency higher than the driving frequency. The actuator to be driven is the intake actuator 7 in the intake control in step 24 in FIG. 2, the mode actuator 10 in the mode control in step 25, and the air mix actuator 13 in the air mix control in step 26 in FIG.
It is. In this example, the first drive frequency is 166 pps and the second drive frequency is 250 pps. Also,
In this example, when the power supply voltage Vm rises to 9.5 V or more, the motor enters the high torque low speed drive mode from the stop, and when the power supply voltage Vm falls to 9 V or less, it stops from the high torque low speed drive mode,
When the power supply voltage Vm becomes 12.5 V or more, a hysteresis is provided from the high torque low-speed drive mode to the low torque high-speed drive mode, and when the power supply voltage Vm becomes 12 V or less, the low torque high-speed drive mode changes to the high torque low-speed drive mode. Thus, chattering at the time of switching is prevented. In step 31, the control unit 1 returns to the main flow of FIG. 2 through the stop processing of step 32 by determining the stop, and sets the high torque low speed drive mode of step 33 by determining the high torque low speed drive mode. , The process proceeds to step 35, and it is determined that the mode is the low-torque high-speed drive mode.

In step 35, it is determined whether or not the low-torque high-speed drive mode is set. If the low-torque high-speed drive mode is not set, drive processing of the actuator to be driven is performed in step 36. It returns to the main flow of 2. In the driving processing of the actuator to be driven in step 36, the driving direction of the actuator is recognized from the current position and the target position of the actuator to be driven, the number of applied pulses from the current position to the target position is calculated, and the current position is calculated. After being updated to the target position, the stepping motor of the actuator to be driven is driven according to the set drive mode, the recognized drive direction, and the calculated number of applied pulses. When step 36 is entered from step 35, the actuator to be driven is driven in the high torque low speed drive mode.

On the other hand, if the low-torque high-speed drive mode is set in step 35, the process proceeds to step 37,
It is determined whether there is an actuator being driven other than the actuator to be driven. For example, if the actuator to be driven is intake actuator 7, it is determined whether mode actuator 10 and / or air mix actuator 13 is being driven. If there is no actuator being driven other than the actuator to be driven in step 37, it is recognized that even if the actuators are driven, a plurality of the actuators are not simultaneously driven and the power supply voltage does not become lower than the predetermined voltage value. The process returns to the main flow in FIG. 2 through the drive processing of the actuator to be driven in step 36. When step 36 is entered from step 37, the actuator to be driven is driven in the low-torque high-speed drive mode.

On the other hand, if there is an actuator being driven in step 37, the process proceeds to step 38, and when the actuator to be driven is driven, the power supply voltage Vm is set based on the voltage value that can be driven in the low-torque high-speed drive mode. It is estimated whether the voltage drops below the predetermined voltage value.
In this example, the predetermined voltage value is set based on the voltage value that is switched from the low-torque high-speed drive mode to the high-torque low-speed drive mode, and is 12V. This estimate is ΔVm
This is performed depending on whether −α｝ <12. Vm is the power supply voltage as described above, and α is the actuator 1
This is the voltage drop amount. In this example, the voltage drop α is set based on the average value of the voltage drop of each actuator. If {Vm-α} does not become smaller than 12 V, the control unit 1 estimates that the power supply voltage Vm will not be lower than the predetermined voltage value of 12 V even if the actuator is driven to drive a plurality of units simultaneously. Then, the process enters the step 36 from the step 38, and returns to the main flow of FIG. 2 through the above-described drive processing of the actuator to be driven. When step 36 is entered from step 38, the actuator to be driven is driven in the low-torque high-speed drive mode. On the other hand, if {Vm-α} is smaller than 12 V in step 38, the control unit 1 estimates that the power supply voltage Vm will be equal to or lower than the predetermined voltage value when the actuator is driven. to go into.

FIGS. 4, 5 and 6 are flowcharts showing the actuator priority processing in FIG. 3. Terminals A and B in FIG. 5 are connected to the terminals having the same reference numerals in FIG. 4, and terminals C and B in FIG. 4 and 5 are connected to the terminals having the same reference numerals.
In the actuator priority process of this example, the actuators that are driven simultaneously are driven in the low-torque high-speed drive mode independently according to the priority order so that the driving does not overlap.

