JP2008187856A - Coil temperature estimation method of motor, control method of switchgear using method, and switchgear - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for precisely estimating a temperature of a coil of a motor, and a control method of a switchgear using the method. <P>SOLUTION: This coil temperature estimation method of the motor estimates the temperature of the coil of the drive motor at each prescribed time difference. The method sets initial values of the temperature of the coil and a temperature of a member adjoining to the coil, measures a current flowing in the coil, calculates a coil calorific value from the current value, and calculates a this-time coil temperature by adding the coil calorific value between the corresponding time differences, and a coil temperature change amount based on a previous-time internal transmission calorific value to the member from the coil during the time differences to a previous-time coil temperature. Furthermore, a this-time member temperature is calculated by adding the previous-time internal transmission calorific value, and a member-temperature change amount based on a previous-time external transmission calorific value to the external atmosphere from the member during the time differences. The control means of the switchgear is constituted by using the coil temperature estimation method. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a method for estimating a coil temperature of a motor used as a driving means for an opening / closing device such as a window glass or a roof glass of an automobile, and a motor control method using the method.

2. Description of the Related Art Conventionally, a power window device of an automobile is provided with an automatic opening / closing device, and various measures are taken so that the motor does not burn out due to an overload caused by a foreign object sandwiched in the window glass during the automatic operation. Methods of stopping the motor when an overload occurs include using a circuit breaker, or monitoring the motor status from the motor operating time, rotation speed, current, and voltage to limit the motor operation. Yes (see, for example, Patent Document 1)
JP2003-3740

  However, in the conventional method of calculating the temperature of the motor from the voltage value and current value of the drive power supplied to the drive motor, attention is paid only to the amount of heat generated in the coil due to the current flowing, and the result is estimated. However, there is a problem that the temperature is higher than the actual temperature and the error is large. Therefore, in order to prevent burning of the motor, the limit temperature such as stopping the motor must be set low with a margin, and there is a problem that the range in which normal operation can be permitted becomes narrow.

  Further, when a burnout protection element such as a circuit breaker is used, when the motor becomes hot, power supply to the motor is interrupted by the burnout protection element, and the operation of the power window or the like cannot be performed at all. That is, when pinching occurs and the circuit breaker operates to stop the motor, there is a problem that the pinching state is not canceled and the pinching state remains continued.

  SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a method for accurately estimating the coil temperature of a motor and a control method for a switchgear that does not require a circuit breaker using the coil temperature estimation method for the motor. I will provide a.

  The invention according to claim 1 of the present invention is a method for estimating a coil temperature of a motor for estimating a temperature of a coil of a motor for each predetermined time difference, wherein the initial temperature of the coil and the temperature of a member adjacent to the coil are estimated. A step of setting a value, a step of measuring a current flowing through the coil, and a step of calculating a coil heat generation amount generated in the coil by the current, and further, a current coil temperature is calculated for each time difference. Calculating the previous coil temperature, the amount of heat generated by the coil during the corresponding time difference, and the amount of change in coil temperature based on the previous amount of heat transferred from the coil to the member during the time difference; The member temperature is determined by the previous member temperature, the previous internal heat transfer amount, and the member temperature change amount based on the previous external heat transfer amount from the member to the outside air during the time difference. By executing the steps of calculating and to estimate the coil temperature of said motor for each time difference. Further, the member is rotatably supported by a rotation shaft of the motor, a commutator provided on the rotation shaft, a core including a magnetic body provided on the rotation shaft, and one end of the rotation shaft. Any one or more of the yokes may be included.

