JP2003134866A - Motor drive controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor drive controller which can eliminate the difference between the actual load position and the recognized position, which is produced after resetting to practice precise control. SOLUTION: This motor drive controller has a microcomputer, which controls the drive of a motor and a pulse generating unit which outputs pulses synchronized with the rotation of the motor. The microcomputer counts the pulses, while a load is driven, recognizes a load position according to the counted value, stops outputting control signals when it is reset by the decline of a power supply voltage, and stores the counted value at that point. The microcomputer detects a load driving direction when resetting (S102), corrects the stored counted value by a value corresponding to the inertial rotation of the motor, in a direction which is the same as the detected load driving direction in restoration (S106 and S108). Even if the microcomputer is reset by the decline of the power supply voltage and the motor keeps rotation by the inertia, after the resetting while the load is driven, the discrepancy between the actual load position and the position recognized by the microcomputer, after the restoration is eliminated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive control device for driving and controlling a motor for driving a load such as a window glass in a power window device.

[0002]

2. Description of the Related Art Conventionally, for example, a microcomputer (microcomputer) for driving and controlling a motor is used as a motor drive control device for a power window device mounted on an automobile or the like.
And a pulse generating means for outputting a pulse signal synchronized with the rotation of the motor are known. This motor drive control device recognizes the absolute position of the window glass driven by the motor by counting the pulse signals output from the pulse generating means.

[0003]

By the way, in the above-described conventional motor drive control device, the power supply voltage (for example, 12 V) of the battery may drop sharply while the window glass is being driven by the motor. Such a power supply voltage drop is
It occurs when the engine is started by starting the starter motor. When a predetermined operating voltage (for example, 5 V) is no longer applied to the microcomputer due to such a decrease in the power supply voltage, the microcomputer is reset, the output of the control signal is stopped, and the motor cannot be drive-controlled. However, after resetting the microcomputer, the motor continues to rotate due to inertia, and the pulse generating means continues to output a pulse signal while the motor is rotating.
As described above, the pulse signal generated after the reset of the microcomputer cannot be read by the microcomputer. Therefore, when the operating voltage is applied to the microcomputer again and the microcomputer returns to the operating state, the actual load position (actual position of the window glass) and the recognition position by the microcomputer (memory position at reset) are set. There is a gap between them.
If there is such a deviation, control may be hindered thereafter.

The present invention has been made by paying attention to such a conventional problem, and an object thereof is to eliminate a deviation between an actual load position and a recognition position which occurs after resetting and to enable accurate control. It is to provide a motor drive control device.

[0005]

In order to solve the above-mentioned problems, the invention according to claim 1 comprises a control means for driving and controlling a motor, and a pulse generating means for outputting a pulse signal synchronized with the rotation of the motor. The control means counts the pulse signals while driving the load by the motor, recognizes the position of the load based on the count value, and stops the output of the control signal when resetting due to a decrease in the power supply voltage of the battery. A motor drive control device configured to store the count value at the time of the reset, wherein the control means detects the drive direction of the load at the time of the reset and stores the drive direction; When returning from the reset state to the operating state, the count value stored at the time of the reset causes the motor to rotate by inertia from the time of the reset. Only minute, and summarized in that and a count value correcting means for correcting the same direction and the driving direction of the stored said load by said detecting means.

According to this structure, when the control means is reset due to the voltage drop of the power supply during the driving of the load and the motor continues to rotate due to inertia after this, the count value of the pulse signal stored at the time of reset is The amount of rotation due to inertia is corrected by the drive direction detection means in the same direction as the drive direction of the load stored at reset. For this reason, the count value of the pulse signal, that is, the position recognized by the control means coincides with the actual load position, the displacement between both positions is eliminated, and accurate control is realized.

The term "load" as used herein means a driven body driven by a motor, such as a window glass, a sunroof, and a memory sheet. The invention according to claim 2 is
The motor drive control device according to claim 1, wherein the control unit includes a correction amount setting unit that sets a correction amount of the count value in accordance with a rotation state of the motor at the time of the reset or immediately before the reset. The gist of the value correcting means is to correct the count value stored at the time of the reset by the set correction amount.