The control unit 1 first determines in step 50 in FIG. 4 whether the actuator to be driven is the intake actuator 7 having the first priority. If the actuator to be driven is the intake actuator 7, the actuator being driven is stopped in step 51, and then the drive processing of the intake actuator 7 is performed in the next step 52, and the end of drive of the intake actuator 7 is determined in step 53. . In the stopping process of the actuator being driven in step 51, re-drive information for driving the actuator to the target position is temporarily stored. In the drive process of the intake actuator 7 in step 52, the intake actuator 7
The drive direction of the intake actuator 7 is recognized from the current position and the target position, the number of applied pulses from the current position to the target position is calculated, and the current position is updated to the target position. The stepping motor 8 of the intake actuator 7 is driven in the low-torque high-speed drive mode according to the number of applied pulses. In this case, since the actuator being driven is stopped, the power supply voltage Vm does not fall below the predetermined voltage value of 12 V, and therefore, the stepping motor 8 loses synchronism even when driven in the low-torque high-speed drive mode. There is no such thing. As a result, the intake actuator 7 having the first priority is driven in the high-speed drive mode.
For example, switching from the introduction of outside air to the circulation of inside air at the intake door 7 is performed at a high speed, and entry of an unusual smell outside the vehicle into the vehicle interior is reduced. When the drive of the intake actuator 7 is completed, the process proceeds from step 53 to step 54, where it is determined whether or not the driven actuator stopped in step 51 has the second-priority mode actuator 10. If there is the mode actuator 10, the process proceeds to step 55, where the driving process of the mode actuator 10 is restarted based on the re-driving information temporarily stored in step 51, and the driving end of the mode actuator 10 is determined in step 56. Mode actuator 10
Are driven again in the low torque high speed drive mode. When the driving of the mode actuator 10 is completed, the process proceeds to step 57, and the air-mix actuator 1 having the third priority is given to the driven actuator stopped in step 51.
3 is determined. If the air mix actuator 13 is present, the process proceeds to step 58, where the driving process of the air mix actuator 13 is resumed based on the re-drive information temporarily stored in step 51, and then returns to the main flow of FIG. The air mix actuator 13 is driven again in the low-torque high-speed drive mode. If there is no air mix actuator 13, the process immediately returns to the main flow in FIG. In step 54, step 5
If the mode actuator 10 is not present in the driving actuator stopped in step 1, the process immediately proceeds from step 54 to step 58, and the driving process of the air mix actuator 13 is restarted.

On the other hand, if the actuator to be driven is not the intake actuator 7 in step 50 of FIG. 4, the control unit 1 proceeds from step 50 to step 60 of FIG. 5, and the priority of the actuator to be driven is second. It is determined whether or not the mode actuator 10 is used. If the actuator to be driven is the mode actuator 10, the process proceeds to step 61, and it is determined whether or not the driven actuator has the intake actuator 7 having the first priority. Since the actuator being driven includes the intake actuator 7, in step 62, the intake actuator 7
The actuators other than the above are stopped, and the drive of the intake actuator 7 is continued in the next step 63, and the drive end determination of the intake actuator 7 is started in step 64. If the actuator being driven is stopped in step 62, redrive information for driving the actuator to the target position is temporarily stored. The drive of the intake actuator 7 continues in the low-torque high-speed drive mode. When the driving of the intake actuator 7 is completed, the process proceeds from step 64 to step 65, in which the driving process of the mode actuator 10, which is the actuator to be driven, is performed. Also, the previous step 61
If there is no intake actuator 7 in the actuator being driven, the routine immediately proceeds from step 61 to step 65, in which the drive processing of the mode actuator 10, which is the actuator to be driven, is performed. In the driving process of the mode actuator 10, the mode actuator 10
The drive direction is recognized from the current position and the target position, the number of applied pulses from the current position to the target position is calculated, and after the current position is updated to the target position, the recognized drive direction and the calculated applied pulse are calculated. According to the number, the stepping motor 11 of the mode actuator 10 is driven in the low-torque high-speed drive mode. When the driving of the mode actuator 10 is completed, the process proceeds from step 66 to step 67, and the air-mix actuator 13 having the third priority is given to the driven actuator stopped in step 62.
It is determined whether or not there is. If the air mix actuator 13 is present, the process proceeds to step 68, and the driving process of the air mix actuator 13 is restarted based on the re-driving information temporarily stored in step 62, and then returns to the main flow of FIG. The air mix actuator 13 is driven again in the low-torque high-speed drive mode. If there is no air mix actuator 13, the process immediately returns to the main flow in FIG.

