JP2012245867A - Device and method for controlling motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To distinguish the failure of the sensor etc. and the obstacle with the foreign body of which division is used to be difficult in control processing of a motor that is used so far in combination with the mechanism components.SOLUTION: A CPU 51 identifies "failure" and "obstacle" by paying attention to the deflection of the mechanism component and the behavior of a system after the stop, and seeing the change in the sensor signal value after the motor stop. The CPU 51 has an angle sensor signal recognition part 61 that determines the presence or absence of the angle detection signal from an angle sensor 48 and a motor operation restriction part 62 that stops the operation of the motor body 31 when the angle detection signal is not obtained. Moreover, the CPU 51 includes a signal change detection part 63 that receives the angle detection signal and determines the presence or absence of a change in the angle detection signal after the motor stop, and an obstacle and failure determination part 64 to distinguish "obstacle" and "failure" by the presence or absence of the angle detection signal after the motor stops.

Description

  The present invention relates to a control technology for an electric motor used in combination with a mechanical component such as an automobile wiper device, and in particular, distinguishes between failures such as output shaft fixation and sensor malfunction and failures caused by foreign matters such as snow. The present invention relates to a possible motor control device and control method.

  Conventionally, in a wiper system for an automobile, a sliding door system, a power window system, and the like, the rotational output of a motor is converted into a desired operation by a mechanical part such as a link, and a wiper arm, a door, a window glass, etc. are operated. . In such a system, the rotation angle of the motor output shaft is detected by an angle sensor, and the operation of the motor is controlled by grasping the position of the wiper arm or the like based on the detected value.

  On the other hand, in these systems, if some trouble occurs in the operation of the wiper arm or the like due to foreign matter or the like, and the signal value of the angle sensor does not change during motor output, it is determined that the motor rotation speed has become zero, judge. In this case, for example, in the wiper system, the motor output is temporarily stopped when it is determined that the motor is locked, and then the output is restarted when a certain time has passed. When the motor lock is detected continuously a predetermined number of times, it is determined as “obstacle detection”, the power supply to the motor is stopped, and the wiping operation is stopped.

International Publication No. WO2007 / 52503

  However, in the above-described system, the motor rotation speed is determined to be 0 even when the angle sensor fails and the signal from the sensor does not change. For this reason, even in the case of a sensor failure, “obstacle detection” occurs, and there is a case where it is not possible to distinguish between a failure due to a foreign object and a sensor failure. When the angle sensor is out of order, the rotation angle of the motor output shaft cannot be grasped. For example, in the wiper system, the position of the wiper arm cannot be recognized on the control device side. Therefore, although the wiper arm is moving, the position of the wiper arm cannot be grasped by the sensor signal, and the wiper blade may interfere with the pillar or the like.

  An object of the present invention is to distinguish between a failure of a sensor or the like that has been difficult to isolate in the past and a failure due to a foreign object in a control process of an electric motor used in combination with a mechanical component.

  The motor control device of the present invention includes a motor having an output shaft that rotates forward and reverse, an angle sensor that detects a rotation angle of the output shaft and outputs an angle detection signal, and a mechanical component connected to the output shaft. An angle sensor signal recognition unit that receives the angle detection signal and determines the presence / absence of a signal from the angle sensor; and a driven member driven by the motor. When the angle detection signal is not obtained, a motor operation restriction unit that stops the motor, and the angle detection signal after the angle detection signal is received and stopped by the motor operation restriction unit. A failure / failure judgment that identifies an abnormality occurring in the motor as a failure and a failure based on the presence / absence of a signal change detection unit that determines presence / absence and the angle detection signal after the motor stops. And having a part, a.

  In the present invention, when the angle detection signal cannot be obtained, the motor output is stopped, and the subsequent change in the angle detection signal can be seen to distinguish between “failure” and “failure”. As a result, “failure” and “failure” that could not be identified conventionally can be reliably separated, and subsequent processing can be appropriately performed.

  In the motor control device, when the failure / failure determination unit receives the angle detection signal after the motor is stopped, the system is in a failure state in which the operation of the driven member is hindered by a foreign object. If the angle detection signal is not received after the motor is stopped, it may be determined that the system is in a failure state due to the output shaft being stuck or the angle sensor malfunctioning. Further, as the system, a wiper system having a wiper arm to which rotation of the output shaft is transmitted through the mechanical component is adopted, and a wiper blade connected to the wiper arm and wiping on the glass surface is used as the driven member. It may be provided.

