JP2012235613A - Actuator, motor control system and motor control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator, motor control system and motor control method, having high reliability achieved by reducing the total number of sensors.SOLUTION: The actuator includes: a motor; a driven mechanism that converts rotation of the motor into a predetermined displacement; a position regulation mechanism that regulates a position of the driven mechanism; a position sensor that detects a displacement of the driven mechanism; and a control device that converts an output fluctuation of the position sensor under a state where the position of the driven mechanism is regulated by the position regulation mechanism, into temperature information.

Description

  The present invention relates to an actuator driven by a motor, a motor control system, and a motor control method.

  There is an actuator that displaces an operating part that transmits rotation from a motor as a driving source to a mechanism such as a link or a gear and extracts power. Even if the position of the moving part is measured with a position sensor, if there is a change in temperature, the degree of influence of backlash, backlash, deflection, etc. that occurs in a mechanism such as a link or gear changes, and the displacement of the moving part is accurately determined. There is a limit. For this reason, the actuator detects the position or displacement of the operating part using a temperature sensor (for example, Patent Documents 1 and 2).

JP 2009-144843 A Japanese Patent Laid-Open No. 10-169771

  In recent years, the total number of sensors is increasing, and it is desired to reduce the total number of sensors as much as possible. On the other hand, it is desired to increase the reliability of control in consideration of the degree of influence such as backlash, back crash, and bending due to temperature fluctuation.

  The present invention has been made in view of the above, and an object thereof is to provide an actuator, a motor control system, and a motor control method in which the total number of sensors is reduced and the reliability is improved.

  In order to solve the above-described problems and achieve the object, an actuator includes a motor, a driven mechanism that converts rotation of the motor into a predetermined displacement, a position restricting mechanism that restricts a position of the driven mechanism, A position sensor that detects displacement of the driven mechanism, and a control device that converts output fluctuations of the position sensor into temperature information when the position of the driven mechanism is regulated by the position regulating mechanism. Features.

  Thereby, since the position sensor can also serve as the temperature sensor, the total number of sensors is reduced. Even if there is an influence of temperature fluctuation, temperature information of the temperature fluctuation can be obtained from the position sensor, so that the control device can improve the reliability of motor control considering the temperature fluctuation.

  As a desirable aspect of the present invention, the control device includes a rotation angle sensor that detects a rotation angle of the motor, and the control device calculates a difference in output of the rotation angle sensor from an output of the position sensor. It is preferable to obtain the output fluctuation of the position sensor. Thereby, the output fluctuation of the position sensor can be obtained from the output difference between the two different sensors, so that the error can be reduced.

  As a desirable aspect of the present invention, it is preferable that the control device determines that the temperature information is abnormal when the temperature information exceeds a threshold value. Thereby, the position sensor becomes a failure sensor of the driven mechanism, and the reliability of the actuator is improved.

  As a preferred aspect of the present invention, the control device includes a rotation angle sensor that detects a rotation angle of the motor, and the control device stores relative information on a rotation angle signal of the rotation angle sensor and a displacement signal of the position sensor in a normal state. Acquiring the displacement signal, calculating an estimated rotation angle signal obtained by estimating a rotation angle based on the relative relationship information and the temperature information, and controlling the motor based on the estimated rotation angle signal. preferable.

  Thereby, when the rotation angle signal of the rotation angle sensor cannot be acquired, even if there is a backlash, a back crash, a deflection, etc., the rotation angle sensor can be calculated and estimated, and the motor control can be continued. As a result, the actuator can stably control the motor without the rotation angle signal of the rotation angle sensor.

  As a desirable mode of the present invention, the driven mechanism has an operating part that displaces, and a mechanism part that converts rotation of the motor into displacement and transmits it to the operating part, and the position sensor includes the operating part. Alternatively, it is preferable to detect the position of the mechanism portion. Thus, the actuator has the rotation angle sensor and the position sensor at a different location from the rotation angle sensor. As a result, the actuator can be driven using the position sensor even if the rotation angle signal from the rotation angle sensor cannot be acquired. As a result, the reliability or robustness of the actuator is improved.

  As a desirable aspect of the present invention, an automatic transmission including the actuator is preferable. Thereby, an automatic transmission with improved reliability can be provided. Moreover, the displacement signal of each transmission gear position of the automatic transmission can be grasped by the position sensor.

  In order to solve the above-described problems and achieve the object, the motor control system sends a motor control signal for controlling the motor, acquires a displacement signal accompanying the rotation of the motor from a position sensor, and receives the displacement signal at the stop position. The temperature information estimated from the acquired displacement signal is calculated, and the motor control signal is calculated from the calculated temperature information.

  Thereby, since the position sensor can also serve as the temperature sensor, the total number of sensors is reduced. Even if there is an influence of temperature fluctuation, temperature information of the temperature fluctuation can be obtained from the position sensor, so that the motor control system can improve the reliability of the motor control considering the temperature fluctuation.

  As a desirable mode of the present invention, it is preferable to obtain a rotation angle signal of the motor from a rotation angle sensor, calculate a difference in output of the rotation angle sensor from an output of the position sensor, and obtain an output variation of the position sensor. . Thereby, the output fluctuation of the position sensor can be obtained from the output difference between the two different sensors, so that the error can be reduced.

  As a desirable mode of the present invention, it is preferable to determine that the temperature information is abnormal when the temperature information exceeds a stored threshold value. Thereby, the position sensor becomes a failure sensor of the driven mechanism, and the reliability of the actuator is improved.

  As a desirable aspect of the present invention, when the rotation angle signal of the motor is acquired from a rotation angle sensor, and the relative relationship information of the rotation angle signal and the displacement signal in a normal state is stored, and the rotation angle signal cannot be acquired. Calculating an estimated rotation angle signal that is an estimated rotation angle from the acquired displacement signal based on the relative relationship information and the temperature information, and calculating the motor control signal from the calculated estimated rotation angle signal. preferable.

  Thereby, when the rotation angle signal of the rotation angle sensor cannot be acquired, even if there is a backlash, a back crash, a deflection, etc., the rotation angle sensor can be calculated and estimated, and the motor control can be continued. As a result, the motor control system can stably control the motor without the rotation angle signal of the rotation angle sensor.

  As a desirable aspect of the present invention, when the correction value of the relative relationship information is stored and the rotation angle signal cannot be acquired, the estimated rotation angle is obtained from the acquired displacement signal based on the correction value and the temperature information. It is preferable to calculate the signal. As a result, when the rotation angle signal of the rotation angle sensor cannot be acquired, the estimated rotation angle signal can be easily calculated from the displacement signal using a correction value that takes into account the effects of backlash, back crash, deflection, and the like.

  As a desirable aspect of the present invention, when the rotation angle signal cannot be acquired, the estimated rotation angle signal is obtained from the acquired displacement signal based on the relative relationship information, the motor rotation direction of the motor control signal, and the temperature information. It is preferable to calculate. Thereby, when the rotation angle signal of the rotation angle sensor cannot be acquired, the estimated rotation angle signal can be easily calculated from the displacement signal by canceling the influence of backlash, back crash, deflection, and the like.

  In order to solve the above-described problems and achieve the object, a motor control method includes a signal acquisition step of transmitting a motor control signal for controlling a motor and acquiring a displacement signal associated with the rotation of the motor from a position sensor; A confirmed position determining step for determining a confirmed position where the displacement is confirmed from the signal; a temperature calculating step for calculating temperature information estimated from the obtained displacement signal after the displacement is confirmed in the confirmed position determining step; And a control step of calculating the motor control signal from temperature information.

  Thereby, since the displacement signal of the position sensor can be used as temperature information of the temperature sensor, the total number of sensors is reduced. Even if there is an influence of temperature fluctuation, temperature information of the temperature fluctuation can be obtained from the position sensor, so that the motor control system can improve the reliability of the motor control considering the temperature fluctuation.

  In order to solve the above-described problems and achieve the object, a motor control method sends a motor control signal for controlling a motor, acquires a rotation angle signal of the motor from a rotation angle sensor, and acquires the rotation angle signal of the motor from a position sensor. A signal acquisition step for acquiring a displacement signal associated with rotation, a determined position determination step for determining a determined position where the displacement is determined from the displacement signal, and a reference temperature stored after the displacement is determined in the determined position determination step The temperature calculation step of calculating the temperature information estimated by comparing the relative information of the rotation angle signal and the displacement signal and the acquired displacement signal, and when the rotation angle signal cannot be acquired, Based on the calculated temperature information and the relative relationship information, an operation for calculating an estimated rotation angle signal, which is a rotation angle estimated from the acquired displacement signal. A step, characterized in that it contains from computed the estimated rotation angle signal and a control step of calculating the motor control signal.

  Thereby, when the rotation angle signal of the rotation angle sensor cannot be acquired, even if there is a backlash, a back crash, a deflection, etc., the rotation angle sensor can be calculated and estimated, and the motor control can be continued. As a result, the actuator can stably control the motor without the rotation angle signal of the rotation angle sensor.

