JP2014007959A - Electric actuator system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve stop position accuracy at an origin position by performing initialization setting without locking by mechanical regulating means, and to stop rotation of an electric motor at a position where fail-safe is performed when failing in detection of a pulse signal with an initialization pattern.SOLUTION: An electric actuator system comprises: an electric motor 110; a pulse generating unit 158 which generates a pulse signal in accordance with rotation of the electric motor and also generates a pulse signal with an initialization pattern indicating the origin position of the rotation; control means for controlling the rotation angle of a rotary shaft in accordance with the pulse signal generated by the pulse generating unit; initial position setting means which stops rotation of the electric motor and stores its stop position as the origin point when detecting the pulse signal with the initialization pattern; and fail-safe stop means which stops rotation of the electric motor at a position where fail-safe is performed when it has been determined that detection of the pulse signal with the initialization pattern was failed.

Description

  The present invention relates to an electric actuator system, and is effective when applied to an electric actuator system that drives a movable member such as an air mix door or a mode switching door of a vehicle air conditioner.

  2. Description of the Related Art Conventionally, there is a type in which an electric actuator is operated to an operation limit constrained by a mechanical restriction means such as a stopper, and the operation angle of the electric actuator is controlled using the operation limit point as an origin position. Hereinafter, the operation of operating the electric actuator to the origin position and storing the origin position is referred to as initialization setting.

  For example, when the lever that rotates the electric actuator is caused to collide with the stopper and the electric actuator is operated to the operation limit point, the stopper is bent and the origin position varies.

Japanese Patent Laid-Open No. 11-18403

  In view of this, the present inventor has studied to disperse the collision force acting on the stopper by providing a plurality of stoppers on the unit case for colliding with the lever (see Japanese Patent Application Laid-Open No. 2004-17683). However, this can reduce the deviation of the origin position, but cannot eliminate the deflection of the stopper.

  Here, the rigidity of the unit case to which the stopper is attached varies individually. Along with this, the amount of deflection of the stopper also varies, so it is necessary to measure the amount of deflection of the stopper individually and to correct the operating angle of the electric actuator based on the amount of deflection by the electronic control unit. I understood that. In addition, since the amount of deflection of the stopper also varies, it is considered that the correction value of the operating angle differs individually. As a result, it is considered impossible to share the electronic control device.

  Furthermore, if the battery for supplying power to the electric actuator is accidentally removed while it is locked by the mechanical restricting means during the initialization setting operation, if the locked state continues to be left, the electric actuator There is a possibility that the strength of the built-in gears, stoppers, etc. may be reduced due to the creep phenomenon.

  By the way, in recent years, when the vehicle is parked or stopped, that is, when the ignition switch is cut off, a predetermined time has elapsed after the ignition switch is cut off in order to suppress the consumption of dark current supplied from the battery to the in-vehicle electric device. The number of vehicles that stop supplying power from the battery to the in-vehicle electrical device is increasing.

  On the other hand, in an electric actuator system including a storage device that receives power supply from a battery and holds and stores information on the origin position, the origin position information held in the storage device disappears when the power supply is stopped. Perform initialization settings again at startup.

  Therefore, not only when the battery is removed and power supply to the storage device is stopped, but also after the ignition switch is shut off without removing the battery, the origin position held in the storage device every predetermined time Since the information disappears, the initialization setting is substantially performed every time the ignition switch is turned on. Therefore, the brush of the pulse generation part of the electric actuator and the brush built in the electric motor are frequently worn and the life is shortened.

  The present invention has been made in view of the above points, and an object of the present invention is to provide an electric actuator system in which the stop position accuracy at the origin position is improved by performing initialization settings without being locked by mechanical restriction means. .

  In order to achieve the above object, according to the first aspect of the present invention, an initialization pattern indicating an origin position of the rotation and the pulse signal is generated according to the rotation of the electric motor (110) and the electric motor. A pulse generator for generating a pulse signal (158), a control means for controlling the rotation angle of the rotation axis in accordance with the pulse signal generated from the pulse generator, and when the pulse signal of the initialization pattern is detected The initial position setting means (S404 to S406) for stopping the rotation of the electric motor and storing the stop position as the origin position, and fail-safe when it is determined that the detection of the pulse signal of the initialization pattern has failed. And a fail-safe stop means for stopping the rotation of the electric motor at a position to be performed.

  As a result, the initialization setting can be performed without being locked by the mechanical restricting means. Even when it is determined that the detection of the pulse signal of the initialization pattern has failed, the rotation of the electric motor can be stopped at the position where the fail safe is performed.

  In addition, for example, even if the initialization pattern pulse signal has not been detected temporarily, if the electric motor is inverted a plurality of times, the initialization pattern pulse signal may be detected thereafter. .

  Therefore, in the invention according to claim 2, even if the fail safe stop means rotates the electric motor in one direction by the initial position setting means, based on the pulse signal from the pulse generator, When it is determined that the pulse signal of the initialization pattern has not been detected, the reversing means for reversing the rotation of the electric motor, and the number of times of reversing by the reversing means exceeds a certain number of times, the initialization pattern It is characterized by determining that the detection of the pulse signal has failed.