  According to a third aspect of the present invention, there is provided a control method for a switchgear using a motor coil temperature estimation method for controlling a switchgear opened and closed by a motor by estimating a coil temperature of the motor. A step of setting an initial value of a temperature of a coil and a temperature of a member adjacent to the coil, a step of measuring a current flowing through the coil of the motor, and a step of calculating a coil heating value generated in the coil by the current Furthermore, for each time difference, the current coil temperature, the previous coil temperature, the amount of heat generated by the coil during the corresponding time difference, and the previous time from the coil to the member during the time difference The step of calculating by the coil temperature change amount based on the internal heat transfer amount, the current member temperature, the previous member temperature, the previous internal heat transfer amount, and the time difference And a step of calculating by a member temperature change amount based on a previous external heat transfer amount from the member to the outside air, estimating a coil temperature of the motor for each time difference, and the estimated coil temperature exceeds a predetermined threshold value And the step of limiting the operation of the motor.

  The invention according to claim 4 is the invention according to claim 3, wherein when the estimated coil temperature exceeds a first threshold value as a temperature at which the motor may burn out, all motor operations are prohibited, When the second threshold value, which is a value lower than the first threshold value and it is not desirable to continue the operation, is exceeded, the operation other than the reverse operation of the motor is prohibited, and the value is lower than the second threshold value and When the motor falls below a third threshold value as a temperature at which the rated operation can be restored, the motor returns to the rated operating state. Further, the member is rotatably supported by a rotation shaft of the motor, a commutator provided on the rotation shaft, a core including a magnetic body provided on the rotation shaft, and one end of the rotation shaft. Any one or more of the yokes may be included.

  According to a sixth aspect of the present invention, there is provided a motor having a coil and a member adjacent to the coil and capable of rotating in the forward and reverse directions, an opening / closing member that is driven to open and close by the motor, a control unit that controls driving of the motor, and the motor. Coil current measuring means for measuring a current flowing through the coil, and the control unit sets initial values of the temperature of the coil and the temperature of a member adjacent to the coil, and is measured by the coil current measuring means. The coil heating value generated in the coil is calculated from the current value, and for each time difference, the current coil temperature, the previous coil temperature, the coil heating value between the corresponding time differences, and the time difference are calculated. In the meantime, the coil temperature change amount based on the previous internal heat transfer amount from the coil to the member, and the current member temperature, the previous member temperature, the previous internal heat transfer amount, Between the time difference and the member temperature change amount based on the previous external heat transfer from the member to the outside air, the coil temperature of the motor is estimated for each time difference, and the estimated coil temperature is a predetermined threshold value An opening / closing device using a method for estimating a coil temperature of a motor, wherein the operation of the motor is limited when the value exceeds.

  The invention according to claim 7 is the invention according to claim 6, wherein the controller is configured to control all motors when the estimated coil temperature exceeds a first threshold value as a temperature at which the motor may burn out. The operation is prohibited, and when the second threshold value, which is lower than the first threshold value and it is not desirable to continue the operation, exceeds the second threshold value, the operation other than the reverse operation of the motor is prohibited. When the motor is lower than a third threshold value as a temperature at which the motor can return to the rated operation, the motor returns to the rated operating state. Further, the member is rotatably supported by a rotation shaft of the motor, a commutator provided on the rotation shaft, a core including a magnetic body provided on the rotation shaft, and one end of the rotation shaft. Any one or more of the yokes may be included. Moreover, you may have a temperature measurement means for measuring external temperature.

As described above, according to the first aspect of the present invention, the temperature of the coil of the drive motor is caused by the amount of heat generated in the coil due to the current passing through the coil and the internal diffusion from the coil to the member adjacent to the coil. It can be determined from the amount of heat transferred. The amount of heat generated by the current passing through the coil is proportional to the square of the current value, and the amount of heat conduction from the coil to the member adjacent to the coil is proportional to the temperature difference between the coil and the member adjacent to the coil. The coil temperature Tc _(n) can be expressed by the following equation.