  The motor control method of the present invention includes a motor having an output shaft that rotates forward and reverse, an angle sensor that detects a rotation angle of the output shaft and outputs an angle detection signal, and a mechanical component connected to the output shaft. A driven member driven by the motor, and a method for controlling the motor, wherein the presence or absence of the angle detection signal is determined, and if the angle detection signal is not obtained, the motor is stopped, After stopping the motor, the presence or absence of a change in the angle detection signal is determined, and an abnormality occurring in the motor is identified as a failure and a failure based on the presence or absence of the angle detection signal after the motor stops. To do.

  In the present invention, when the angle detection signal cannot be obtained, the motor output is stopped, and the subsequent change in the angle detection signal can be seen to distinguish between “failure” and “failure”. As a result, “failure” and “failure” that could not be identified conventionally can be reliably separated, and subsequent processing can be appropriately performed.

  In the motor control method, when the angle detection signal is received after the motor is stopped, the system determines that the operation of the driven member is in a failure state in which the operation of the driven member is hindered by a foreign object, and after the motor stops, When the angle detection signal is not received, it may be determined that the system is in a failure state due to the fixing of the output shaft or the malfunction of the angle sensor. Further, as the system, a wiper system having a wiper arm to which rotation of the output shaft is transmitted through the mechanical component is adopted, and a wiper blade connected to the wiper arm and wiping on the glass surface is used as the driven member. It may be provided.

  According to the motor control device of the present invention, a motor having an output shaft that rotates forward and reverse, an angle sensor that detects a rotation angle of the output shaft and outputs an angle detection signal, and a mechanical component connected to the output shaft. An angle sensor signal recognition unit that determines the presence or absence of an angle detection signal in a system having a driven member driven by a motor, a motor operation restriction unit that stops the motor if the angle detection signal is not obtained, and a motor A signal change detection unit that determines the presence or absence of a change in the angle detection signal after stopping the motor, and a failure / failure determination unit that identifies an abnormality that has occurred in the motor due to the presence or absence of the angle detection signal after the motor is stopped as a failure Since it is provided, “failure” and “failure” occurring in the motor can be distinguished. As a result, “failure” and “failure” that could not be identified conventionally can be reliably separated, and subsequent processing can be appropriately performed.

  According to the motor control method of the present invention, a motor having an output shaft that rotates forward and reverse, an angle sensor that detects a rotation angle of the output shaft and outputs an angle detection signal, and a mechanical component connected to the output shaft. In a system having a driven member driven by a motor, the presence or absence of an angle detection signal is determined, and if the angle detection signal is not obtained, the motor is stopped and whether or not the angle detection signal changes after the motor stops Since the abnormality that has occurred in the motor is identified as a failure and a failure based on the presence or absence of the angle detection signal after the motor is stopped, the “failure” and the “failure” that occur in the motor can be identified. As a result, “failure” and “failure” that could not be identified conventionally can be reliably separated, and subsequent processing can be appropriately performed.

It is explanatory drawing which shows the wiper system provided with the wiper motor to which the control processing which is one Example of this invention is applied. It is sectional drawing which shows the structure of the wiper motor by the side of DR. It is explanatory drawing which shows the structure of the motor control system in this invention. It is a block diagram which shows the structure of the failure and failure determination system in CPU. It is a flowchart of the control processing which is one Example of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory diagram illustrating a wiper system including a wiper motor to which a control process according to an embodiment of the present invention is applied. The wiper system 11 of FIG. 1 is provided in order to wipe off rainwater and the like adhering to a window glass (front glass) 12 of an automobile to ensure a driver's view.

  The wiper system 11 is provided with a wiper blade 13a on the driver's seat side (DR side) and a wiper blade 13b on the passenger's seat side (AS side) that are elastically in contact with the wind glass 12 as driven members. The wiper blade 13a is attached to the wiper arm 14a, and the wiper blade 13b is attached to the wiper arm 14b. The wiper arms 14a and 14b are attached to wiper shafts 15a and 15b disposed on the left and right sides of the vehicle body, and swing within a predetermined angular range as the wiper shafts 15a and 15b rotate. The wiper system 11 is a counter-wiping type device, and the wiper blades 13a and 13b swing (reciprocate) in a wiping range between the upper inverted position on both the left and right sides of the wind glass 12 and the lower inverted position of the central portion. Move).