  As a result, even if a temporary detection error of the initialization pattern pulse signal occurs, the electric motor is repeatedly inverted until a certain number of times is exceeded, so that the initialization pattern pulse signal can be detected. become.

  According to a third aspect of the present invention, the electric motor (110) that rotates the movable part (1a, 1b, 1c) and a pulse signal are generated according to the rotation of the electric motor, and the rotation control of the movable part is performed. A plurality of electric actuators (100) individually generating a pulse signal of an initialization pattern indicating the origin position of the rotation within a range, and a plurality of electric actuators (100) individually generated by the pulse generator Control means for controlling the rotation angle of the rotating shaft for each electric actuator according to the pulse signal, and when detecting the pulse signal of the initialization pattern, the rotation of the electric motor is stopped and the stop position is set to the origin position. Initial position setting means (S404 to S406) stored as a plurality of electric control circuits (200) individually provided, and electric communication with the plurality of electric control circuits And when the electronic control unit determines for each electric actuator that the detection of the pulse signal of the initialization pattern has failed, the electronic control unit provides an electric control circuit for each electric actuator. On the other hand, it is instructed to stop the rotation of the electric motor at a position where fail safe is performed.

  Thereby, even when it is determined that the detection of the pulse signal of the initialization pattern has failed, the rotation of the electric motor can be stopped at the position where the fail safe is performed.

  Specifically, as in the invention described in claim 4, the electronic control device is configured such that the pulse signal from the pulse generation unit is generated even if the rotation of the electric motor is rotated in one direction by the initial position setting unit. On the basis of the non-detection of the pulse signal of the initialization pattern and for each electric actuator, the reversing means for reversing the rotation of the electric motor for each electric actuator, and the number of times reversed by the reversing means, When the predetermined number of times is exceeded, it is determined for each electric actuator that detection of the pulse signal of the initialization pattern has failed.

  As a result, even if a temporary detection error of the initialization pattern pulse signal occurs, the electric motor is repeatedly inverted until a certain number of times is exceeded, so that the initialization pattern pulse signal can be detected. become.

  Incidentally, the reference numerals in parentheses of each means described above are an example showing the correspondence with the specific means described in the embodiments described later.

1 is a schematic diagram of a vehicle air conditioner according to a first embodiment of the present invention. It is an external view of the electric actuator which concerns on 1st Embodiment. It is a schematic diagram of the electric actuator which concerns on 1st Embodiment. (A) is a front view of the pulse plate which concerns on 1st Embodiment, (b) is a side view of (a). It is AA sectional drawing of FIG. It is an enlarged view of the pulse plate concerning a 1st embodiment. It is a schematic diagram which shows the control circuit of the electric actuator which concerns on 1st Embodiment. It is a chart which shows the pattern of the pulse signal for detecting the rotation angle of the DC motor of FIG. It is a chart which shows the initialization pattern of the pulse signal for detecting the origin position of the DC motor of FIG. It is a control flowchart of the electric actuator which concerns on 1st Embodiment. It is a control flowchart of the electric actuator which concerns on 1st Embodiment. It is a figure which shows the relationship between abrasion of the contact brush of FIG. 6, and the period of a high level signal. It is a control flowchart of the electric actuator which concerns on 2nd Embodiment in this invention. It is a control flowchart of the electric actuator which concerns on 2nd Embodiment. It is a control flowchart of the electric actuator which concerns on 3rd Embodiment in this invention. It is a control flowchart of the electric actuator which concerns on 3rd Embodiment. It is a schematic diagram of the electric actuator which concerns on 4th Embodiment of this invention. It is explanatory drawing which shows schematic operation | movement of the electric actuator which concerns on 5th Embodiment of this invention. It is a figure for demonstrating the position of the initialization area | region which concerns on the above-mentioned 5th Embodiment. It is a figure for demonstrating the blower outlet switching door which concerns on the above-mentioned 5th Embodiment. It is a figure for demonstrating the position of the initialization area | region which concerns on the above-mentioned 5th Embodiment. It is a control flowchart of the electric actuator which concerns on the above-mentioned 5th Embodiment. It is explanatory drawing which shows schematic operation | movement of the electric actuator which concerns on the above-mentioned 5th Embodiment. It is a figure which shows schematic structure which concerns on 6th Embodiment of this invention. It is a control flowchart of the electronic controller which concerns on the above-mentioned 6th Embodiment. It is a chart for demonstrating the action | operation of the electronic control apparatus which concerns on 7th Embodiment of this invention. It is a control flowchart of the electronic controller which concerns on the above-mentioned 7th Embodiment. It is explanatory drawing of the action | operation of the electronic controller which concerns on 8th Embodiment of this invention. It is a graph which shows the position which performs the fail safe which concerns on 10th Embodiment of this invention. It is a chart which shows the modification of an initialization pattern.