On the other hand, if the actuator to be driven is not the mode actuator 10 in step 60 of FIG. 5, the control unit 1 proceeds from step 60 to step 70 of FIG. It is determined whether or not intake actuator 7 is present. Since the driven actuator includes the intake actuator 7, the driving actuators other than the intake actuator 7 are stopped in step 71, and the driving of the intake actuator 7 is continued in the next step 72, and the intake actuator 7 in step 73 is stopped. Of the drive end. When the driving actuator is stopped in step 71, re-driving information for driving the actuator to the target position is temporarily stored. Intake actuator 7
, The drive continues in the low-torque high-speed drive mode.
When the driving of the intake actuator 7 is completed, the process proceeds from step 73 to step 74, and it is determined whether or not the driven actuator stopped in step 71 has the second-priority mode actuator 10. If there is a mode actuator 10, the process proceeds to step 75,
The driving process of the mode actuator 10 is restarted based on the re-driving information temporarily stored in step 71, and the driving of the mode actuator 10 is determined to be completed in step 76. The mode actuator 10 is driven again in the low-torque high-speed driving mode. When the driving of the mode actuator 10 is completed, the process proceeds to step 77, where the driving process of the air mix actuator 13, which is the actuator to be driven, is performed. If the mode actuator 10 is not present in the actuator being driven in step 74, the process immediately proceeds to step 77 from step 74 to drive the air mix actuator 13, which is the actuator to be driven. In the driving process of the air mix actuator 13, the air mix actuator 1
3, the drive direction is recognized from the current position and the target position, the number of applied pulses from the current position to the target position is calculated, and the current position is updated to the target position. The stepping motor 14 of the air mix actuator 13 is driven in the low-torque high-speed drive mode according to the pulse number. Thereafter, the control unit 1 returns to the main flow of FIG.

FIGS. 7, 8 and 9 are flowcharts showing another example of the actuator priority processing in FIG.
This is applied to FIG. 3 instead of the actuator priority processing of FIGS. The terminals D and E in FIG. 8 are connected to the terminals with the same reference numerals in FIG. 7, and the terminals E and F in FIG. 9 are connected to the terminals with the same reference numerals in FIGS. In the actuator priority process of this example, the actuators that are driven simultaneously are driven independently as described with reference to FIGS. 4 to 6, and the power supply voltage Vm is increased even when two actuators are driven simultaneously. When it is estimated that the voltage does not fall below the predetermined voltage value of 12 V, the two actuators are simultaneously driven in the low-torque high-speed drive mode.

The control unit 1 first estimates at step 80 in FIG. 7 whether the two actuators can be driven simultaneously without lowering the power supply voltage to a predetermined voltage value of 12 V or less. This estimate is
For example, this is performed based on whether or not the number of actuators being driven other than the actuator to be driven is two. That is, in the case where the actuator priority process is started in a state where only one actuator other than the actuator to be driven is being driven, the power supply voltage becomes 12 in step 38 in FIG.
Therefore, the actuator to be driven and the actuator being driven cannot be simultaneously driven in the actuator priority process. On the other hand, in the case where the actuator priority process is started with two actuators other than the actuator to be driven being driven, the power supply voltage is estimated to be 12 V or less by further driving the actuator to be driven. Therefore, two actuators can be driven simultaneously. By estimating in step 80 that two actuators can be driven simultaneously, the process proceeds to step 81, sets the simultaneous drive flag F to “1”, and then proceeds to step. If it is estimated that two actuators cannot be driven at the same time, step 82 is entered immediately without entering step 81.

The control unit 1 executes step 82
, The actuator to be driven has the first priority
It is determined whether or not the intake actuator 7 is ranked.
If the actuator to be driven is the intake actuator 7, step 83 is entered to determine whether the simultaneous drive flag F is "1". If the simultaneous drive flag F is "1", the process goes to steps 84 to 88 to simultaneously drive the two actuators. In the simultaneous driving process, first, the air mix actuator 13 is stopped in step 84, and in the next step 85, the driving of the mode actuator 10 is continued, and the driving process of the intake actuator 7 to be driven is performed. Then, the drive end determination of the mode actuator 10 and the intake actuator 7 is started. The mode actuator 10 continues to be driven in the low-torque high-speed drive mode,
Further, intake actuator 7 is also driven in the low-torque high-speed drive mode. When both the mode actuator 10 and the intake actuator 7 finish driving, step 87 is entered from step 86 and step 8 is entered.
In step 88, the driving of the stopped air mix actuator 13 is restarted, and in step 88, the simultaneous drive flag F is set to "0".
After that, the process returns to the main flow of FIG. The drive of the air mix actuator 13 is continued in the low torque high speed drive mode. On the other hand, if the simultaneous drive flag F is not "1" in step 83, the processing in steps 51 to 58 in FIG. 4 described above is performed, and the actuators to be simultaneously driven are independently driven, and then the main flow in FIG. Return to