  In order to swing the wiper arm 14a on the DR side, a wiper motor 21a is attached to the vehicle body. In the wiper motor 21a, the output shaft 22a rotates forward and backward within a predetermined range, and the output shaft 22a is connected to the wiper shaft 15a via a transmission mechanism. The transmission mechanism includes a crank arm 23a fixed to the output shaft 22a, a connecting rod 24a connected to the crank arm 23a, and a mechanical component such as a drive lever 25a connected to the connecting rod 24a and fixed to the wiper shaft 15a. Yes. When the wiper motor 21a operates and the output shaft 22a rotates, the rotational motion is transmitted to the wiper shaft 15a via the transmission mechanism, and the wiper arm 14a and the wiper blade 13a swing.

  The AS side has the same configuration as the DR side, and a wiper motor 21b for swinging and driving the wiper arm 14b is attached to the vehicle body. Also in the wiper motor 21b, the output shaft 22b rotates forward and backward within a predetermined range, and the output shaft 22b of the wiper motor 21b is connected to the wiper shaft 15b via the transmission mechanism, similarly to the DR side. The transmission mechanism is configured by mechanical parts such as a crank arm 23b fixed to the output shaft 22b, a connecting rod 24b connected to the crank arm 23b, and a drive lever 25b connected to the connecting rod 24b and fixed to the wiper shaft 15b. Yes. When the wiper motor 21b operates and the output shaft 22b rotates, the rotational motion is transmitted to the wiper shaft 15b through the transmission mechanism, and the wiper arm 14b and the wiper blade 13b swing.

  Next, the structure of each wiper motor 21a, 21b will be described. FIG. 2 is a cross-sectional view showing the configuration of the DR-side wiper motor 21a. Since the DR-side wiper motor 21a and the AS-side wiper motor 21b have basically the same structure, the DR-side wiper motor 21a will be mainly described below.

  As shown in FIG. 2, the wiper motor 21 a is an electric motor with a speed reduction mechanism, and includes a motor body 31 and a speed reducer 32. The motor body 31 is a so-called brushed DC motor. The motor main body 31 has a motor yoke 33 formed in a bottomed cylindrical shape. Inside the motor yoke 33, an armature 34 having an armature shaft 34a is rotatably accommodated. A commutator 35 is fixed to the amateur shaft 34a. The commutator 35 is in sliding contact with a pair of brushes 37 (only one is shown in the figure) held by the brush holder 36. When a drive current is supplied to the amateur 34 via the brush 37, the armature shaft 34a rotates in the forward or reverse direction according to the direction of the drive current.

  The speed reducer 32 has a gear case 38. The gear case 38 includes a metal case main body 38a formed in a bathtub shape and a resin cover 38b for closing the case main body 38a. The case main body 38 a is fixed to the motor yoke 33 of the motor main body 31. A reduction mechanism 41 is accommodated in the gear case 38. The rotation of the amateur shaft 34a is decelerated to a predetermined rotational speed by the speed reduction mechanism 41 and is output from the output shaft 22a.

  The speed reduction mechanism 41 is a worm gear mechanism. The worm 41a of the speed reduction mechanism 41 is formed integrally with the armature shaft 34a on the outer peripheral surface of the armature shaft 34a protruding into the case main body 38a. The worm wheel 41b that meshes with the worm 41a is fixed to the base end portion of the output shaft 22a that protrudes into the case main body 38a. The case body 38a is provided with a boss portion 38c, and the output shaft 22a is rotatably supported by the boss portion 38c. The distal end portion of the output shaft 22a protrudes to the outside of the gear case 38 and is connected to the aforementioned crank arm 23a.

  In order to control the operation of the motor body 31, the wiper motor 21a is provided with a control board. The control board 42 is accommodated in the gear case 38 in a state of being fixed inside the cover 38b. The control board 42 includes a board 42a on which wiring is provided, and a plurality of electrical components 42b (only one is shown in the drawing) is mounted on the board 42a. As the electrical component 42b, control elements such as a CPU 51, ROM 52, and RAM 53, which are motor control devices, and power elements such as an FET 54 are mounted.