Here, K ₁ and K ₂ are proportional constants, I represents a current value flowing through the coil, Ty represents a member adjacent to the coil, a subscript n represents a state at a certain time, and a subscript n−1 exists. Represents the state before time. Here, the initial temperatures Tc ₍₀₎ and Ty ₍₀₎ of the coil and the members adjacent to the coil have the same value as the outside air temperature T _OUT . As the outside air temperature T _OUT , the worst value that is the highest value of the outside air temperature under the use conditions is input. This expression 1 is obtained by converting into an expression representing temperature based on the heat balance of the coil. At a given time n the coil temperature _{Tc (n)} is the previous time n-1 of the coil temperature _{Tc (n-1),} and the amount of heat generated by the current flowing through the coil in time n-1, the time n-1 It is obtained by adjusting the value obtained by converting the amount of heat transferred from the coil generated by the difference between the coil temperature and the temperature of the member adjacent to the coil to the member adjacent to the coil into temperature. The conversion from the amount of heat to the temperature takes into account the heat capacity, heat resistance, coil resistance, and the like of the coil, and is included in the coefficients K ₁ and K ₂ .

  Assuming that the member adjacent to the coil is mainly in contact with the outside air and there is no heat transfer to the other members, the temperature of the member adjacent to the coil can be expressed as in the following equation 2, as in equation 1.

Here, K ₃ and K ₄ are proportional constants. The coil temperature Tc _(n) can be calculated by substituting the coil current value measured by the current measuring means into the above formulas 1 and 2. Further, when considering the amount of heat transferred to the member (second member) adjacent to the member (first member) adjacent to the coil, the equation is assumed that there are an arbitrary number of m adjacent members. It can also be expanded.

  Since the equation for calculating the coil temperature takes into account the movement of heat from the coil to other members adjacent to the coil, the error is smaller than the conventional method of calculating the coil temperature only from the amount of heat generated by the current. . By reducing the error, a threshold value such as prohibiting the operation of the motor or allowing only the reversing operation can be set high without a margin. Therefore, the normal operation possible range can be set wide while maintaining the ability to prevent the motor from being burned, and waste can be reduced.

  According to the third and sixth aspects of the invention, the switchgear control method and the switchgear using the coil temperature estimation method based on the amount of heat generated in the coil and the amount of heat transferred from the coil to the member adjacent to the coil. Can be provided. The drive motor of the switchgear is controlled based on the temperature of the motor and coil in order to prevent burning, and a method for estimating the temperature of the motor and coil is required. The control method using the coil temperature estimated by the coil temperature estimation method of the present invention becomes possible.

  According to the inventions of claims 4 and 7, when the present invention is used for a power window of an automobile, for example, when an overload is applied to the motor due to the inclusion of foreign matter in the window, the window becomes foreign matter or an arm. It is possible to perform a control that can prevent a phenomenon that the vehicle stops with the pinch in between. The limit temperature for prohibiting all motor operations as the first threshold for the coil temperature, the limit temperature for prohibiting operations other than the motor reversal operation as the second threshold, and the motor operation limit as the third threshold. The operation is restricted by specifying the return temperature to be released. By providing a limit temperature that is lower than the limit temperature, the coil temperature can be prevented from reaching the limit temperature. If pinching occurs during the operation of a window or the like and the coil temperature rises, the temperature reaches the limit temperature before reaching the limit temperature. Since the reversal operation is permitted even when the temperature is equal to or higher than the limit temperature that is the second threshold, the window can perform the reversal operation even if the reversal operation of the window or the like occurs at that time. Therefore, it is possible to avoid stopping while maintaining the sandwiched state. When overload is applied to the motor due to the pinching and the coil temperature rises, the pinching is released by the reversing operation. Thereafter, after the reversal operation is completed, when the coil temperature is lowered to a return temperature that is lower than the limit temperature by natural cooling, the operation restriction that allows only the reversal operation is released, and the normal state is restored.

  Also, when the coil temperature rises due to pinching, etc. and the reversing operation is performed, if the overload is applied and the coil temperature rises even during the reversing operation, the coil temperature reaches the limit temperature and all the motor operations are Stop forbidden. This operation can prevent the motor from burning. In other words, the motor prevents burnout by two stages, ie, restriction of operation at the limit temperature and stop of operation at the limit temperature. This eliminates the need for a burnout protection element such as a circuit breaker, which is advantageous for reducing the cost of the apparatus.