If the actuator to be driven is not the intake actuator 7 in step 82 of FIG. 7, the control unit 1 proceeds from step 82 to FIG.
In step 90, it is determined whether the actuator to be driven is the mode actuator 10 having the second priority. If the actuator to be driven is the mode actuator 10, step 91 is entered, and it is determined whether or not the simultaneous drive flag F is "1". If the simultaneous drive flag F is "1", the simultaneous drive processing of the two actuators is started. First, the air mix actuator 13 is stopped in step 92, and in the next step 93, the drive of the intake actuator 7 is continued. Then, the drive processing of the mode actuator 10 which is the actuator to be driven is performed, and the drive end determination of the intake actuator 7 and the mode actuator 10 in step 94 is started. Intake actuator 7 is driven in the low-torque high-speed drive mode, and mode actuator 10 is also driven in the low-torque high-speed drive mode. When the drive of both the intake actuator 7 and the mode actuator 10 ends, steps 94 to 9 are performed.
5, the operation of the air mix actuator 13 stopped in step 92 is restarted, and the simultaneous drive flag F is reset to "0" in the next step 96, and then the process returns to the main flow of FIG. The drive of the air mix actuator 13 is continued in the low torque high speed drive mode. On the other hand, if the simultaneous drive flag F is not “1” in step 91,
After performing the processing of steps 61 to 68 in FIG. 5 described above and independently driving the actuators to be simultaneously driven, the process returns to the main flow in FIG.

If the actuator to be driven is not the mode actuator 10 in step 90 of FIG.
The control unit 1 enters step 100 of FIG. 9 from step 90, and determines whether or not the simultaneous drive flag F is “1”. If the simultaneous drive flag F is “1”, the simultaneous drive processing of the two actuators is started.
In step 102, the drive of the intake actuator 7 and the mode actuator 10 is continued.
Then, the drive end determination of 0 is started. Intake actuator 7
The driving of the mode actuator 10 is continued in the low-torque high-speed driving mode. Intake actuator 7
When both the mode actuator 10 and the mode actuator 10 finish driving, the process proceeds from step 102 to step 103, in which the drive process of the air mix actuator 13, which is the actuator to be driven, is performed. After that, the process returns to the main flow of FIG. The drive of the air mix actuator 13 is continued in the low torque high speed drive mode. On the other hand, if the simultaneous drive flag F is not "1" in step 100, the processes of steps 70 to 77 in FIG. 6 described above are performed, and the actuators to be simultaneously driven are independently driven. Return to

In the example described above, the voltage drop α is set based on the average value of the voltage drop of each of the actuators 7, 10, and 13, and is commonly used for each of the actuators 7, 10, and 13. However, the present invention is not limited to this. The voltage drop of intake actuator 7 is α ₁ ,
Let α _{2 be} the voltage drop of the mode actuator 10 and α _{3 be} the voltage drop of the air mix actuator 13.
It may be set for each actuator. In this case, FIG.
10 is applied to FIG. 3 instead of step 38 of FIG. Thus, driven actuator voltage drop amount alpha ₁ used if the intake actuator 7, if the mode actuator 10 is the voltage drop amount alpha ₂ used, the voltage drop amount alpha ₃ if air mix actuator 13 Is used. Other processing is shown in FIG.
As described in the above.

FIG. 11 is a flowchart showing another example of simultaneous drive estimating means for estimating whether simultaneous drive is possible in the actuator priority processing of FIGS.
It is applied to FIG. 7 instead of steps 80 and 81 in FIG.