  As a desirable mode of the present invention, in the calculation step, it is preferable to calculate the estimated rotation angle signal from the acquired displacement signal based on the correction value of the relative relationship information and the temperature information. As a result, when the rotation angle signal of the rotation angle sensor cannot be acquired, the estimated rotation angle signal can be easily calculated from the displacement signal using a correction value that takes into account the effects of backlash, back crash, deflection, and the like.

  As a preferred aspect of the present invention, in the calculation step, the estimated rotation angle signal is calculated from the acquired displacement signal based on the relative relationship information, the motor rotation direction of the motor control signal, and the temperature information. It is preferable. Thereby, when the rotation angle signal of the rotation angle sensor cannot be acquired, the estimated rotation angle signal can be easily calculated from the displacement signal by canceling the influence of backlash, back crash, deflection, and the like.

  According to the present invention, it is possible to provide an actuator, a motor control system, and a motor control method in which the total number of sensors is reduced and reliability is improved.

FIG. 1 is a configuration diagram of an actuator according to the first embodiment. FIG. 2 is a block diagram of the motor control system according to the first embodiment. FIG. 3 is a flowchart illustrating the motor control method according to the first embodiment. FIG. 4A is an explanatory diagram of an example of the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor. FIG. 4B is an explanatory diagram of an example of the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor. FIG. 5 is a flowchart illustrating the motor control method according to the first embodiment. FIG. 6 is an explanatory diagram for explaining relative relationship information between the rotation angle signal of the rotation angle sensor and the displacement signal of the position sensor, which is stored in the storage unit according to the first embodiment. FIG. 7 is an explanatory diagram illustrating the relationship between the relative relationship information and the temperature information stored by the storage unit according to the first embodiment. FIG. 8 is a flowchart illustrating the motor control method according to the first embodiment. FIG. 9 is an explanatory diagram illustrating a motor control method according to the first embodiment. FIG. 10 is a flowchart illustrating a motor control method according to the second embodiment. FIG. 11 is an explanatory diagram illustrating a motor control method according to the second embodiment. FIG. 12 is a configuration diagram of an actuator according to a modification. FIG. 13 is a configuration diagram of an automatic transmission having the actuator according to the third embodiment. FIG. 14 is a configuration diagram of an automatic transmission having the actuator according to the third embodiment. FIG. 15 is a configuration diagram of an automatic transmission having the actuator according to the third embodiment. FIG. 16 is an explanatory diagram illustrating the relative relationship information of the rotation angle signal of the rotation angle sensor and the displacement signal of the position sensor, which is stored in the storage unit according to the third embodiment.

  DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. The constituent elements described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the constituent elements described below can be appropriately combined.

(Embodiment 1)
FIG. 1 is a configuration diagram of an actuator according to the first embodiment. FIG. 2 is a block diagram of the motor control system according to the present embodiment.

  The actuator 1 shown in FIG. 1 is a drive mechanism that drives an operating unit 35 that is linearly displaced in the P direction. The actuator 1 includes a brushless motor 10, a rotation angle sensor 21, a position sensor 22, a driven mechanism 30 having an operating unit 35, a position regulating mechanism 56 that regulates the position of the operating unit 35, and a control device 40. Contains.

  The brushless motor 10 is a drive source that provides rotational driving to the driven mechanism 30. For example, an armature winding is applied to the stator core, and a permanent magnet is attached to or embedded in the rotor core. The armature winding is excited by the motor control signal SM from the control device 40, and the rotor core is rotated. The rotation of the rotor core is not predicted by the applied electric power as in a motor with a brush, and the rotation angle signal needs to be acquired by the rotation angle sensor 21. The brushless motor 10 rotor core may be an induction motor or a reluctance motor.

  The rotation angle sensor 21 is a detection device that detects the rotation A of the brushless motor 10 and sends a rotation angle signal SA. The rotation angle sensor 21 is, for example, a magnetic encoder, a resolver, or the like. The position sensor 22 is a detection device that detects the displacement of the operating unit 35 in the P direction and sends a displacement signal SP. The position sensor 22 is a Hall IC or the like. For example, it is more preferable that the rotation angle sensor 21 and the position sensor 22 are sensors having different operating principles from the viewpoint of reducing the failure probability that both the rotation angle sensor 21 and the position sensor 22 fail. For example, the rotation angle sensor 21 is a magnetic reactance resolver, and the position sensor 22 is a Hall IC. In the actuator 1 that transmits the rotation from the brushless motor 10 that is a driving source to a mechanism such as a link or gear and displaces the operating unit 35 that extracts the power, the rotation angle sensor 21 that measures the rotation angle of the brushless motor 10 alone is used as a link. Or there are backlash, back-crash, bending, etc. which occur in a mechanism such as a gear, and there is a limit to the accuracy with which the displacement of the operating part 35 is grasped. For this reason, the actuator 1 detects the position or displacement of the operating unit 35 using the position sensor 22.

  The driven mechanism 30 includes a mechanism unit 31, 32, 33 that converts the rotational motion of the brushless motor 10 into an approximate linear motion displacement, and transmits, a rotation fulcrum unit 41, 42, 43, 44, and an operating unit 35. And have. The driven mechanism 30 converts the rotational driving force of the rotor core of the brushless motor 10 into a linear displacement by the link mechanism of the mechanism portions 31, 32, 33 and the rotation fulcrum portions 41, 42, 43, 44. Can be moved to a predetermined position. In the actuator 1 according to the first embodiment, the position sensor 22 is attached to the operating unit 35. The operating unit 35 is applied as an operating unit of an actuator of a transmission, for example. The driven mechanism 30 may be a gear mechanism. The driven mechanism 30 is a gear mechanism, and the actuator 1 is applied as a gear transmission mechanism of an outboard motor.

  The position regulating mechanism 56 is a mechanism that regulates the operating portion 35 of the driven mechanism 30 and determines the position so as not to be displaced. The position restricting mechanism 56 may grip the operating unit 35 or may determine the position so as not to be displaced by abutting and positioning. The position restriction mechanism 56 only needs to be able to determine and fix the position of the operating unit 35.

  The control device 40 is a computer system such as a microcomputer. For example, as shown in FIG. 2, an input interface 40a, an output interface 40b, a CPU (Central Processing Unit) 40c, a ROM (Read Only Memory) 40d, a RAM (Random Access Memory) 40e, and an internal storage device 40f. And. The input interface 40a, output interface 40b, CPU 40c, ROM 40d, RAM 40e, and internal storage device 40f are connected by an internal bus.

  The input interface 40a receives the rotation angle signal SA from the rotation angle sensor 21 and outputs it to the CPU 40c. The input interface 40a receives the displacement signal SP from the position sensor 22 and outputs it to the CPU 40c. The output interface 40 b receives an instruction signal from the CPU 40 c and outputs a motor control signal SM to the brushless motor 10.

  A program such as BIOS is stored in the ROM 40d. The internal storage device 40f is, for example, an HDD (Hard disk drive) or a flash memory, and the internal storage device 40f stores an operating system program or an application program. The CPU 40c implements various functions by executing programs stored in the ROM 40d and the internal storage device 40f while using the RAM 40e as a work area. Note that the internal storage device 40f or the RAM 40e serves as the storage unit 40E.

  As shown in FIG. 2, in the motor control system 1 </ b> S, the rotation angle sensor 21, the position sensor 22, and the brushless motor 10 are connected to the control device 40. The control device 40 acquires the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22. The control device 40 calculates a motor control signal SM for the brushless motor 10 based on the rotation angle signal SA. The control device 40 feedback-controls the brushless motor 10 based on the calculated motor control signal SM.

  FIG. 3 is a flowchart illustrating the motor control method according to the first embodiment. As shown in FIG. 3, the actuator 1 rotates the brushless motor 10 based on the control of the control device 40 (step S101). As the brushless motor 10 is driven to rotate, the control device 40 acquires the rotation angle signal SA from the rotation angle sensor 21 and the displacement signal SP from the position sensor 22 (step S102). After acquiring the rotation angle signal SA and the displacement signal SP, the control device 40 stores them in the storage unit 40E.

  Next, the CPU 40c detects the rotation angle signal SA from the rotation angle sensor 21 or the displacement signal SP from the position sensor 22 and the operating unit 35 stored in the storage unit 40E at the position where the displacement is fixed by the position restriction mechanism 56. An operation for comparing with the information is performed, and it is determined whether the operating unit 35 is at the fixed position (step S103). If the operating unit 35 is not at the fixed position (step S103, No), step S101 is continued. When the operating unit 35 is in the fixed position (step S103, Yes), the displacement signal SP of the position sensor 22 is acquired (step S104), and the value of the position sensor output fluctuation ΔV depending on the temperature is acquired. For obtaining the displacement signal SP of the position sensor 22, the displacement signal SP already obtained in step S102 may be read from the storage means 40E.