  FIG. 3 is an explanatory diagram showing the configuration of the motor control system in the present invention. As shown in FIG. 3, the CPU 51 is connected to the battery 44 via the ignition switch 43, and the wiper switch 55 can switch the operation mode (OFF, INT, LO, HI) of the wiper arms 14a, 14b. ing. In order to detect the rotation of the armature shaft 34a, the control board 42 is provided with a pair of rotation sensors 46a and 46b. Correspondingly, the first sensor magnet 45 is fixed to the armature shaft 34a. ing. Further, in order to detect the rotation angle of the output shaft 22a, an angle sensor 48 is provided on the control board 42. Correspondingly, a second sensor magnet 47 is fixed to the base end portion of the output shaft 22a. Has been. The CPU 51 controls the operation of the motor body 31 based on the pulse signals input from the rotation sensors 46 a and 46 b and the angle detection signal input from the angle sensor 48.

  The first sensor magnet 45 is a multipolar magnetized magnet and is formed in an annular shape (ring shape). On the outer periphery of the first sensor magnet 45, 10 poles are magnetized so that N poles and S poles are alternately arranged in the circumferential direction. The first sensor magnet 45 is fitted and fixed to the armature shaft 34a and rotates together with the armature shaft 34a. Hall element sensors (Hall ICs) are used for the rotation sensors 46a and 46b. The rotation sensors 46 a and 46 b are fixed on the control board 42 with a predetermined distance from each other, and face the outer peripheral surface of the first sensor magnet 45. When the amateur shaft 34a rotates, the rotation sensors 46a and 46b output a pulse signal having a period corresponding to the rotational speed of the amateur shaft 34a. The rotation sensors 46a and 46b are arranged at a predetermined interval so that the phases of the output pulse signals are shifted from each other by 90 degrees, and the phase shift direction is reversed according to the rotation direction of the amateur shaft 34a.

  The rotation sensors 46 a and 46 b are connected to the CPU 51 via wiring, and the pulse signals output from the rotation sensors 46 a and 46 b are input to the CPU 51. When pulse signals are input from the rotation sensors 46a and 46b, the CPU 51 recognizes the rotation direction of the armature shaft 34a based on the order of appearance of each pulse signal, and rotates the speed of the armature shaft 34a based on the period of each pulse signal. Recognize Based on the recognition information, the operation of the motor body 31 is controlled.

  On the other hand, the second sensor magnet 47 is formed in a truncated cone shape, and a pair of magnetic poles arranged in the circumferential direction are magnetized on the outer periphery thereof. The second sensor magnet 47 is fixed to the base end portion of the output shaft 22a so as to face the control board 42 so as to be coaxial with the output shaft 22a. When the output shaft 22a rotates, the second sensor magnet 47 rotates together with the output shaft 22a. The angle sensor 48 is fixed on the control board 42 so as to face the axial end surface of the second sensor magnet 47. The angle sensor 48 is a magnetoresistive element sensor (MR sensor). When the output shaft 22a rotates, the angle sensor 48 outputs an angle detection signal corresponding to the rotation angle a1 from the reference position Ps1 of the output shaft 22a. Is done.

  In the present embodiment, the position corresponding to the lower inversion position of the wiper arm 14a is set as the reference position Ps1. When the output shaft 22a rotates from the reference position Ps1 to a position corresponding to the upper reversal position of the wiper arm 14a, an angle detection signal proportional to the rotation angle a1 is output from the angle sensor 48. That is, the angle sensor 48 outputs an angle detection signal proportional to the rotation angle a1 of the output shaft 22a between the wiper arm 14a upside down positions.

  The angle sensor 48 is also connected to the CPU 51 via wiring, and an angle detection signal from the angle sensor 48 is input to the CPU 51. When the angle detection signal is input from the angle sensor 48, the CPU 51 recognizes the rotation angle a1 of the output shaft 22a, that is, the absolute position of the wiper arm 14a based on the angle detection signal. The CPU 51 controls the operation of the motor body 31 based on this recognition information.