In this example, the step of FIG. 10 is applied to FIG. 3 instead of the step 38 of FIG. 3, and the voltage drop of the intake actuator 7 is α ₁ , the voltage drop of the mode actuator 10 is α ₂ , voltage reduction amount of the air mix actuator 13 is set to alpha _3. First, at step 110, the control unit 1 estimates whether or not two actuators can be driven simultaneously without lowering the power supply voltage Vm to a predetermined voltage value of 12 V or less. By estimating that the actuators can be driven at the same time, the process proceeds to step 111 to recognize the actuator to be driven. If driven actuators in the intake actuator 7, the actuator being driven is the mode actuator 10. and air mix actuator _{13, {Vm + α 3 -α} 1} < possible to determine whether a 12 in step 112 Accordingly, it is estimated whether or not the power supply voltage becomes equal to or lower than a predetermined voltage value of 12 V when the intake actuator 7 and the mode actuator 10 having a high priority are simultaneously driven. In step 112, if the voltage is 12 V or more, the simultaneous drive flag F is set to "1" in step 113, and then the process proceeds to step 82 in FIG.
Proceed to. If it is determined in step 111 that the actuator to be driven is the mode actuator 10, the actuators being driven are the intake actuator 7 and the air mix actuator 13.
By determining whether or not {Vm + α ₃ −α ₂ } <12, the power supply voltage is equal to or less than the predetermined voltage value of 12 V when the intake actuator 7 and the mode actuator 10 with high priority are simultaneously driven. Is estimated. In step 114, 12V
If so, the process proceeds to step 82 in FIG. 7 after setting the simultaneous drive flag F to “1” in step 113, and
If it is 2 V or less, the process immediately proceeds to step 82 without entering step 113. In step 111, the actuator to be driven is the air mix actuator 13
In this case, since the actuators being driven are the intake actuator 7 and the mode actuator 10, the routine immediately proceeds to step 113 in order to continue the driving of the intake actuator 7 and the mode actuator 10 having a higher priority. After setting to "1", the process proceeds to step 82 in FIG. Other processes are as described in FIGS.

In each of the examples described above, three stepping motor actuators are controlled. However, the present invention is not limited to this. For example, a left-right independent type vehicle air conditioning system having more stepping motor actuators and a twin It is needless to say that the present invention can be applied to a type of vehicle air conditioning system and the like. Further, the present invention is not limited to the vehicle air conditioning system, and can be applied to drive control of a plurality of stepping motors.

[0029]

As described above, according to the present invention, when a plurality of stepping motors are simultaneously driven in the low-torque high-speed driving mode, the power supply voltage is reduced by the simultaneous driving in the low-torque high-speed driving mode. The power supply voltage estimating means estimates whether or not the power supply voltage becomes equal to or lower than a predetermined voltage value set based on the drivable voltage value. If the power supply voltage is estimated to be equal to or lower than the predetermined voltage value, priority control is performed. By means, the stepping motors that are simultaneously driven are driven in a low-torque high-speed driving mode according to a predetermined priority so that the power supply voltage does not fall below a predetermined voltage value. Can be driven in the low-torque high-speed drive mode, and the power supply voltage is based on the voltage value that can be driven in the low-torque high-speed drive mode. Because driven so as not fall below a predetermined voltage value set Te, it can be driven at a high speed without causing a loss of synchronism. Therefore, for example, when the stepping motor actuator of the intake door is given top priority when applied to an air conditioning system for a vehicle, a plurality of stepping motor actuators are simultaneously driven, so that the internal air circulation from the introduction of outside air to the intake door. It is possible to effectively prevent the adverse effects and the like caused by the delay in switching to the mode.

Further, according to the present invention, the stepping motors are driven independently in the low-torque high-speed driving mode in accordance with the priority order so that the driving of the stepping motors that are driven simultaneously does not overlap. The configuration can be simplified.

Further, according to the present invention, it is estimated whether or not it is possible to simultaneously drive a plurality of stepping motors to be driven simultaneously without lowering the power supply voltage to a predetermined voltage value or less. When it is estimated that the stepping motors can be driven simultaneously, a plurality of stepping motors that are driven simultaneously are driven in the low-torque high-speed drive mode simultaneously according to the priority order. Not only can the speed be improved, but also the power supply voltage can be effectively used.

Further, according to the present invention, whether or not the power supply voltage becomes equal to or less than a predetermined voltage value is estimated based on a predetermined voltage drop per stepping motor and the power supply voltage. Therefore, the configuration can be simplified.

Further, according to the present invention, a voltage drop is set for each stepping motor, and based on the voltage drop corresponding to the stepping motor to be driven and the power supply voltage,
Since the power supply voltage is estimated to be equal to or lower than the predetermined voltage value, it is possible to more accurately estimate a decrease in the power supply voltage.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an example of an embodiment of the present invention.