According to the second, fifth, and eighth inventions, the member that is adjacent to the coil that exchanges heat with the coil that is considered when calculating the coil temperature is any one of the rotating shaft, core, commutator, and yoke of the motor. The coefficients K ₁ , K ₂ , K ₃ , and K ₄ of Equation 1 and Equation 2 can be determined using the heat capacity and thermal resistance of each member, coil resistance, and the like.

According to the ninth aspect of the present invention, it is possible to measure the outside air temperature T _OUT considered when calculating the coil temperature. As described above, a predetermined specified value may be input as the outside air temperature T _OUT, but an actual measured outside air temperature may be input. Thereby, the coil temperature can be detected more accurately.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a control unit of an automotive power window device according to an embodiment to which the present invention is applied. The window 1 is connected to the drive motor 2 and moves under the drive of the drive motor 2. The drive motor 2 is connected to the control unit 3 and driven and controlled. The control unit 3 includes a drive circuit 4 connected to the motor 2, a control circuit 7 connected to the drive circuit 4 and controlling the drive circuit 4, and a coil current detection sensor 5 a connected to the drive motor 2 and a coil of the drive motor 2. A coil current measuring circuit 5 as a coil current measuring means for measuring a current flowing through 2a, a motor rotation number detecting circuit 8 connected to the drive motor 2 and measuring the rotation number of the motor 2, and a coil current measuring circuit 5 are connected. The coil temperature calculation circuit 6 that receives the current value, calculates the coil temperature, sends the calculated coil temperature to the control circuit 7, and the motor rotation speed detection circuit 8 to detect the pinching by the window 1, The pinch detection circuit 9 for transmitting the pinch presence / absence information to the control circuit 7, the external auto and manual input switches 11a and 11b, and the control circuit 7 are connected to the auto circuit. And a automatic controller 10 which outputs a signal according to operation of the manual input switch 11a · 11b to the control circuit 7.

The temperature calculation circuit 6 estimates the temperature of the coil 2 a based on the current value flowing through the coil 2 a measured by the coil current measurement circuit 5. FIG. 2 shows the procedure for calculating the coil temperature by the temperature calculation circuit. The coil temperature Tc is obtained based on the above-described equations 1 and 2. Here, the temperature Ty of the member adjacent to the coil is any one of the core, the commutator, and the yoke, and the coefficient K ₁ -K ₄ is set in advance in consideration of the heat capacity, thermal resistance, coil resistance, and the like of the selected member. Is done.

Treatment at a temperature calculation circuit starts from the start of FIG. 2, in step ST1, the initial value of the coil temperature Tc and the member Temperature Ty and the outside air temperature T _OUT is inputted. The initial values of the coil temperature Tc and the member temperature Ty are the same values as the outside air temperature T _OUT, and it is preferable to input the outside air temperature in the assumed worst high temperature use environment.

  Next, in step ST2, the current value measured by the current measurement circuit 5 is received. In step ST3, the calorific value is calculated based on the received current value.

  In step ST4, the coil temperature Tc is calculated from Equation 1. Equation 1 is calculated by adding the coil temperature at a certain time to the previous coil temperature, as described above, and adding the previous coil heat generation and the temperature change due to the previous internal heat transfer from the coil to the member adjacent to the coil. In step ST5, the member temperature Ty adjacent to the coil is calculated by Equation 2. As described above, Equation 2 calculates the member temperature at a certain time by adding the previous internal temperature to the previous member temperature and the temperature change due to the previous internal heat transfer from the coil to the member and the previous external heat transfer from the member to the outside air. The coil temperature Tc and member temperature Ty calculated here are used to calculate the next coil temperature and the next member temperature. After step ST5, the process returns to step ST2, and after the elapse of a predetermined time, the processes from step ST2 to step ST5 described above are repeated to calculate the next coil temperature and member temperature.