  FIG. 4A is an explanatory diagram of an example of the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor. The control device 40 stores the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor 22 shown in FIG. For example, when the position sensor 22 is a Hall IC, the position sensor 22 outputs an analog voltage depending on the position (displacement) and temperature. For example, if the operating unit 35 is in the fixed position where the displacement is fixed by the position restriction mechanism 56, the factor depending on the position (displacement) can be eliminated. Thereby, the position sensor output fluctuation ΔV of the position sensor 22 at the fixed position becomes a function of the analog output depending on the temperature.

  For example, when the sensor output at the reference temperature (for example, 25 ° C.) of the position sensor 22 is 0, the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor 22 shown in FIG. It is obtained from the temperature coefficient. Alternatively, when the sensor output at the reference temperature (for example, 25 ° C.) of the position sensor 22 is set to 0, a temperature change is given to the position sensor 22, and the position sensor output fluctuation ΔV and the temperature fluctuation Δt are acquired in advance. You may memorize | store in the memory | storage means 40E. For this reason, if the operating unit 35 is in the confirmed position where the displacement is regulated by the position regulating mechanism 56 and the position sensor output variation ΔV can be acquired, the control device 40 converts the temperature variation Δt into temperature information (step S105). ).

  FIG. 4B is an explanatory diagram of an example of the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor. For example, if the position sensor 22 is a Hall IC, the rotation angle sensor 21 is a magnetic reactance resolver. For example, the rotation angle sensor 21 outputs an analog voltage depending on the position (displacement) and temperature. Here, the rotation angle sensor 21 is a sensor in which the output fluctuation ΔVA with respect to the temperature fluctuation Δt of the rotation angle sensor 21 is smaller than the output fluctuation ΔVP with respect to the temperature fluctuation Δt of the position sensor 22. Thereby, the output fluctuation ΔV with respect to the temperature fluctuation of the position sensor 22 can be obtained from the difference between the output fluctuation ΔVA of the rotation angle sensor 21 and the output fluctuation ΔVP of the position sensor 22. For example, if the operating unit 35 is in the fixed position where the displacement is fixed by the position restriction mechanism 56, the factor depending on the position (displacement) can be eliminated. Thereby, the position sensor output fluctuation ΔVP of the position sensor 22 at the fixed position and the output fluctuation ΔVA of the rotation angle sensor 21 are functions of analog output depending on the temperature. Therefore, the control device 40 calculates the difference of the output fluctuation ΔVA of the rotation angle sensor 21 from the output fluctuation ΔVP of the position sensor to obtain the output fluctuation ΔV of the position sensor 22. The control device 40 stores the relationship between the position sensor output fluctuation ΔV (= ΔVP−ΔVA) of the position sensor 22 and the temperature fluctuation Δt shown in FIG. If the actuator 1 is operating and the operating unit 35 is in the fixed position where the displacement is fixed by the position restricting mechanism 56, the control device 40 sends the obtained output fluctuation ΔV of the position sensor 22 to the storage means 40E. The corresponding temperature fluctuation Δt can be obtained from the relationship between the position sensor output fluctuation ΔV (= ΔVP−ΔVA) of the position sensor 22 and the temperature fluctuation Δt shown in FIG.

  Next, the control device 40 performs a procedure for calculating the motor control signal SM according to the temperature fluctuation Δt that is temperature information (step S106). For example, the stroke amount fluctuates due to the influence of a temperature change caused by the state of the lubricant material of the driven mechanism 30, the arrangement state of the driven mechanism 30, and the like. For example, the control device 40 previously stores control correction data for correcting variation in stroke amount in accordance with temperature information in the storage unit 40E, and performs motor control based on the temperature variation Δt that is temperature information obtained in step S105. The signal SM is calculated.

  Next, if necessary, the control device 40 determines whether the temperature information is abnormal (step S107). For example, the control device 40 stores a predetermined temperature threshold in the storage unit 40E. When the control device 40 determines that the temperature information is normal (No at Step S107), the motor control signal SM calculated at Step S106 is used to rotate the brushless motor 10 (Step S101).

  When the temperature information exceeds the threshold value, the control device 40 performs an abnormal temperature operation (step S108) when determining that the temperature information is abnormal (step S107, Yes). For example, the abnormal temperature operation is an operation such as lighting a lamp to be stopped and prompting the stop. Thereby, the position sensor 22 becomes a fail sensor of the driven mechanism 30, and the reliability of the actuator is improved.

  As described above, the motor control method of the present embodiment sends the motor control signal SM for controlling the brushless motor 10 and acquires the displacement signal SP accompanying the rotation of the brushless motor 10 from the position sensor 22 ( Step S102), a fixed position determination step (Step S103) for determining a fixed position where the displacement is fixed from the displacement signal SP, and after the displacement is fixed in the fixed position determination step (Step S103), estimation is performed from the acquired displacement signal SP. A temperature calculating step (step S105) for calculating the calculated temperature information, and a control step (step S106) for calculating the motor control signal SM from the calculated temperature information.

  The actuator 1 according to the present embodiment includes a brushless motor 10, a driven mechanism 30 that converts the rotation of the brushless motor 10 into a predetermined displacement, a position sensor 22 that detects the displacement of the driven mechanism 30, and a driven mechanism. The position control mechanism 56 which controls the position of 30 and the control apparatus 40 which controls the brushless motor 10 are included. The control device 40 converts the output fluctuation ΔV of the position sensor 22 in a state where the position of the driven mechanism 30 is regulated by the position regulation mechanism 56 into a temperature fluctuation Δt that is temperature information. The control device 40 calculates control correction data based on the temperature information, and controls the brushless motor 10.

  Thereby, since the position sensor 22 can serve as a temperature sensor, the total number of sensors is reduced. Even if there is an influence of temperature fluctuation, temperature information of the temperature fluctuation can be obtained from the position sensor 22, so that the control device 40 can perform motor control in consideration of the temperature fluctuation.

  Further, the actuator 1 of the present embodiment further includes a rotation angle sensor 21 that detects the rotation of the brushless motor 10, and the control device 40 calculates the output fluctuation ΔV of the position sensor 22 from the output of the position sensor 22. Is obtained by calculating the difference between the outputs. As a result, the output fluctuation ΔV of the position sensor 22 can be obtained from the output difference between two different sensors, so that the error can be reduced.

  FIG. 5 is a flowchart for explaining the motor control method according to the present embodiment. FIG. 6 is an explanatory diagram illustrating the relative relationship information of the rotation angle signal of the rotation angle sensor and the displacement signal of the position sensor, which is stored by the storage unit according to the present embodiment. First, the control device 40 of the motor control system 1S of the present embodiment has a relative relationship between the rotation angle signal SA and the displacement signal SP when the rotation angle sensor 21 and the position sensor 22 are normal at a reference temperature (for example, 25 ° C.). A procedure for storing information in the storage means 40E is performed.

  As shown in FIG. 5, at the reference temperature, the control device 40 of the motor control system 1S rotates the brushless motor 10 based on the motor control signal SM (step S1). As the brushless motor 10 is driven to rotate, the control device 40 acquires the rotation angle signal SA from the rotation angle sensor 21 and the displacement signal SP from the position sensor 22 (step S2).

  Next, the CPU 40c calculates the acquired rotation angle signal SA and displacement signal SP as relative relationship information of the rotation angle signal SA and displacement signal SP as shown in FIG. The displacement signal SP detected by the position sensor 22 detects the displacement accompanying the rotation of the brushless motor 10. Therefore, when the displacement signal SP is taken on the vertical axis and the rotation angle signal SA is taken on the horizontal axis, there is a relative relationship between the rotation angle signal SA and the displacement signal SP.

For example, the control device 40 of the motor control system 1S rotates the brushless motor 10 in the clockwise direction (so-called CW direction) when viewed from the direction opposite to the connection with the driven mechanism 30. As shown in FIG. 6, the rotation angle signal SA of the rotation angle sensor 21 as a rotation angle signal SA ₂ from the rotational angle signal SA ₁ displacement signal SP of the position sensor 22 does not change significantly from SP _1. Then, as the rotation angle signal SA of the rotation angle sensor 21 as a rotation angle signal SA ₃ from the rotation angle signal SA _2, the displacement signal SP of the position sensor 22 increases linearly from SP ₁ to SP _2.

For example, the control device 40 of the motor control system 1S rotates the brushless motor 10 in the counterclockwise direction (so-called CCW direction) when viewed from the direction opposite to the connection with the driven mechanism 30. As shown in FIG. 6, the rotation angle signal SA of the rotation angle sensor 21 as a rotation angle signal SA ₄ from the rotation angle signal SA ₃ displacement signal SP of the position sensor 22 does not change significantly from the SP _2. Then, as the rotation angle signal SA of the rotation angle sensor 21 as a rotation angle signal SA ₁ from the rotation angle signal SA _4, displacement signal SP of the position sensor 22 decreases linearly from the SP ₂ to SP _1.