  The control board 42 of the DR-side wiper motor 21a and the control board 42 of the AS-side wiper motor 21b are connected to each other by communication lines 49a and 49b. The angle detection signal output from the angle sensor 48 of the wiper motor 21a is also input to the CPU 51 of the wiper motor 21b. The angle detection signal output from the angle sensor 48 of the wiper motor 21b is also input to the CPU 51 of the wiper motor 21a. The DR-side and AS-side CPUs 51 acquire the counterpart angle detection signals, recognize the positions of the wiper arms 14a and 14b, and operate the motor body 31 so that they do not interfere with each other.

  Here, in the conventional system, as described above, the motor rotation speed is determined to be 0 even when the angle sensor fails and the signal from the sensor does not change. For this reason, sensor failure and failure due to foreign matter cannot be distinguished from each other even though their causes and countermeasures are completely different. Therefore, in the control processing according to the present invention, attention is paid to the deflection of the mechanical parts and the behavior of the system after the stop, and the “failure” and “failure” are separated.

  In general, in a system in which a mechanical component is interposed between a control target such as a wiper arm and a sensor position (motor), a deflection component exists in the mechanical component. For this reason, when the motor is locked due to an obstacle, when the motor output is stopped, the motor reverses in response to the reaction force caused by the deflection of the mechanical parts. Therefore, in the case of “failure”, immediately after the motor stops, the output shaft 22a slightly reverses due to the reaction of the mechanical parts, and the signal from the angle sensor 48 changes due to the movement. On the other hand, when the output shaft 22a is stuck or the angle sensor 48 is broken, the output shaft 22a does not change at all when the output is stopped, or a signal indicating that the output shaft 22a has changed is not output. That is, the signal from the angle sensor 48 does not change.

  Therefore, there is no change in the signal value of the angle sensor during motor output, and after the determination that the motor is locked, the signal value of the angle sensor 48 does not change even though output to the motor is stopped. It can be determined that “failure”, not “failure”. FIG. 4 is a block diagram showing a configuration of a failure / failure determination system in the CPU 51 that performs such control processing. As shown in FIG. 4, the CPU 51 receives the output signal (angle detection signal) of the angle sensor 48 in addition to the motor drive command unit 60 that feedback-controls the wiper motor 21a based on the motor speed, blade position, and the like. An angle sensor signal recognizing unit 61 that determines the presence or absence and a motor operation restricting unit 62 that stops the operation of the motor body 31 when an angle detection signal is not obtained are provided. Further, the CPU 51 receives the angle detection signal, determines whether or not the angle detection signal has changed after the motor stops, and determines whether there is a “failure” or “failure” depending on the presence or absence of the angle detection signal after the motor stops. Is provided with a failure / failure determination unit 64.

  In the wiper system 11 having such an apparatus configuration and a processing system, the wiper motors 21a and 21b are driven and controlled as follows. FIG. 5 is a flowchart thereof. First, when the ignition switch 43 is turned on, power is supplied to the CPU 51 and the like on the control board 42. At this time, when the wiper arm 14a is at the lower reverse position, the CPU 51 recognizes that the wiper arm 14a is at the lower reverse position, that is, the reference position Ps1, based on the angle detection signal from the angle sensor 48. When the wiper switch 55 is turned on in this state, the CPU 51 operates the motor main body 31 so as to move the wiper arm 14a toward the upper reverse position (step S1). When the motor body 31 operates, the CPU 51 recognizes the rotational speed of the amateur shaft 34a based on the pulse signals from the rotation sensors 46a and 46b, refers to the recognized rotational speed in the target speed map, and performs motor control by PWM control. The speed of the main body 31 is controlled.

  When the wiper arm 14a reaches the upper inversion position, the CPU 51 recognizes that the wiper arm 14a has reached the upper inversion position based on the angle detection signal from the angle sensor 48. Recognizing the arrival at the upper reversal position, the CPU 51 reverses the operating direction of the motor body 31 and moves the wiper arm 14a from the upper reversal position toward the lower reversal position. When the wiper arm 14a reaches the lower inversion position, the CPU 51 recognizes that the wiper arm 14a has reached the lower inversion position based on the angle detection signal from the angle sensor 48, and reverses the operation direction of the motor body 31 again. Thereafter, by repeating the same process, the wiper arm 14a performs the swing wiping operation within a predetermined angle range.