  The control circuit 7 receives the pinching detection signal from the pinching detection circuit 9 and the calculated coil temperature from the temperature calculation circuit 6 and performs processing for controlling the drive circuit 4 to control the driving of the motor 2. . The drive circuit 4 receives the manual or auto open / close signal from the auto control circuit 8 and the control signal from the control circuit 7 to drive the motor 2.

  Next, the control procedure in the control circuit 7 in the vehicle window opening and closing device configured as described above will be described below with reference to the flowchart of FIG. A limit temperature, a limit temperature, and a return temperature, which are threshold values for the temperature of the coil 2a used for determination in some steps, are set in advance. The limit temperature is set to a temperature at which the motor may burn out. The limit temperature is lower than the limit temperature, and even if the reversal operation is performed when the coil temperature reaches the limit temperature, the coil temperature is set so that the coil temperature does not reach the limit temperature until the reversal operation is completed. The The return temperature is a value lower than the limit temperature, and is set so that the limit temperature is not reached even if the opening or closing operation of one stroke is performed by automatic control.

  The process starts from a state where the operation of the power window (P / W) is permitted in step ST1, and proceeds to step ST2. In step ST2, the calculated coil temperature given by the coil temperature calculation circuit 6 is compared with a preset limit temperature, and if the calculated coil temperature is equal to or higher than the limit temperature, the drive motor burns out. In step ST10, the power window is disabled and stopped. If the calculated coil temperature is lower than the limit temperature, the process proceeds to step ST3.

  In step ST3, the magnitudes of the calculated coil temperature and the preset limit temperature are compared. When the calculated coil temperature is lower than the limit temperature, the power window can be operated without being limited, and the process proceeds to step ST1. If the calculated coil temperature is equal to or higher than the limit temperature, the process proceeds to step ST4 so that the power window can only perform reversal operation.

  In step ST4, it is determined whether the drive motor 2 is operating in reverse. The reverse operation is determined from the control state of the drive motor 2 of the drive circuit 4. If the drive motor 2 is operating in reverse, the process proceeds to step ST5 and the reverse operation is continued. If the drive motor 2 is not operating in reverse, the process proceeds to step ST6. In step ST6, it is determined from the presence / absence of a pinching signal from the pinching detection circuit 9 whether the window 1 is pinching a foreign object such as an arm. If pinching is detected, the process proceeds to step ST7 to start the reverse operation of the drive motor 2, and the reverse operation is performed. If pinching is not detected, the process proceeds to step ST10 and the operation of the drive motor 2 is stopped on the spot. After continuing and implementing the reverse operation in step ST5 and step ST7, the process proceeds to step ST8.

  In step ST8, it is determined whether or not the reverse operation of the drive motor 2 has been completed. The end of the reversing operation of the drive motor 2 does not have to be a position at which the window 1 is completely moved in the reversing direction, for example, fully closed or fully opened, and may be a predetermined fixed amount of movement. The method for detecting the end of the reversal operation may be the number of rotations of the motor 2 or the position detection means of the window 1. The end of the reversing operation is determined, and if the reversing operation has been completed, the process proceeds to step ST10, where the operation of the drive motor 2 is prohibited. If the reversing operation has not ended, the process proceeds to step ST9.

  In step ST9, it is monitored whether the coil temperature during the reversal operation exceeds the limit temperature. In step ST9, the calculated coil temperature and the limit temperature are compared, and if the calculated coil temperature is lower than the limit temperature, the process proceeds to step ST8 while continuing the reverse operation. If the calculated coil temperature is equal to or higher than the limit temperature, the process proceeds to step ST10 to prevent motor burnout, and the reversing operation is stopped.

  In the power window operation prohibition state in step ST10, the power window is in a stopped state, and the process proceeds to step ST11. In step ST11, the calculated coil temperature and the return temperature are compared in magnitude. If the calculated coil temperature is equal to or lower than the return temperature, the process proceeds to step ST1 and all operation restrictions are released. If the calculated coil temperature is higher than the return temperature, the process proceeds to step ST10 and the power window operation prohibition state continues.