  As described above, in the region where the displacement signal SP of the position sensor 22 is not synchronized with the rotation angle signal SA of the rotation angle sensor 21, the mechanism portions 31, 32, 33, the rotation fulcrum portions 41, 42, 43, 44, or the operating portion 35 are provided. Hysteresis is considered to occur due to the effects of backlash, back-crash, and deflection.

Therefore, the control device 40, the midpoint between the rotational angle signal SA ₁ and the rotation angle signal SA _2, the middle point between the rotation angle signal SA ₃ and the rotation angle signal SA ₄ calculates, drawn between the midpoint line The distance between the minute and (SA ₂ , SP ₁ ) − (SA ₃ , SP ₂ ), or the line segment connecting the above-described midpoints and (SA ₄ , SP ₂ ) − (SA ₁ , SP ₁ ) A correction value ε, which is a distance, is calculated (step S3).

  Next, the control device 40 stores the correction value ε at the reference temperature and the relative relationship information at the reference temperature of the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 shown in FIG. The data is stored in the internal storage device 40f or the RAM 40e (step S4).

  In the motor control system 1S according to the present embodiment, the control device 40 calculates the correction value ε at the reference temperature and the relative relationship information at the reference temperature of the rotation angle signal SA and the displacement signal SP shown in FIG. I remember it. In this calculation, the computer system other than the motor control system 1S calculates the relative value of the correction value ε and the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 shown in FIG. It may be stored in the internal storage device 40f or the RAM 40e. Further, if the control device 40 of the motor control system 1S stores the relative relationship information of the rotation angle signal SA and the displacement signal SP in the storage means 40E, the correction value ε can be calculated and obtained each time. For this reason, the calculation step of the correction value ε in step S3 and the storage of the correction value ε in step S4 in the storage means 40E may be omitted, and the control device 40 may later calculate the correction value ε each time. Good.

FIG. 7 is an explanatory diagram illustrating the relationship between the relative relationship information and the temperature information stored by the storage unit according to the first embodiment. In the motor control system 1S according to the present embodiment, the control device 40 stores the relative relationship information of the rotation angle signal SA and the displacement signal SP shown in FIG. 6 and the above-described temperature information in the storage unit 40E. For example, the control device 40 controls the fixed position (SA ₂ , SP ₁ ), (SA ₃ , SP ₂ ), (SA ₄ , SP ₂ ), (SA ₁ , SP ₁ ), and the factors depending on the position (displacement) are excluded from the outputs of the position sensor 22 and the rotation angle sensor at the fixed position. As shown in FIG. 4B, the change in the output with respect to the temperature fluctuation Δt is larger in the position sensor 22 than in the rotation sensor 21. For this reason, the relative relationship information between the rotation angle signal SA and the displacement signal SP is, for example, (SA ₂ , SP ₁ ) − (SA ₃ , SP ₂ ) − (SA as shown in FIG. ₄ , SP ₂ )-(SA ₁ , SP ₁ ) line segments of (SA ₂ , SP ₁₁ )-(SA ₃ , SP ₁₂ )-(SA ₄ , SP ₁₂ )-(SA ₁ , SP ₁₁ ) The line sensor is shifted by the position sensor output fluctuation γ. As a result, if the control device 40 estimates the rotation angle signal SA from the displacement signal SP based only on the relative relationship information at the reference temperature of the rotation angle signal SA and the displacement signal SP shown in FIG. 6, an error may occur. is there. For example, the control device 40 determines that the rotation angle signal SA _1d estimated from the displacement signal SP ₁₁ based on only the relative relationship information at the reference temperature of the rotation angle signal SA and the displacement signal SP shown in FIG. _A false value for a true value that should be ₁ . Similarly, for example, the controller 40 based only on the relative relationship information at the reference temperature of the rotation angle signal SA and the displacement signal SP shown in FIG. 6, the rotational angle signal SA _4d estimated from the displacement signal SP ₁₂ is originally rotated false value for the true value should be angular signal SA _4.

  Here, the relative relationship information at the reference temperature of the rotation angle signal SA and the displacement signal SP shown in FIG. 6 is only the position sensor output fluctuation γ while the relative relationship between the rotation angle signal SA and the displacement signal SP shown in FIG. This produces a shifted change. As shown in FIG. 4B, the output fluctuation ΔVA of the rotation angle sensor 21 has a small change with respect to the temperature fluctuation. For this reason, when the rotation angle signal SA can be acquired, the control device 40 calculates the motor control signal SM based on the rotation angle signal SA.

In addition, the control device 40 determines the fixed positions (SA ₂ , SP ₁ ), (SA ₃ , SP ₂ ), (SA ₄ , SP ₂ ), (SA) where the operating unit 35 is restricted by the position restriction mechanism 56 and the displacement is fixed. ₁ , SP ₁ ), the position sensor output fluctuation γ is sequentially stored in the storage means 40E. The control device 40 approximates the relationship between the position sensor output variation ΔV and the temperature variation Δt by the relationship between the position sensor output variation ΔV and the temperature variation Δt of the position sensor 22 shown in FIG. Can be estimated. The control device 40 inquires the storage means 40E for the actually acquired position sensor output fluctuation ΔV, and determines the corresponding position sensor from the relationship between the position sensor output fluctuation ΔV and the temperature fluctuation Δt of the position sensor 22 shown in FIG. The output fluctuation γ can be obtained. Further, if the control device 40 of the motor control system 1S stores the relative relationship information of the rotation angle signal SA and the displacement signal SP in the storage unit 40E, the position sensor output is performed according to the procedure of step S105 for calculating the temperature described above. The fluctuation γ can be calculated and calculated each time and stored in the storage means 40E.

  Next, a motor control method of the motor control system 1S according to the present embodiment when the rotation angle signal SA cannot be acquired will be described. FIG. 8 is a flowchart illustrating the motor control method according to the first embodiment. FIG. 9 is an explanatory diagram illustrating a motor control method according to the first embodiment.

  The control device 40 of the motor control system 1S according to the present embodiment rotates the brushless motor 10 based on the motor control signal SM (step S11). As the brushless motor 10 is driven to rotate, the control device 40 acquires the rotation angle signal SA from the rotation angle sensor 21 and the displacement signal SP from the position sensor 22 (step S12). After acquiring the rotation angle signal SA and the displacement signal SP, the control device 40 stores them in the storage unit 40E.

Next, the CPU 40c of the control device 40 controls the rotation angle signal SA from the rotation angle sensor 21 or the displacement signal SP from the position sensor 22 and the operating unit 35 stored in the storage unit 40E by the position restriction mechanism 56 to thereby displace the displacement. An operation for comparing with the information on the determined position is performed, and it is determined whether the operating unit 35 is at the determined position (step S13). Since the rotation angle signal SA from the rotation angle sensor 21 hardly changes due to temperature fluctuations, it is more preferable that the control device 40 determines whether the working portion 35 is at the fixed position. The control device 40 controls the fixed position (SA ₂ , SP ₁ ), (SA ₃ , SP ₂ ), (SA ₄ , SP ₂ ), (SA ₁ , The position sensor output fluctuation γ at SP ₁ ) is sequentially stored in the storage means 40E. If the operating unit 35 is not at the fixed position based on the rotation angle signal SA (step S13, No), step S11 is continued. When the operating unit 35 is at the fixed position (step S13, Yes), the displacement signal SP of the position sensor 22 is acquired (step S14), and the value of the position sensor output fluctuation γ depending on the temperature is acquired. For example, the fixed position (SA ₂ , SP ₁ ), (SA ₃ , SP ₂ ), (SA ₄ , SP ₂ ), (SA ₁ , SP ₁ ) of the operating unit 35 at the reference temperature and the actual operating unit 35 The difference from the fixed positions (SA ₂ , SP ₁₁ ), (SA ₃ , SP ₁₂ ), (SA ₄ , SP ₁₂ ), (SA ₁ , SP ₁₁ ) is a position sensor output fluctuation γ depending on temperature. The control device 40 stores the position sensor output fluctuation γ in the storage means 40E. Note that the displacement signal SP of the position sensor 22 may be obtained by reading the displacement signal SP already acquired in step S12 from the storage unit 40E.

  If the position sensor output variation γ can be acquired, the control device 40 converts the temperature variation Δt, which is temperature information, using the temperature coefficient of the position sensor 22 stored in the storage unit 40E (step S15).