  On the other hand, during the motor output, the angle sensor signal recognition unit 61 constantly monitors whether or not the value of the angle detection signal from the angle sensor 48 (hereinafter referred to as the sensor signal value) is changing (step S2). ). In step S2, it is determined whether or not the sensor signal value has changed during the specified time A. If there is a change, it is determined that there is no “failure” or “failure” and the routine is exited. On the other hand, if the sensor signal value does not change beyond the specified time A, it is determined that the motor rotational speed = 0, and the process proceeds to step S3. As described above, it is considered that some abnormality such as “failure” or “failure” has occurred in the system when the motor rotational speed = 0 even though the motor is being output. Then, the motor operation restriction unit 62 stops the motor output, and the motor main body 31 is stopped.

  After stopping the motor main body 31 in step S3, the process proceeds to step S4, and the signal change detection unit 63 determines whether or not the sensor signal value has changed during the specified time B. The specified time B may be the same value as the specified time A. As described above, in a system in which mechanical parts are interposed, when the motor is locked due to an obstacle, the motor reverses due to a reaction force caused by deflection after the output is stopped. Therefore, in the case of “failure”, a change in the sensor signal value is detected during the specified time B in step S4. On the other hand, when the output shaft 22a is stuck or the angle sensor 48 is broken, the sensor signal value does not change after the output is stopped. Therefore, when there is a change in the sensor signal value, the failure / failure determination unit 64 determines that the failure is not a sensor failure but proceeds to step S5, and the motor lock counter reaches a predetermined number (for example, 3). It is judged whether or not.

  If the motor lock counter has not reached the predetermined number, the process proceeds to step S6, the motor lock counter is incremented by 1, and the process returns to step S1 to restart the motor. If the operation of the wiper arm is hindered by foreign matter or the like, the motor is restarted and the fault is removed. Then, in step S2, a signal change is detected, and the routine exits assuming that the fault has been solved. On the other hand, if the failure is not removed even after the motor is restarted, the process proceeds from S3 to S4 to S5, and the motor lock counter is further incremented by one. If the motor lock is continued five times due to a failure, that is, if the motor lock counter becomes 3, the process proceeds from step S5 to step S7, and it is determined that the wiper system is in the “failure” state. Detection processing (for example, setting of a failure occurrence warning and a corresponding error code) is executed.

  On the other hand, if the sensor signal value does not change during the specified time B in step S4, the system is not operating at all due to the fixing of the output shaft 22a, or the angle sensor 48 fails and the sensor signal is not at all. Either does not change. Therefore, in this case, the failure / failure determination unit 64 determines that the wiper system is in the “failure” state, and proceeds to step S8 to perform failure processing (for example, sensor failure warning, motor failure warning, and error code). Setting etc.) is executed.

  Thus, according to the control processing of the present invention, paying attention to the deflection of the mechanical parts and the behavior of the system after stopping, if the sensor signal value does not change and it is determined that the motor rotation speed = 0, the motor output is It is possible to distinguish between “failure” and “failure” by stopping and looking at the subsequent change in the sensor signal value. As a result, “failure” and “failure” that could not be identified in the past can be reliably separated, and subsequent processing (setting of the corresponding error code, failure elimination, parts replacement, etc.) can be taken appropriately. It becomes.

It goes without saying that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.
For example, in the above-described embodiment, an example in which the present invention is applied to a wiper system has been shown. However, the present invention can also be applied to a sliding door system and a power window system, and further used in combination with mechanical parts. It can be applied to general control of electric motors. When detecting an obstacle, a camera for monitoring the window glass 12 may be provided, or a pressure sensor may be embedded in the wiper blades 13a and 13b to detect the obstacle.

  In the above-described embodiment, the example in which the present invention is applied to the wiper system of the opposite wiping type in which the motor is arranged on each of the driver seat side and the passenger seat side has been described. Thus, the present invention can also be applied to a parallel wiping type reversing wiper system in which the wiper arms on the driver's seat side and the passenger seat side are interlocked.