FIG. 2 is a main flowchart of the control unit of FIG. 1;

FIG. 3 is a flowchart showing an actuator driving process in FIG. 2;

FIG. 4 is a flowchart showing an actuator priority process in FIG. 3;

5 is a flowchart showing an actuator priority process in FIG. 3; terminals A and B in FIG. 5 are connected to terminals having the same reference numerals in FIG. 4;

FIG. 6 is a flowchart showing an actuator priority process in FIG. 3; terminals C and B in FIG. 6 are connected to terminals of the same reference numerals in FIGS. 4 and 5;

FIG. 7 is a flowchart illustrating another example of the actuator priority process in FIG. 3;

FIG. 8 is a flowchart showing another example of the actuator priority process in FIG. 3; terminals D and E in FIG. 8 are connected to the terminals having the same reference numerals in FIG. 7;

FIG. 9 is a flowchart showing another example of the actuator priority processing in FIG. 3; terminals E and F in FIG. 9 are connected to the same reference numerals in FIGS. 7 and 8;

FIG. 10 is a step showing another example of the power supply voltage estimating means in step 38 in FIG. 3;

FIG. 11 shows steps 80 and 8 in FIG.
11 is a flowchart illustrating another example of the simultaneous drive estimation means.

[Explanation of symbols]

 Reference Signs List 1 control unit 7 intake actuator 8, 11, 14 stepping motor 9 intake door 10 mode actuator 12 mode door 13 air mix actuator 15 air mix door

Continuing from the front page (72) Inventor Toshiya Yamashita 39, Higashihara, Chiyo, Chiyo-ji, Konan-cho, Osato-gun, Saitama Prefecture (72) Inventor Satoshi Orimori 39, Higashihara, Chiyo, Oyo-gun, Konan-cho, Osato-gun, Saitama Stock Company Xexel Valeo Climate Control F-term (reference) 3L011 CH00 CL00 CP00 5H580 AA04 BB05 BB06 FA14 FB05 HH23 HH39 JJ12

Claims (8)

[Claims] 1. A high torque low speed driving mode having a plurality of stepping motors and driving each stepping motor at a first driving frequency based on a power supply voltage, or a second driving mode higher than the first driving frequency. A stepping motor control device that switches to a low-torque high-speed drive mode driven at a drive frequency of: When the plurality of stepping motors are simultaneously driven in a state of the low-torque high-speed drive mode, the power supply voltage is reduced by the simultaneous drive. Power supply voltage estimating means for estimating whether or not the voltage drops below a predetermined voltage value set based on a voltage value drivable in the low torque high speed drive mode; and If the power supply voltage is estimated to be equal to or less than the predetermined voltage value, the power supply voltage may not be equal to or less than the predetermined voltage value. , The stepping motor control device having a priority control means for driving in the low-torque high-speed drive mode in accordance with a predetermined priority of each stepping motor to be driven simultaneously. 2. The stepping motor control device according to claim 1, wherein the predetermined voltage value is set based on a voltage value that switches from the low-torque high-speed drive mode to the high-torque low-speed drive mode. 3. The first drive, wherein the priority control means drives each of the stepping motors independently in the low-torque high-speed drive mode according to the priority so that the driving of the stepping motors that are driven simultaneously does not overlap. 3. The stepping motor control device according to claim 1, further comprising means. 4. A simultaneous drive for estimating whether or not it is possible to simultaneously drive a plurality of stepping motors to be simultaneously driven without lowering the power supply voltage below the predetermined voltage value. And estimating means for simultaneously driving a plurality of stepping motors to be simultaneously driven in the low-torque high-speed drive mode according to the priority when it is estimated that the plurality of simultaneous driving can be driven by the simultaneous drive estimating means. A driving means for driving the stepping motors simultaneously driven by the first driving means when the simultaneous driving estimation means estimates that a plurality of stepping motors cannot be simultaneously driven. Item 4. A stepping motor control device according to item 3. 5. The power supply voltage estimating means has a predetermined voltage drop per one stepping motor,
5. The stepping motor control device according to claim 1, wherein whether the power supply voltage is equal to or less than the predetermined voltage value is estimated based on the power supply voltage and the voltage drop. 6. 6. The power supply voltage estimating means has a voltage drop set for each stepping motor, and determines the power supply voltage based on the power supply voltage and the voltage drop corresponding to the stepping motor to be driven. 5. The stepping motor control device according to claim 1, wherein it is estimated whether or not the voltage is equal to or less than the predetermined voltage value. 7. An actuator drive provided in an intake actuator for driving an intake door, a mode actuator for driving a mode door, and an airmic actuator for driving an air mix door, respectively, in the vehicle air conditioning system. 7. The stepping motor control device according to claim 1, wherein the stepping motor control device is a stepping motor. 8. The stepping motor according to claim 7, wherein the priority order is set such that the intake actuator has a first order, the mode actuator has a second order, and the air mix actuator has a third order. Control device.