  Next, the control device 40 performs a procedure for calculating the motor control signal SM according to the temperature variation Δt that is temperature information (step S16). For example, the stroke amount fluctuates due to the influence of a temperature change caused by the state of the lubricant material of the driven mechanism 30, the arrangement state of the driven mechanism 30, and the like. For example, the control device 40 previously stores control correction data for correcting variation in stroke amount in accordance with temperature information in the storage unit 40E, and performs motor control based on the temperature variation Δt that is temperature information obtained in step S15. The signal SM is calculated. That is, the control device 40 corrects the temperature of the control parameter based on the temperature fluctuation Δt, and calculates the motor control signal SM. Then, the control device 40 rotates the brushless motor 10 based on the motor control signal SM. As the brushless motor 10 is driven to rotate, the controller 40 continues to acquire the rotation angle signal SA from the rotation angle sensor 21 and the displacement signal SP from the position sensor 22 (step S17). After acquiring the rotation angle signal SA and the displacement signal SP, the control device 40 stores them in the storage unit 40E. If necessary, the control device 40 may determine whether the above-described temperature information is abnormal (step S107).

  The control device 40 determines whether or not the rotation angle sensor 21 is normal (step S18). Since the rotation angle signal SA can be acquired, when it is determined that the rotation angle sensor 21 is normal (step S18, Yes), the control device 40 continues to step S16. When it is determined that the rotation angle sensor 21 is not normal because the rotation angle signal SA cannot be acquired (step S18, No), the control device 40 detects the rotation angle signal SA stored in the displacement signal SP and the storage unit 40E and An estimated rotation angle signal is calculated by estimating the rotation angle based on the relative relationship information of the displacement signal SP and the position sensor output fluctuation γ (step S19).

  The control device 40 uses the correction value ε, the relative relationship information shown in FIG. 6 of the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 in the normal state, and the relative relationship information and temperature shown in FIG. The relationship with the value of the dependent position sensor output fluctuation γ is stored in the internal storage device 40f or RAM 40e serving as the storage means 40E. The control device 40 includes, in the work area of the RAM 40e, the correction value ε, the relative relationship information of the rotation angle signal SA and the displacement signal SP, and the position sensor output fluctuation γ just stored when the rotation angle sensor 21 is normal. A storage means query is read out. If the correction value ε is not stored in the storage unit 40E, the control device 40 may calculate the correction value ε every time and store it in the work area of the RAM 40e. The control device 40 calculates the displacement signal SP that can be obtained by applying the rotation direction signal of the brushless motor 10 and the correction value ε to the relative relationship information of the rotation angle signal SA and the displacement signal SP and the position sensor output fluctuation γ. Thus, the estimated rotation angle signal obtained by estimating the rotation angle corresponding to the displacement signal SP can be calculated. The control device 40 stores the above-described temperature fluctuation Δt in the internal storage device 40f or the RAM 40e serving as the storage unit 40E, and uses the temperature coefficient of the position sensor 22 to calculate the position sensor output fluctuation γ from the temperature fluctuation Δt. You may calculate.

For example, as shown in FIG. 9, when the motor control system 1 </ b> S rotates the brushless motor 10 in the clockwise direction (so-called CW direction) when viewed from the direction opposite to the connection with the driven mechanism 30, the displacement signal SP from the position sensor 22. Only _CW has been acquired. When the displacement signal SP _CW is applied to the relative relationship information of the rotation angle signal SA and the displacement signal SP, it becomes the rotation angle corresponding point m1, and the position sensor output variation γ is taken into consideration and the position sensor output variation γ is shifted. The corresponding point m1 ′ is calculated. The rotation angle corresponding point m2 can be calculated by subtracting the correction value ε from the rotation angle corresponding point m1 ′. As a result, the control device 40 calculates the estimated rotation angle signal SA _CW in which the rotation angle is estimated based on the relative relationship information between the displacement signal SP _CW and the rotation angle signal SA and the displacement signal SP stored in the storage unit 40E. It can be carried out.

For example, when the motor control system 1S rotates the brushless motor 10 counterclockwise (so-called CCW direction) when viewed from the direction opposite to the connection with the driven mechanism 30, only the displacement signal SP _CCW from the position sensor 22 can be acquired. . When the displacement signal SP _CCW is applied to the relative relationship information of the rotation angle signal SA and the displacement signal SP, it becomes the rotation angle corresponding point m3, but the position sensor output fluctuation γ is taken into consideration and the position sensor output fluctuation γ is shifted to obtain the rotation angle. The corresponding point m3 ′ is calculated. The rotation angle corresponding point m4 can be calculated by adding the correction value ε from the rotation angle corresponding point m3 ′. As a result, the control device 40 calculates the estimated rotation angle signal SA _CCW in which the rotation angle is estimated based on the relative relationship information between the displacement signal SP _CCW and the rotation angle signal SA and the displacement signal SP stored in the storage unit 40E. It can be carried out.

  The control device 40 determines whether the operating unit 35 is at a predetermined stop position (step S20). When determining that the operating unit 35 is not at the predetermined stop position (No at Step S20), the control device 40 calculates the motor control signal SM using the calculated estimated rotation angle signal and the displacement signal SP (Step S16). ). Based on the motor control signal SM, the brushless motor 10 continues to rotate. When determining that the operating unit 35 is at the predetermined stop position (step S20, Yes), the control device 40 ends the motor control.

  As described above, the motor control method of the present embodiment sends the motor control signal SM for controlling the brushless motor 10 and acquires the displacement signal SP accompanying the rotation of the brushless motor 10 from the position sensor 22 ( Step S12) is performed. The motor control method performs a fixed position determination step (step S13) for determining a fixed position where the displacement is fixed from the displacement signal SP, and stores the reference temperature after the displacement is fixed in the fixed position determination step (step S13). The temperature calculation step (step S15) is performed to calculate the position sensor output fluctuation γ, which is temperature information estimated by comparing the relative relationship information between the rotation angle signal SA and the displacement signal SP and the acquired displacement signal SP. When the rotation angle signal SA cannot be acquired, the motor control method estimates the rotation estimated from the acquired displacement signal based on the position sensor output fluctuation γ calculated in the temperature calculation step (step S15) and the relative relationship information. An operation step (step S19) for calculating an estimated rotation angle signal that is an angle is performed. The motor control method performs a control step (step S16) of calculating a motor control signal SM from the calculated estimated rotation angle signal. In the calculation step (step S19), it is more preferable to calculate the estimated rotation angle signal from the acquired displacement signal SP based on the correction value ε of the relative relationship information and the position sensor output fluctuation γ.

The actuator 1 of the present embodiment includes a brushless motor 10, a rotation angle sensor 21 that detects the rotation of the brushless motor 10, a driven mechanism 30 that converts the rotation of the brushless motor 10 into a predetermined displacement, and a driven mechanism. The position sensor 22 that detects the displacement of 30 and the control device 40 that controls the brushless motor 10 are included. The control device 40 includes storage means 40E for storing the relative relationship information of the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 and the position sensor output fluctuation γ during normal operation, and the displacement signal SP is stored in the control device 40. The obtained rotational angle signals SA _CW and SA _CCW obtained by obtaining and estimating the rotational angle based on the relative relationship information and the position sensor output fluctuation γ are calculated, and the brushless motor 10 is controlled based on the estimated rotational angle signal.

  As a result, even if there is a backlash, back crash, deflection, etc., the rotation angle signal SA of the rotation angle sensor 21 that cannot be acquired from the displacement signal SP of the position sensor 22 that can be acquired is estimated, and the motor control can be continued. As a result, the actuator 1 can stably control the brushless motor 10 even if the rotation angle signal SA of the rotation angle sensor 21 cannot be acquired.

  Further, it is possible to absorb a deviation from an assumed control model that occurs for each applied device, such as backlash, back crash, and deflection, and use it for driving a general-purpose actuator. Further, if the relative relationship information of the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 is periodically updated and stored in the storage means 40E, the influence due to secular change can be reduced.

The actuator 1 of the present embodiment stores the correction value ε of the relative relationship information and the position sensor output fluctuation γ in the storage unit 40E of the control device 40, and the control device 40 outputs the rotation angle signal SA of the rotation angle sensor 21. Is not obtained, it is preferable to calculate the obtainable displacement signal SP and estimated rotation angle signals SA _CW and SA _CCW of the position sensor 22 based on the correction value ε and the position sensor output fluctuation γ.

As a result, when the rotation angle signal SA of the rotation angle sensor 21 cannot be acquired, the estimated rotation angle signal is calculated from the displacement signal SP using the correction value ε and the position sensor output fluctuation γ taking into account the effects of backlash, back crash, deflection, and the like. SA _CW and SA _CCW can be calculated easily.

(Embodiment 2)
FIG. 10 is a flowchart illustrating a motor control method according to the second embodiment. FIG. 11 is an explanatory diagram illustrating a motor control method according to the second embodiment. In this embodiment, the actuator 1 is based on the relative relationship information of the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 stored in the storage means 40E, the motor rotation direction, and the position sensor output fluctuation γ. It is characterized by motor control. In addition, the same code | symbol is attached | subjected to the same member as what was demonstrated in embodiment mentioned above, and the overlapping description is abbreviate | omitted.

  As shown in FIG. 10, the control device 40 of the motor control system 1S according to the present embodiment performs the procedure from step S11 to step S18 shown in FIG.