  Furthermore, in this embodiment, a non-contact type magnetic sensor (MR sensor) that detects a change in magnetic field as a change in electric resistance is used for detecting the absolute position of the wiper arm, but a sensor that outputs a signal at the reference position. The position of the wiper arm may be detected by a combination of a Hall IC or the like and the rotation sensors 46a and 46b. In this case, in steps S2 and S4 described above, the pulse signals from the rotation sensors 46a and 46b are used as the angle detection signals instead of the angle detection signals from the angle sensor 48, and the presence or absence of the input or change is determined. In step S4, when the pulse signals from the rotation sensors 46a and 46b are not input, it is determined that the sensor signal value has not changed, and “failure” is determined.

11 Wiper system 12 Wind glass 13a, 13b Wiper blade (driven member)
14a, 14b Wiper arms 15a, 15b Wiper shafts 21a, 21b Wiper motors 22a, 22b Output shafts 23a, 23b Crank arms 24a, 24b Connecting rods 25a, 25b Drive lever 31 Motor body 32 Reducer 33 Motor yoke 34 Amateur 34a Amateur shaft 35 Commutator 36 Brush holder 37 Brush 38 Gear case 38a Case body 38b Cover 38c Boss part 41 Deceleration mechanism 41a Worm 41b Worm wheel 42 Control board 42a Board 42b Electrical component 43 Ignition switch 44 Battery 45 First sensor magnets 46a, 46b Rotation sensor 47 Second Sensor magnet 48 Angle sensor 49a, 49b Communication line 51 CPU
52 ROM
53 RAM
54 FET
55 Wiper Switch 60 Motor Drive Command Unit 61 Angle Sensor Signal Recognition Unit 62 Motor Operation Restriction Unit 63 Signal Change Detection Unit 64 Fault / Failure Determination Unit

Claims (6)

A motor having an output shaft that rotates forward and reverse;
An angle sensor that detects a rotation angle of the output shaft and outputs an angle detection signal;
A motor-controlled device in a system having a driven member driven by the motor via a mechanical component connected to the output shaft,
An angle sensor signal recognition unit that receives the angle detection signal and determines the presence or absence of a signal from the angle sensor;
When the angle detection signal is not obtained, a motor operation restricting unit that stops the motor;
A signal change detection unit that receives the angle detection signal and determines whether or not the angle detection signal has changed after the motor operation restriction unit has stopped the motor;
A motor control apparatus comprising: a failure / failure determination unit that identifies an abnormality occurring in the motor as a failure and a failure depending on the presence or absence of the angle detection signal after the motor stops. The motor control device according to claim 1, wherein the failure / failure determination unit includes:
When the angle detection signal is received after the motor is stopped, the system determines that the operation of the driven member is in a failure state in which the movement of the driven member is hindered by a foreign object,
When the angle detection signal is not received after the motor is stopped, the system determines that the system is in a failure state due to the output shaft being stuck or the angle sensor malfunctioning. The motor control device according to claim 1 or 2,
The system is a wiper system having a wiper arm to which rotation of the output shaft is transmitted through the mechanical component,
The motor control device according to claim 1, wherein the driven member is a wiper blade that is connected to the wiper arm and wipes the glass surface. A motor having an output shaft that rotates forward and reverse;
An angle sensor that detects a rotation angle of the output shaft and outputs an angle detection signal;
A driven member driven by the motor via a mechanical component connected to the output shaft, and a method for controlling the motor in a system comprising:
Determine the presence or absence of the angle detection signal, if the angle detection signal is not obtained, stop the motor,
After stopping the motor, determine whether there is a change in the angle detection signal,
A motor control method characterized in that an abnormality occurring in the motor is identified as a failure and a failure based on the presence or absence of the angle detection signal after the motor stops. The motor control method according to claim 1,
When the angle detection signal is received after the motor is stopped, the system determines that the operation of the driven member is in a failure state in which the movement of the driven member is hindered by a foreign object,
If the angle detection signal is not received after the motor stops, the system determines that the system is in a failure state due to the output shaft being stuck or the angle sensor malfunctioning. The motor control method according to claim 4 or 5,
The system is a wiper system having a wiper arm to which rotation of the output shaft is transmitted through the mechanical component,
The motor control method according to claim 1, wherein the driven member is a wiper blade that is connected to the wiper arm and wipes the glass surface.

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