According to this structure, the correction amount of the count value is set to a value corresponding to the rotation state of the motor at the time of resetting or immediately before that. Therefore, the deviation between the actual load position and the recognized position, which is caused by the motor rotating due to inertia from the time of reset, can be accurately corrected according to the rotation state of the motor at the time of reset or immediately before that.

According to a third aspect of the present invention, in the motor drive control device according to the second aspect, the correction amount setting means is
The gist of the invention is to set a larger correction amount as the rotation speed of the motor is higher at the time of the reset or immediately before the reset, and set a smaller correction value as the rotation speed is smaller.

According to this structure, the correction amount of the count value is set to a larger value as the rotation speed of the motor at the time of resetting is larger, and is set to a smaller value as the rotation speed is smaller. Therefore, the deviation between the actual load position and the recognized position, which is caused by the motor rotating due to inertia from the time of reset, can be accurately corrected according to the rotation speed of the motor at the time of reset.

According to a fourth aspect of the invention, in the motor drive control device according to the second aspect, the correction amount setting means is
It is a gist to set a larger correction amount as the frequency of the pulse signal output from the pulse generating means is higher at the time of the resetting or immediately before the resetting, and set a smaller correction amount as the frequency is lower.

According to this structure, the correction amount of the count value is set to a larger value as the frequency of the pulse signal at the time of reset is higher, and is set to a smaller value as the frequency is lower. Therefore, the deviation between the actual load position and the recognized position, which is caused by the rotation of the motor due to inertia from the time of reset, can be accurately corrected according to the frequency of the pulse signal at the time of reset.

According to a fifth aspect of the present invention, in the motor drive control device according to the second aspect, the correction amount setting means is
The gist of the present invention is to set a larger correction amount as the power supply voltage value of the battery is higher at the time of the reset or immediately before the reset, and set a smaller correction amount as the voltage value is lower.

According to this structure, the correction amount of the count value is set to a larger value as the power source voltage value of the battery at the time of reset is higher, and is set to a smaller value as the voltage value is lower. Therefore, the deviation between the actual load position and the recognized position, which is caused by the rotation of the motor due to inertia from the time of reset, can be accurately corrected according to the power supply voltage value of the battery at the time of reset.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the present invention is applied to a motor drive control device in a power window device mounted on a vehicle such as an automobile will be described below with reference to the drawings.

The motor drive controller shown in FIG. 2 is a motor 11 for driving a window glass (load) not shown.
A pulse generator 12 that outputs a pulse signal synchronized with the rotation of the motor 11, an electronic control unit 13, and a battery (not shown). Further, the electronic control unit 13 includes a microcomputer (microcomputer) 14 as a control means for driving and controlling the motor 11, a power supply circuit 15, a load drive circuit 16, an input / output circuit (I / O) 17, and the like.

The pulse generator 12 includes two Hall ICs for magnetically detecting the rotation of a magnet attached to the rotation shaft of the motor 11, and outputs a pulse signal in synchronization with the rotation of the motor 11. . That is, from both Hall ICs, pulse signals each having a phase difference of 90 ° from each other and including one pulse per one rotation of the motor are output.

A power supply circuit 15 is connected to the microcomputer 14. The power supply circuit 15 converts the power supply voltage of the battery (for example, 12V) into the operating voltage of the microcomputer 13 (for example, 5V).
And outputs a constant voltage (a signal having an on level of 5 V) to the microcomputer 14.

The load driving circuit 16 is provided with a pair of relays, and switches the forward / reverse rotation of the motor 11 and stops it according to a control signal output from the microcomputer 14. The microcomputer 14 includes an RO (not shown).
It is configured as an arithmetic logic operation circuit including M, CPU, RAM, backup RAM, input / output port and the like.
The ROM is a memory that stores a control program and a map that is referred to when the program is executed. C
The PU executes arithmetic processing based on various control programs and maps stored in the ROM. The RAM is a memory for temporarily storing the calculation result of the CPU and data such as flags described later. The backup RAM is a non-volatile memory that stores data such as the stored count value of the pulse signal when the engine is stopped. And ROM, CPU, RAM and backup RAM
Are connected to each other and to an input / output port (not shown).