  By adopting the configuration of the embodiment, the coil temperature is calculated from the amount of heat generated by the current value flowing through the coil and the amount of heat moving from the coil to the member adjacent to the coil, so only the amount of heat generated by the current flowing through the coil is calculated. The coil temperature can be grasped more accurately than the estimated formula considered. Then, by comparing the calculated coil temperature with a threshold value, when the coil temperature of the drive motor of the switchgear rises, control that prohibits all operations of the drive motor and control that prohibits operations other than reversing operation These two controls can be performed. The limit temperature, which is the control threshold value for prohibiting operations other than motor reversal operation, is set lower than the limit temperature, which is the control threshold value for prohibiting motor operation. In this case, it is possible to prevent the operation of the motor from being prohibited while maintaining the sandwiched state. In addition, motor burnout can be prevented by completely prohibiting motor operation when this limit temperature is reached. In addition, recovery from a state where the coil temperature of the motor exceeds the limit temperature or the limit temperature, and the operation is limited, the coil temperature decreases due to the complete stop of the motor operation or the stop after the reverse operation of the motor. Since the judgment is made by comparing with the return temperature set to the temperature that does not reach the limit temperature even if the auto operation of the opening or closing process is performed, the motor can be burned out and the restricted state can be recovered safely. be able to.

  In the embodiment, in order to calculate the coil temperature, Equation 1 and Equation 2 are used in consideration of the amount of heat transferred from the coil to the member adjacent to the coil. However, the member adjacent to the coil is adjacent to the coil. You may consider the amount of heat which moves to the member adjacent to a member. When the member adjacent to the coil is expanded as the first member, the member adjacent to the first member as the second member, and adjacent to the m-th member, the coil temperature can be expressed by the following equation.

  This formula focuses on only the amount of heat that moves between adjacent members and assumes that there is no diffusion of heat to the other. For example, in the case of the a-th member, the temperature of the a-th member is determined by the amount of heat that moves between the (a-1) th member and the (a + 1) th member. In use, an appropriate number of members can be arbitrarily determined according to the configuration of the drive motor.

In addition, this invention is not limited to said embodiment, A various change is possible in the range which does not deviate from the meaning of this invention. For example, the outside air temperature T _OUT is not the outside air temperature in the worst possible high temperature use environment, but a temperature sensor 12 (for example, an outside air temperature sensor mounted on the vehicle) is disposed outside the control unit, A signal may be used.

It is a block diagram of a control part of a power window device for vehicles of an embodiment to which the present invention is applied. It is a figure which shows the outline | summary of the calculation flow of the temperature calculation circuit which concerns on embodiment of this invention. It is a figure which shows the outline | summary of the control flow of the control circuit which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Opening / closing member 2 Drive motor 2a Coil 3 Control part 4 Drive circuit 5 Coil current measurement circuit 5a Coil current detection sensor 6 Coil temperature calculation circuit 7 Control circuit 8 Motor rotation speed detection circuit 9 Pinching detection circuit 10 Auto control circuit 11a Auto operation switch 11b Manual operation switch 12 Temperature sensor

Claims (9)