  The control device 40 determines whether or not the rotation angle sensor 21 is normal (step S18). Since the rotation angle signal SA can be acquired, when it is determined that the rotation angle sensor 21 is normal (step S18, Yes), the control device 40 continues to step S16. When it is determined that the rotation angle sensor 21 is not normal because the rotation angle signal SA cannot be acquired (step S18, No), the control device 40 determines the direction in which the brushless motor 10 has been rotated immediately before and determines the rotation direction. The rotation direction stored in the storage unit 40E is determined (step S31).

  The control device 40 includes the estimated rotation angle signal obtained by estimating the rotation angle based on the displacement signal SP, the relative relationship information of the rotation angle signal SA and the displacement signal SP stored in the storage unit 40E, and the position sensor output fluctuation γ. Calculation is performed (step S32). The control device 40 stores in the work area of the RAM 40e information on the rotation direction of the brushless motor 10, information on the relative relationship between the rotation angle signal SA and the displacement signal SP, and the previous position stored when the rotation angle sensor 21 is normal. The storage means inquiry for reading the sensor output fluctuation γ is performed. The control device 40 calculates the displacement signal SP that can be obtained by applying the displacement signal SP to the relative relationship information of the rotation angle signal SA and the displacement signal SP together with the information on the rotation direction of the brushless motor 10 and the position sensor output fluctuation γ. An estimated rotation angle signal obtained by estimating the rotation angle corresponding to the displacement signal SP can be calculated. The control device 40 stores the above-described temperature fluctuation Δt in the internal storage device 40f or the RAM 40e serving as the storage unit 40E, and uses the temperature coefficient of the position sensor 22 to calculate the position sensor output fluctuation γ from the temperature fluctuation Δt. You may calculate.

For example, as shown in FIG. 11, when the motor control system 1S rotates the brushless motor 10 in the clockwise direction (so-called CW direction) when viewed from the direction opposite to the connection with the driven mechanism 30, the displacement signal SP from the position sensor 22. Only _CW has been acquired. Here, the line segment of (SA ₂ , SP ₁ )-(SA ₃ , SP ₂ )-(SA ₄ , SP ₂ )-(SA ₁ , SP ₁ ) is (SA ₂ , SP ₁₁ )-(SA ₃ , SP ₁₂ ) − (SA ₄ , SP ₁₂ ) − (SA ₁ , SP ₁₁ ), the position sensor output fluctuation is shifted by γ. As shown in FIG. 11, when the actual displacement signal SP _CW is applied to the relative relationship information between the rotation angle signal SA and the displacement signal SP, the rotation angle signal SA of the rotation angle sensor 21 corresponding to the displacement signal SP _CW is (SA ₂ , SP ₁ ) and (SA ₃ , SP ₂ ) are the corresponding rotation angle corresponding points 11 on the straight line L ₂ . The rotation angle corresponding point l1 needs to be corrected because a hysteresis phenomenon occurs due to backlash, back crash, and deflection, and correction for the position sensor output fluctuation γ is also necessary. In this case, when calculating the rotation angle signal SA of the rotation angle sensor 21 corresponding to the displacement signal SP _CW , the control device 40 refers to the reverse rotation data and corrects the position sensor output fluctuation γ. More specifically, the controller 40 _calculates the (SA 4, _{SP 12)} and _(SA 1, _{SP 11)} rotation angle corresponding points and corresponding to the displacement signal _{SP CW} on the straight line _{L 11} connecting the l1 '. Further, the control unit 40, and the position sensor output variation γ shifted in the rotation angle corresponding point l1 ', it computes the rotation angle corresponding points l2 corresponding on the straight line L _1. Then, the control device 40 calculates the estimated rotation angle signal SA _CW of the rotation angle corresponding point l2. Thereby, the estimated rotation angle signal SA _CW is corrected by the position sensor output fluctuation γ. Further, since the estimated rotation angle signal SA _CW includes an error opposite to the original rotation angle signal, the control device 40 calculates the motor control signal SM based on the estimated rotation angle signal SA _CW , and the brushless motor. If 10 is controlled, the drive is performed with the error cancelled.

For example, when the motor control system 1S rotates the brushless motor 10 counterclockwise (so-called CCW direction) when viewed from the direction opposite to the connection with the driven mechanism 30, only the displacement signal SP _CCW from the position sensor 22 can be acquired. . Here, the line segment of (SA ₂ , SP ₁ )-(SA ₃ , SP ₂ )-(SA ₄ , SP ₂ )-(SA ₁ , SP ₁ ) is (SA ₂ , SP ₁₁ )-(SA ₃ , SP ₁₂ ) − (SA ₄ , SP ₁₂ ) − (SA ₁ , SP ₁₁ ), the position sensor output fluctuation is shifted by γ. As shown in FIG. 11, when the actual displacement signal SP _CCW is applied to the relative relationship information between the rotation angle signal SA and the displacement signal SP, the rotation angle signal SA of the rotation angle sensor 21 corresponding to the displacement signal SP _CCW is (SA ₁ , SP ₁ ) and (SA ₄ , SP ₂ ) are the corresponding rotation angle corresponding points 13 on the straight line L ₁ . The rotation angle corresponding point l3 needs to be corrected because a hysteresis phenomenon has occurred due to backlash, back crash, and deflection, and correction for the position sensor output fluctuation γ is also necessary. In this case, when calculating the rotation angle signal SA of the rotation angle sensor 21 corresponding to the displacement signal SP _CCW , the control device 40 refers to the reverse rotation data and corrects the position sensor output fluctuation γ. More specifically, the controller 40 _calculates the (SA 3, _{SP 12)} and _(SA 2, _{SP 11)} and the rotation angle corresponding point l3 'corresponding to the displacement signal _{SP CCW} on the straight line _{L 22} connecting the. Further, the control unit 40, rotation angle and the position sensor output variation γ shifted corresponding point l3 ', computes the rotation angle corresponding points l4 corresponding on the straight line L _2. A control unit 40 on calculates an estimated rotation angle signal _{SA CCW} rotation angle corresponding points l4 corresponding on the straight line _{L 2.} Thereby, the estimated rotation angle signal SA _CCW is corrected by the position sensor output fluctuation γ. Further, since the estimated rotation angle signal SA _CCW includes an error opposite to the error of the original rotation angle signal, the control device 40 calculates the motor control signal SM based on the estimated rotation angle signal SA _CCW , and the brushless motor If 10 is controlled, the drive is performed with the error cancelled.

  The control device 40 determines whether the operating unit 35 is a predetermined stop position (step S33). When determining that the operating unit 35 is not at the predetermined stop position (No at Step S33), the control device 40 calculates the motor control signal SM using the calculated estimated rotation angle signal and the displacement signal SP (Step S16). ). Based on the motor control signal SM, the brushless motor 10 continues to rotate. When determining that the operating unit 35 is at the predetermined stop position (step S33, Yes), the control device 40 ends the motor control.

  As described above, the motor control method of the present embodiment sends the motor control signal SM for controlling the brushless motor 10 and acquires the displacement signal SP accompanying the rotation of the brushless motor 10 from the position sensor 22 ( Step S12) is performed. The motor control method performs a fixed position determination step (step S13) for determining a fixed position where the displacement is fixed from the displacement signal SP, and stores the reference temperature after the displacement is fixed in the fixed position determination step (step S13). The temperature calculation step (step S15) is performed to calculate the position sensor output fluctuation γ, which is temperature information estimated by comparing the relative relationship information between the rotation angle signal SA and the displacement signal SP and the acquired displacement signal SP. Then, when the rotation angle signal SA cannot be acquired, the motor control method performs a rotation direction determination step of determining the direction in which the brushless motor 10 has been rotated immediately before and determining the rotation direction by storing the rotation direction in the storage unit 40E. (Step S31). Then, the motor control method uses the acquired displacement based on the motor rotation direction determined in the rotation direction determination step (step S31), the position sensor output fluctuation γ calculated in the temperature calculation step (step S15), and the relative relationship information. A calculation step (step S32) for calculating an estimated rotation angle signal that is a rotation angle estimated from the signal SP is performed. The motor control method performs a control step (step S16) for calculating the motor control signal SM from the calculated estimated rotation angle signal.

The actuator 1 of the present embodiment includes a brushless motor 10, a rotation angle sensor 21 that detects the rotation of the brushless motor 10, a driven mechanism 30 that converts the rotation of the brushless motor 10 into a predetermined displacement, and a driven mechanism. The position sensor 22 that detects the displacement of 30 and the control device 40 that controls the brushless motor 10 are included. The control device 40 includes storage means 40E for storing the relative relationship information between the rotation angle signal SA of the rotation angle sensor 21 and the displacement signal SP of the position sensor 22 and the position sensor output fluctuation γ during normal operation, and includes the rotation angle signal SA. Cannot be acquired, based on the rotation direction information indicating the rotation direction of the brushless motor 10, the relative relationship information described above, and the position sensor output fluctuation γ, the estimated rotation angle signals SA _CW and SA obtained by estimating the rotation angle from the displacement signal SP. It is preferable to calculate the _CCW .