The microcomputer 14 having the above-mentioned structure operates while the window glass is being driven by the motor 11 (hereinafter referred to as load driving), and the operating voltage (5
When V) is no longer supplied from the power supply circuit 15, it is reset and the output of the control signal is stopped. In addition, the microcomputer 14 controls the pulse generator 12 during load driving.
The pulse signal output from the input / output circuit 17 is counted, and the absolute position of the window glass is recognized by the counted value. Further, the microcomputer 14 stops outputting the control signal when the microcomputer 14 is reset due to a decrease in the power supply voltage of the battery while driving the load, and
The count value of the pulse signal at the time of this reset is stored in the backup RAM.

Then, the microcomputer 14 is
"Load position correction process at microcomputer reset" shown in Fig. 2
Is designed to run. That is, when the microcomputer 14 is reset due to a decrease in the power supply voltage of the battery during load driving, it is determined in step 101 whether the load is being driven. This determination is made based on the drive determination flag written in the RAM. For example, when the flag is "1", it is determined that the load is being driven, and when the flag is "0", it is determined that the load is not being driven. When it is determined that the load is not being driven, the process shown in FIG. 1 is temporarily terminated.

When it is determined that the load is being driven, the routine proceeds to step 102, where it is determined whether the load driving direction is positive. This determination is made based on the drive direction determination flag written in the RAM. For example, when the flag is "1", it is determined that the load drive direction is positive (the window glass is being driven in the closing direction), and when the flag is "0", the load drive direction is negative (the window glass is in the opening direction). Is being driven). The determination result, that is, the load driving direction at the time of reset is stored in the backup RAM.

If the load drive direction is positive (step 102)
If the determination result of is YES), the process proceeds to step 103,
Set the correction value (correction amount). This correction value corresponds to the number of pulse signals corresponding to the amount of rotation of the motor 11 due to inertia from the time of reset.
It is set to a value according to the rotation speed of. That is, with reference to the map stored in the ROM, the correction value is set to a larger value as the rotation speed of the motor 11 at the time of reset is larger, and is set to a smaller value as the rotation speed is smaller. The correction value thus set is stored in the backup RAM.

After setting the correction value in this way, step 1
In step 05, whether the microcomputer 14 has recovered, that is, the operating voltage is supplied to the microcomputer 14 again,
Determines whether the reset state has returned to the operating state. When the microcomputer 14 has not yet returned (when the determination result of step 105 is NO), the processing shown in FIG. 1 is temporarily terminated.

When the microcomputer 14 returns (step 1
If the determination result of 05 is YES), the process proceeds to step 106. In this step 106, the pulse count value (count value of the pulse signal stored at the time of reset) is determined in step S102 in the same direction as the load drive direction (here, in the positive direction), and the correction value set in step 103 is set. Only correct. Specifically, when the window glass is driven in the closing direction by the normal rotation of the motor 11 and the pulse signal is up-counted, the count value is, for example, “10”.
The microcomputer 14 is reset at the position of
It is assumed that 1 further rotates forward by "10" pulses due to inertia. In this case, the actual position of the window glass is the position where the count value is “20”, but the recognized position by the microcomputer 14 is the position where the count value is “10”, and the count value is shifted by “10” between both positions. Is occurring. In such a case, by performing the above correction, when the microcomputer 14 returns from the reset state, the count value of the pulse signal, that is, the position recognized by the microcomputer 14 coincides with the actual load position (count value “20”), and both positions are detected. Displacement disappears.

On the other hand, when the load driving direction is negative (when the determination result of step 102 is NO), the routine proceeds to step 104, where a correction value (correction amount) is set. This correction value is also set to a value corresponding to the number of pulse signals corresponding to the amount of rotation of the motor 11 due to inertia from the time of reset, with reference to the above map.