A method for estimating a coil temperature of a motor for estimating a temperature of a coil of a motor for each predetermined time difference,
Setting an initial value of the temperature of the coil and the temperature of a member adjacent to the coil;
Measuring the current flowing through the coil;
Calculating a coil heat generation amount generated in the coil by the current,
Furthermore, for each time difference,
The current coil temperature is calculated from the previous coil temperature, the coil heat generation amount during the corresponding time difference, and the coil temperature change amount based on the previous internal heat transfer from the coil to the member during the time difference. Steps,
By calculating the current member temperature by the previous member temperature, the previous internal heat transfer amount, and the member temperature change amount based on the previous external heat transfer amount from the member to the outside air during the time difference. A method for estimating a coil temperature of a motor, wherein the coil temperature of the motor is estimated for each time difference.   The member is any one of a rotating shaft of the motor, a commutator provided on the rotating shaft, a core including a magnetic body provided on the rotating shaft, and a yoke that rotatably supports one end of the rotating shaft. The method for estimating a coil temperature of a motor according to claim 1, comprising the above. A control method for a switchgear using a motor coil temperature estimation method for controlling a switchgear opened and closed by a motor by estimating the coil temperature of the motor.
Setting an initial value of the temperature of the coil and the temperature of a member adjacent to the coil;
Measuring the current flowing through the coil of the motor;
Calculating a coil heat generation amount generated in the coil by the current,
Furthermore, for each time difference,
The current coil temperature is calculated from the previous coil temperature, the coil heat generation amount during the corresponding time difference, and the coil temperature change amount based on the previous internal heat transfer from the coil to the member during the time difference. Steps,
Performing the step of calculating the current member temperature by the previous member temperature, the previous internal heat transfer amount, and the member temperature change amount based on the previous external heat transfer amount from the member to the outside air during the time difference;
And a step of estimating a coil temperature of the motor for each time difference, and limiting the operation of the motor when the estimated coil temperature exceeds a predetermined threshold.   When the estimated coil temperature exceeds a first threshold value as a temperature at which the motor may burn out, it is not preferable that all motor operations are prohibited and the operation is continued at a value lower than the first threshold value. When the temperature exceeds the second threshold value, operations other than the reverse operation of the motor are prohibited. When the temperature is lower than the second threshold value and falls below the third threshold value as the temperature at which the motor can return to rated operation, The method for controlling a switchgear according to claim 3, wherein the motor returns to a rated operating state.   The member is any one of a rotating shaft of the motor, a commutator provided on the rotating shaft, a core including a magnetic body provided on the rotating shaft, and a yoke that rotatably supports one end of the rotating shaft. The control method of the switchgear according to claim 3 or 4 including the above. A forward and reverse rotatable motor having a coil and a member adjacent to the coil;
An opening and closing member driven to open and close by the motor;
A control unit for driving and controlling the motor;
Coil current measuring means for measuring a current flowing through the coil of the motor;
The controller is
Set the initial value of the temperature of the coil and the temperature of the member adjacent to the coil,
Calculate the amount of heat generated in the coil from the current value measured by the coil current measuring means,
Furthermore, for each time difference,
The current coil temperature is calculated from the previous coil temperature, the coil heat generation amount during the corresponding time difference, and the coil temperature change amount based on the previous internal heat transfer from the coil to the member during the time difference. And the current member temperature is calculated by the previous member temperature, the previous internal heat transfer amount, and the member temperature change amount based on the previous external heat transfer amount from the member to the outside air between the time difference, and each time difference Estimate the coil temperature of the motor every time,
An opening / closing apparatus using a method for estimating a coil temperature of a motor, wherein the operation of the motor is limited when the estimated coil temperature exceeds a predetermined threshold value.   The controller prohibits all motor operations when the estimated coil temperature exceeds a first threshold value as a temperature at which the motor may burn out, and continues to operate at a value lower than the first threshold value. When a second threshold value, which is an undesirable temperature, is exceeded, operations other than the reversing operation of the motor are prohibited, and a third value that is lower than the second threshold value and at which the motor can return to the rated operation. The switchgear using the motor coil temperature estimation method according to claim 6, wherein the motor returns to a rated operating state when the value falls below a threshold value.   The member is any one of a rotating shaft of the motor, a commutator provided on the rotating shaft, a core including a magnetic body provided on the rotating shaft, and a yoke that rotatably supports one end of the rotating shaft. The switchgear using the method for estimating the coil temperature of the motor according to claim 6, comprising the above. The switchgear using the method for estimating a coil temperature of a motor according to any one of claims 6 to 8, further comprising temperature measuring means for measuring an outside air temperature.

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