Thereby, the procedure of step S3 can be omitted in each step of the flowchart of FIG. Further, it is not necessary for the storage unit 40E to store the correction value ε of the relative relationship information. Further, even if there is backlash, back crash, deflection, etc., the rotation angle signal SA of the rotation angle sensor 21 that cannot be acquired from the displacement signal SP of the position sensor 22 that can be acquired is estimated, and the motor control can be continued. As a result, the actuator 1 can stably control the brushless motor 10 even if the rotation angle signal SA of the rotation angle sensor 21 cannot be acquired. Further, when the rotation angle signal SA of the rotation angle sensor 21 cannot be obtained, the estimated rotation angle signals SA _CW and SA _CCW can be easily calculated from the displacement signal SP by canceling the influence of backlash, back crash, deflection, and the like.

(Modification)
FIG. 12 is a configuration diagram of an actuator according to a modification. The actuator 2 according to the modification is characterized in that the position sensor 22 detects the displacement of the mechanism portion 33 of the driven mechanism 30. In addition, the same code | symbol is attached | subjected to the same member as what was mentioned above, and the overlapping description is abbreviate | omitted.

  The actuator 2 according to the modification includes a brushless motor 10, a rotation angle sensor 21, a position sensor 22, a driven mechanism 30 having an operating part 35, a position restricting mechanism 56 </ b> A that restricts the position of the operating part 35, and a control Device 40. The driven mechanism 30 converts the rotational driving force of the rotor core of the brushless motor 10 into a linear displacement by the link mechanism of the mechanism portions 31, 32, 33 and the rotation fulcrum portions 41, 42, 43, 44. Can be moved to a predetermined position. Even if the operating unit 35 is not detected directly, the position of the operating unit 35 can be estimated by the position sensor 22 detecting the displacement of the mechanism unit 33 or the mechanism unit 32 interlocked with the operating unit 35. Similarly to the position restriction mechanism 56, the position restriction mechanism 56A is a mechanism that restricts the operating portion 35 of the driven mechanism 30 and determines the position so as not to be displaced.

  In addition to the above-described embodiment, the actuator 2 includes an operating unit 35 in which the driven mechanism 30 is linearly displaced, and mechanism units 31 and 32 that convert rotation of the brushless motor 10 into displacement and transmit the operating unit 35 to the operating unit 35. It is preferable that the position sensor 22 detects the position of the operating part 35 or the mechanism parts 32 and 33. Thereby, the actuator 2 has the position sensor 22 different from the rotation angle sensor 21 in the mechanism part 32 or 33 which is a place different from the rotation angle sensor 21. As a result, the reliability or robustness of the actuator 2 is improved.

(Embodiment 3)
FIGS. 13, 14, and 15 are configuration diagrams of an automatic transmission having an actuator according to the third embodiment. FIG. 16 is an explanatory diagram illustrating the relative relationship information of the rotation angle signal of the rotation angle sensor and the displacement signal of the position sensor, which is stored in the storage unit according to the third embodiment. The automatic transmission 60 of this embodiment is characterized in that it includes the same actuators 1α and 1β as the actuator 1. In addition, the same code | symbol is attached | subjected to the same member as what was demonstrated in embodiment mentioned above, and the overlapping description is abbreviate | omitted.

  An automatic transmission 60 shown in FIG. 13 is an automatic transmission called an automated manual transmission (AMT), and the operation of the manual transmission is combined with a plurality of actuators 1α and 1β that are the same as the actuator 1 described above. It is automatically controlled. The automatic transmission 60 includes an operation lever detecting means 61, an accelerator opening detecting means 62, a control device 40, an actuator 1α, and an actuator 1β. The operation lever detection means 61 and the accelerator opening detection means 62 are connected to the control device 40. The actuator 1α and the actuator 1β share the control device 40 and are connected in the same manner as the actuator 1 described above.

  The operation lever detection means 61 detects a lever operation signal when the driver operates the operation lever and transmits it to the control device 40. The accelerator opening detecting means 62 detects the degree of operation of the accelerator by the driver as an accelerator opening signal and transmits it to the control device 40. The control device 40 is a control device that also functions as an engine control unit (ECU). The control device 40 stores transmission selection information corresponding to the lever operation signal and the accelerator opening signal in the storage unit 40E. The transmission selection information is not limited to information corresponding to the lever operation signal and the accelerator opening signal, and may be information corresponding to an external signal such as vehicle speed information and temperature information. In this case, the control device 40 can acquire an external signal.

  The actuator 1α and the actuator 1β are actuators configured in the same manner as the actuator 1. The brushless motors 10α and 10β, the rotation angle sensors 21α and 21β, and the position sensors 22α and 22β are the same as the brushless motor 10, the rotation angle sensor 21, and the position sensor 22 in the first embodiment. Is omitted. The driven mechanisms 30α and 30β include mechanism portions 52α and 52β that transmit the rotational motion of the brushless motors 10α and 10β, mechanism portions 55α and 55β, and operating portions 35α and 35β. The mechanism parts 52α and 52β are, for example, ball screw mechanisms. The mechanism portions 55α and 55β are coupling members that connect the motor shafts of the brushless motors 10α and 10β and the mechanism portions 52α and 52β, respectively. The operating portion 35α has a ball nut to which the ball screw mechanism of the mechanism portion 52α is fitted, and is a linear motion mechanism that freely slides in the α direction according to the rotation angle Aα of the brushless motor 10α. The operating portion 35β has a ball nut to which the ball screw mechanism of the mechanism portion 52β is fitted, and is a linear motion mechanism that freely slides in the β direction according to the rotation angle Aβ of the brushless motor 10β. . The driven mechanisms 30α and 30β can convert the rotational driving force of the rotor cores of the brushless motors 10α and 10β into a linear displacement, and move the operating parts 35α and 35β to predetermined positions. The mechanism parts 52α and 52β are arranged in, for example, orthogonal directions, and the operating parts 35α and 35β move along the extending direction of the mechanism parts 52α and 52β.

  The operating units 35α and 35β are connected to the operating unit 35S, and the operating unit 35S is also displaced in accordance with the displacement of the operating units 35α and 35β. FIG. 14 shows the periphery of the operating unit 35S of FIG. 13 in a cross section in which the α direction is left and right. FIG. 15 shows the periphery of the operating unit 35S of FIG. 13 in a cross section in which the β direction is left and right. As shown in FIGS. 14 and 15, the operating portion 35S is fixed to the operating portion 35α and has a fitting structure so that the relative position can be varied. The operating part 35S has a protruding sliding lever 35L. The sliding lever 35L is fitted to a shift shaft inside the automatic transmission 60. When the position of the sliding lever 35L changes, the automatic transmission 60 undergoes transmission shift and select operations. In the automatic transmission 60, for example, the stroke amount of the driven mechanisms 30α and 30β varies due to the influence of temperature change caused by the state of the lubricating material, the engine overheating state, the arrangement state of the heat generating part such as the exhaust pipe, and the like. .

  For example, as shown in FIG. 16, the automatic transmission 60 is a 6-speed automatic transmission having a transmission structure and having forward gear positions G1 to G6 and a reverse gear position R. The transmission of the automatic transmission 60 has select positions N1 to N4 for selecting any one of the forward gear positions G1 to G6 and the reverse gear position R. The automatic transmission 60 according to the present embodiment includes the actuators 1α and 1β, and the selection actuator 1α can move the operating portion 35α to N1 to N4. In addition, the shift actuator 1β can freely move the operating portion 35β in any of the G5-N4-G6 direction, the G3-N3-G4 direction, the G1-N2-G2 direction, and the N1-R direction. Can be moved. Thus, the gear position in the transmission structure is selected by the interaction between the operating portion 35α and the operating portion 35β. A position restriction mechanism that restricts the position of the sliding lever 35L is provided at each of the forward gear positions G1 to G6 and the reverse gear position R. For example, FIGS. 14 and 15 illustrate a position regulating mechanism F6 provided at the forward gear position G6. The position restriction mechanism 6F has the same configuration as the position restriction mechanism 56 described above. For example, the position restriction mechanism F6 restricts the position of the sliding lever 35L in the α direction and the β direction as shown in FIGS.

As shown in FIG. 16, when the operating portion 35α, 35S is moved to N1 to N4, the position sensor 22α outputs a displacement signal SPα according to the selected positions N1 to N4, and the rotation angle 1 The sensor 21α outputs a rotation angle signal SAα. The rotation angle signal SAα is, for example, rotation angle signals α _N1 , α _N2 , α _N3 , α _N4 . The control device 40 stops the brushless motor 10α when it reaches any one of the predetermined select positions N1 to N4. Next, the shift actuator 1β freely moves the operating portions 35β and 35S to positions for selecting any one of the forward gear positions G1 to G6 and the reverse gear position R. The position sensor 22β outputs a displacement signal SPβ and the rotation angle sensor 21β outputs a rotation angle signal SAβ according to the selected forward gear positions G1 to G6 and the reverse gear position R. The rotation angle signal SAβ is, for example, rotation angle signals β _FR and β _RR .