After setting the correction value in this way, step 1
In step 07, it is determined whether the microcomputer 14 has returned. When the microcomputer 14 has not yet returned (when the determination result of step 107 is NO), the processing shown in FIG. 1 is once terminated.

When the microcomputer 14 returns (step 1
If the determination result of 07 is YES), the process proceeds to step 108, and the pulse count value (count value stored at reset) is determined in step S102 in the same direction as the load driving direction (here, in the opposite direction), Only the correction value set in step 104 is corrected. Specifically, the motor 11
When the window glass is driven in the opening direction by the reverse rotation of, and the pulse signal is down-counted, the microcomputer 14 is reset when the count value is, for example, "20", and then the motor 11 is inertially moved by "10" pulses. It is assumed that the situation has been reversed. In this case, the actual position of the window glass is the position where the count value is "10", but the recognized position by the microcomputer 14 is the position where the count value is "20", and the count value is shifted by "10" between both positions. Is occurring. In such a case, by performing the above correction, when the microcomputer 14 returns from the reset state, the count value of the pulse signal, that is, the position recognized by the microcomputer 14 coincides with the actual load position (count value "10"), and both positions are detected. Displacement disappears.

The step 102 corresponds to drive direction detecting means for detecting the drive direction of the load at the time of reset. Further, when steps 105 and 106 and steps 107 and 108 return from the reset state to the operating state, the count value stored at the time of reset is detected by the number of pulse signals corresponding to the amount of rotation of the motor 11 due to inertia from the time of reset. It corresponds to a count value correction means for correcting the load in the same direction as the driving direction.

According to one embodiment configured as described above, the following operational effects are exhibited. (B) When the microcomputer 14 is reset due to the power supply voltage drop during load driving and the motor 11 continues to rotate due to inertia after this, the count value of the pulse signal stored at the time of reset indicates that the motor 11 rotates due to inertia from the time of reset. The number of pulse signals is corrected in the same direction as the load driving direction determined and stored in step S102. As a result, the count value of the pulse signal, that is, the position recognized by the microcomputer 14 matches the actual load position. Therefore, the deviation between the actual load position (actual position of the window glass) and the position recognized by the microcomputer 14 (memory position at reset) can be eliminated, and accurate control can be realized.

(B) In steps 103 and 104, the correction value is set to a value corresponding to the rotation speed of the motor 11 at the time of resetting or immediately before that. That is, the correction value is
The larger the rotation speed of the motor 11 at the time of reset, the larger the value, and the smaller the rotation speed, the smaller the value. Therefore, it is possible to accurately correct the deviation between the actual load position and the recognition position, which corresponds to the number of pulse signals corresponding to the rotation of the motor 11 due to inertia from the time of reset.

The present invention can be modified and embodied as follows. -In one above-mentioned embodiment, although the present invention is applied to the motor drive control device in a power window device, the present invention is not limited to this. That is, it is used in various fields in which position control of various driven members (loads) driven by a motor is performed. For example, in a vehicle such as an automobile, a seat state (state of seat cushion, seat back, headrest, etc.) driven by a motor is adjusted to a seated person's body shape, and after storing the position in a memory,
The present invention can also be applied to a memory sheet that reads out the stored position again to facilitate the seat position adjustment, a motor drive control device used in a sunroof, and the like.

In the above embodiment, the count value of the pulse signal is stored in the backup RAM at the time of reset, but the count value may be held in the electrically erasable and writable EEPROM. .

In the above embodiment, the count value of the pulse signal is stored in the backup RAM at the time of reset, but the count value of the pulse signal immediately before the reset may be stored in the RAM.