  The control device 40 rotates the brushless motors 10α and 10β, and rotates the rotation angle signals SAα and SAβ and the displacements when the rotation angle sensors 21α and 21β and the position sensors 22α and 22β are normal according to the flowchart shown in FIG. A procedure for storing the relative relationship information Sα and Sβ of the signals SPα and SPβ in the storage means 40E is performed.

  When the lever operation signal and the accelerator opening signal are transmitted, the automatic transmission 60 controls the brushless motors 10α and 10β based on the transmission selection information stored in the storage unit 40E by the control device 40. The selection information is information on fixed positions in the forward gear positions G1 to G6 and the reverse gear position R. For example, the automatic transmission 60 sends out motor control signals SMα and SMβ for controlling the brushless motors 10α and 10β, acquires displacement signals SPα and SPβ accompanying the rotation of the brushless motors 10α and 10β from the position sensors 22α and 22β, Information on stop position displacement signals SPα and SPβ at the forward gear positions G1 to G6 and the reverse gear position R is stored. The automatic transmission 60 calculates a temperature fluctuation Δt that is temperature information estimated from the displacement signal SPα or the output fluctuation ΔV of the displacement signal SPβ that can be obtained, and calculates motor control signals SMα and SMβ from the calculated temperature information. Here, the control device 40 can execute the motor control method exemplified in the first and second embodiments. Since the position sensors 22α and 22β can also serve as temperature sensors, the total number of sensors is reduced. Further, even if the position sensor output fluctuation γ is affected by backlash, back crash, deflection, etc., the temperature information of the position sensor output fluctuation γ can be obtained from the position sensors 22α and 22β. The motor can be controlled in consideration of the fluctuation γ.

  As described above, the automatic transmission 60 according to the present embodiment has predetermined rotations of the brushless motors 10α and 10β, the rotation angle sensors 21α and 21β that detect the rotation of the brushless motors 10α and 10β, and the brushless motors 10α and 10β. Driven mechanisms 30α and 30β that convert the displacements into the following displacements, position sensors 22α and 22β that detect displacements of the driven mechanisms 30α and 30β, and a control device 40 that controls the brushless motors 10α and 10β. The control device 40 includes storage means 40E for storing the rotation angle signals SAα and SAβ of the rotation angle sensors 21α and 21β and the relative relationship information Sα and Sβ of the displacement signals SPα and SPβ of the position sensors 22α and 22β in a normal state. . Then, the displacement signals SPα and SPβ are acquired, the estimated rotation angle signal obtained by estimating the rotation angle based on the relative relationship information Sα and Sβ described above and the position sensor output fluctuation γ is calculated, and based on the estimated rotation angle signal. The brushless motors 10α and 10β are controlled.

  In addition, the automatic transmission 60 can detect the rotation angle signals SAα of the rotation angle sensors 21α and 21β that cannot be acquired from the displacement signals SPα and SPβ of the position sensors 22α and 22β that can be acquired even if the transmission mechanism has backlash, backcrash, deflection, and the like. , SAβ can be estimated and motor control can be continued. Since the position sensors 22α and 22β can also serve as temperature sensors, the total number of sensors is reduced. Further, even if the position sensor output fluctuation γ is affected by backlash, back crash, deflection, etc., the temperature information of the position sensor output fluctuation γ can be obtained from the position sensors 22α and 22β. The motor can be controlled in consideration of the fluctuation γ. As a result, the automatic transmission 60 can stably control the brushless motors 10α and 10β even if the rotation angle signals SAα and SAβ of the rotation angle sensors 21α and 21β cannot be acquired.

1, 2 Actuator 1S Motor control system 10, 10α, 10β Brushless motor 21, 21α, 21β Rotation angle sensor 22, 22α, 22β Position sensor 30, 30α, 30β Driven mechanism 35, 35α, 35β, 35S Operating unit 40 Control device 40E Storage means 41, 42, 43, 44 Rotation fulcrum 56, 56A, 6F Position restriction mechanism 60 Automatic transmission 61 Operation lever detection means 62 Accelerator opening detection means

Claims (16)

A motor,
A driven mechanism for converting the rotation of the motor into a predetermined displacement;
A position regulating mechanism for regulating the position of the driven mechanism;
A position sensor for detecting the displacement of the driven mechanism;
An actuator comprising: a control device that converts output fluctuation of the position sensor into temperature information in a state where the position of the driven mechanism is regulated by the position regulating mechanism. A rotation angle sensor for detecting the rotation angle of the motor;
The actuator according to claim 1, wherein the control device calculates an output difference of the position sensor by calculating a difference between outputs of the rotation angle sensor from an output of the position sensor.   The actuator according to claim 1, wherein the control device determines that the temperature information is abnormal when the temperature information exceeds a threshold value. A rotation angle sensor for detecting the rotation angle of the motor;
The control device stores the relative relationship information of the rotation angle signal of the rotation angle sensor and the displacement signal of the position sensor at normal time, acquires the displacement signal, and based on the relative relationship information and the temperature information The actuator according to any one of claims 1 to 3, wherein an estimated rotation angle signal obtained by estimating a rotation angle is calculated, and the motor is controlled based on the estimated rotation angle signal.   The driven mechanism includes an operating part that is displaced, and a mechanism part that converts rotation of the motor into displacement and transmits the operating part to the operating part, and the position sensor indicates the position of the operating part or the mechanism part. The actuator according to any one of claims 1 to 4, wherein the actuator is detected.   An automatic transmission comprising the actuator according to any one of claims 1 to 5. Send motor control signal to control the motor,
Obtain a displacement signal accompanying the rotation of the motor from the position sensor,
Storing information of the displacement signal of the stop position;
A motor control system that calculates temperature information estimated from the acquired displacement signal and calculates the motor control signal from the calculated temperature information. Obtaining a rotation angle signal of the motor from a rotation angle sensor;
The motor control system according to claim 7, wherein a difference in output of the rotation angle sensor is calculated from an output of the position sensor to obtain an output fluctuation of the position sensor.   The motor control system according to claim 7 or 8, wherein when the temperature information exceeds a stored threshold value, an abnormality is determined. Obtaining a rotation angle signal of the motor from a rotation angle sensor;
Storing the relative relationship information of the rotation angle signal and the displacement signal at the normal time,
When the rotation angle signal cannot be acquired, an estimated rotation angle signal that is a rotation angle estimated from the acquired displacement signal is calculated based on the relative relationship information and the temperature information, and the calculated rotation angle signal is used to calculate the rotation angle signal. The motor control system according to claim 9 which calculates a motor control signal.   The correction value of the relative relationship information is stored, and when the rotation angle signal cannot be acquired, the estimated rotation angle signal is calculated from the acquired displacement signal based on the correction value and the temperature information. The motor control system described in 1.   12. When the rotation angle signal cannot be acquired, the estimated rotation angle signal is calculated from the acquired displacement signal based on the relative relationship information, a motor rotation direction of the motor control signal, and the temperature information. The motor control system described in 1. A signal acquisition step of sending a motor control signal for controlling the motor and acquiring a displacement signal accompanying the rotation of the motor from a position sensor;
A confirmed position judging step for judging a confirmed position where the displacement is confirmed from the displacement signal;
A temperature calculating step of calculating temperature information estimated from the acquired displacement signal after displacement is determined in the determined position determining step;
A control step of calculating the motor control signal from the calculated temperature information;
A motor control method comprising: Send motor control signal to control the motor,
A signal acquisition step of acquiring a rotation angle signal of the motor from a rotation angle sensor and acquiring a displacement signal accompanying the rotation of the motor from a position sensor;
A confirmed position judging step for judging a confirmed position where the displacement is confirmed from the displacement signal;
The temperature at which the relative temperature information of the stored reference temperature and the displacement signal is compared with the acquired displacement signal and the estimated temperature information is calculated after the displacement is determined in the determined position determining step. A calculation step;
When the rotation angle signal cannot be acquired, a calculation step of calculating an estimated rotation angle signal that is a rotation angle estimated from the acquired displacement signal based on the temperature information calculated in the temperature calculation step and the relative relationship information. When,
A control step of calculating the motor control signal from the calculated estimated rotation angle signal;
A motor control method comprising:   The motor control method according to claim 14, wherein in the calculation step, the estimated rotation angle signal is calculated from the acquired displacement signal based on the correction value of the relative relationship information and the temperature information.   The said calculation step WHEREIN: Based on the said relative relationship information, the motor rotation direction of the said motor control signal, and the said temperature information, the said estimated rotation angle signal is calculated from the acquired said displacement signal. Motor control method.

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