In the above embodiment, the larger the rotation speed of the motor at the time of reset, the larger the correction value (correction amount).
Is set and a smaller correction value (correction amount) is set as the rotation speed is smaller, but the present invention is not limited to this. For example, the higher the frequency of the pulse signal output from the pulse generator 12 at the time of resetting or immediately before that, the larger the correction amount may be set, and the lower the frequency, the smaller the correction amount may be set. Alternatively, a larger correction amount may be set as the power supply voltage value of the battery at the time of resetting or immediately before that is higher, and a smaller correction amount may be set as the voltage value is lower.

In the above embodiment, the pulse generator 12
Is equipped with two Hall ICs and outputs a pulse signal in synchronization with the rotation of the motor 11, but the present invention is not limited to this. For example, the pulse generator 12 may be configured to output a pulse signal synchronized with the rotation of the motor 11 by using mechanical contacts instead of the two Hall ICs.

[0037]

As described above, according to the present invention,
Accurate control can be performed by eliminating the deviation between the actual load position and the recognition position that occurs after the reset.

[Brief description of drawings]

FIG. 1 is a flowchart showing an operation of a motor drive control device according to an embodiment.

FIG. 2 is a block diagram showing a schematic configuration of the control device.

[Explanation of symbols]

11 ... Motor, 12 ... Pulse generator as pulse generator, 13 ... Electronic control unit (ECU), 14 ... Microcomputer as control means.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kazumu Higashi             1 Toyota Town, Toyota City, Aichi Prefecture Toyota Auto             Car Co., Ltd. (72) Inventor Seiichi Watanabe             1 Toyota Town, Toyota City, Aichi Prefecture Toyota Auto             Car Co., Ltd. (72) Inventor Ken Iwai             1 Toyota Town, Toyota City, Aichi Prefecture Toyota Auto             Car Co., Ltd. (72) Inventor Yasuhiro Shimomura             260-chome, Toyota, Oguchi-cho, Niwa-gun, Aichi             Tokai Rika Electric Co., Ltd. (72) Inventor Kenji Tanaka             260-chome, Toyota, Oguchi-cho, Niwa-gun, Aichi             Tokai Rika Electric Co., Ltd. (72) Inventor ▼ Taka ▲ Eiji Su             260-chome, Toyota, Oguchi-cho, Niwa-gun, Aichi             Tokai Rika Electric Co., Ltd. F-term (reference) 5H303 AA13 BB01 BB06 CC06 DD01                       EE03 FF09 GG10 HH07 JJ09                       LL03                 5H530 BB19 CC02 CC26 CD10 CD13                       CD23 CD25

Claims (5)

[Claims] 1. A control means for driving and controlling a motor, and a pulse generating means for outputting a pulse signal synchronized with the rotation of the motor, wherein the control means counts the pulse signal during load driving by the motor. The motor drive control is configured to recognize the position of the load based on the count value, stop the output of the control signal when the load is reset due to a decrease in the power supply voltage of the battery, and store the count value at the time of the reset. In the device, the control means detects the driving direction of the load at the time of resetting and stores the driving direction, and when the reset state returns to the operating state, the count value stored at the time of resetting, In the same direction as the drive direction of the load stored in the detecting means, the amount of rotation of the motor due to inertia from the time of resetting. Motor drive control device, characterized in that it comprises a count correcting means for correcting. 2. The control means includes a correction amount setting means for setting a correction amount of the count value in accordance with a rotation state of the motor at the time of the reset or immediately before the reset, and the count value correction means has the setting value. Only the correction amount
The motor drive control device according to claim 1, wherein the count value stored at the time of the reset is corrected. 3. The correction amount setting means sets a larger correction amount as the rotation speed of the motor is higher at the time of the reset or immediately before the reset, and sets a smaller correction value as the rotation speed is smaller. The motor drive control device according to claim 2. 4. The correction amount setting means sets a larger correction amount as the frequency of the pulse signal output from the pulse generating means is higher at or immediately before the reset,
The motor drive control device according to claim 2, wherein a smaller correction amount is set as the frequency is lower. 5. The correction amount setting means sets a larger correction amount as the power supply voltage value of the battery at the time of or immediately before the reset is higher, and sets a smaller correction amount as the voltage value is lower. The motor drive control device according to claim 2.