(First embodiment)
In the present embodiment, an electric actuator (hereinafter, abbreviated as an actuator) 100 according to the present invention is applied to a drive device for an air mix door of a vehicle air conditioner.

  Here, the air mix door 1 is blown into the room by adjusting the amount of air flowing around the heater core 3 that heats the air blown into the room using the cooling water of the engine 2 as a heat source in the dual-purpose air conditioner shown in FIG. It adjusts the temperature of the air.

  The heat exchanger such as the heater core 3 and the evaporator 4 and the air mix door 1 are housed in a resin air conditioning casing 5. The actuator 100 is fixed to the air conditioning casing 5 by fastening means such as screws. Yes.

  Next, the actuator 100 will be described.

  FIG. 2 is an external view of the actuator 100, and FIG. 3 is a configuration diagram of the actuator 100. In FIG. 3, the DC motor 110 rotates by obtaining electric power from a battery (not shown) mounted on the vehicle, and the speed reduction mechanism 120 reduces the rotational force input from the motor 110 to air mix. It is a transmission mechanism that outputs toward the door 1. Hereinafter, a mechanism unit that rotationally drives the DC motor 110, the speed reduction mechanism 120, and the like is referred to as a drive unit 130.

  Here, the speed reduction mechanism 120 is a gear train including a worm 121 press-fitted into the output shaft 111 of the motor 110, a worm wheel 122 meshing with the worm 121, and a plurality of spur gears 123 and 124, and is positioned on the output side. The final stage gear (output side gear) 126 is provided with an output shaft 127.

  The casing 140 is a casing that houses the drive unit 130 and that has contact brushes (electrical contacts) 155 to 157 to be described later fixed thereto.

  Further, as shown in FIGS. 3 to 6 (particularly, refer to FIG. 6), a pulse is applied to the output side (output shaft 127) from the input gear (worm 121) directly driven by the DC motor 110 in the speed reduction mechanism 120. A pattern plate (hereinafter referred to as a pattern plate) 153 is provided. The pattern plate 153 includes first and second conductive portions 151a and 152a and non-conductive portions 151b and 152b that are alternately arranged in the circumferential direction. Pulse patterns 151 and 152 and a common pattern 154 including a conductive portion 154a and a non-conductive portion 154b are provided, and rotate integrally with the output shaft 127. The common pattern 154 is provided on the inner side by the first and second pulse patterns 151 and 152.

  Here, in the arc-shaped rotation detection region 300 of the pattern plate 153, the circumferential angles α1, α2 of the conductive portions 151a, 152a and the circumferential angles β1, β2 of the non-conductive portions 151b, 152b are made equal to each other, The phase of the first pulse pattern 151 is shifted from the phase of the second pulse pattern 152 by approximately ½ of the circumferential angles α1, α2 (= circular angles β1, β2). Further, the common pattern 154 in the region 300 includes only the conductive portion 154a. Such a rotation detection region 300 is used for generating a pulse signal pattern used for detecting a rotation angle, as will be described later.

  Further, in the fan-shaped initialization region 301 other than the region 300 in the pattern plate 153, the first and second pulse patterns 151 and 152 are composed only of the conductive portions 151a and 152a, respectively, and the common pattern 154 is a non-conductive portion. 154b is sandwiched between the two conductive portions 154a from the circumferential direction. Such an initialization area 301 is used to generate a pulse signal pattern (hereinafter referred to as an initialization pattern) indicating the origin position.

  Here, in the first and second pulse patterns 151 and 152, the conductive parts are electrically connected to each other. Furthermore, the conductive portions 151a and 152a of the first and second pulse patterns 151 and 152 and the conductive portion 154a of the common pattern 154 are electrically connected by a connection member (not shown).

  On the other hand, on the casing 140 side, first to third contact brushes (electrical contacts) 155 to 157 made of a copper-based conductive material connected to the positive electrode side of the battery are fixed by resin integral molding, and the first contact brush 155. Is in contact with the first pulse pattern 151, the second contact brush 156 is in contact with the second pulse pattern 152, and the third contact brush 157 is in contact with the common pattern 154.

  In the present embodiment, the first to third contact brushes 155 to 157 are provided with two or more contacts (four points in the present embodiment) between the first to third contact brushes 155 to 157 and the pattern plate 153. And the conductive portions 151a, 152a, and 154a are securely connected.

  As shown in FIG. 2, a link lever 160 that swings the air mix door 1 is press-fitted and fixed to the output shaft 127, and the air-conditioning casing 5 is provided with stoppers 5a and 5b. The stoppers 5a and 5b are used to stop the rotation of the motor by causing the link lever 160 to collide when electrical regulation of the rotation of the DC motor 110 fails.

  Next, the general operation of the actuator 100 will be described.

  FIG. 7 is a schematic diagram showing an electric control circuit 200 of the actuator 100 that constitutes the motor control means. The electric control circuit 200 is supplied from a battery and outputs a constant voltage to the circuits 210, 220, 230, etc. 211, a motor drive circuit 210 that drives the DC motor 110, and a rotation angle detector (rotation angle detection means) 220 that detects a rotation angle and a rotation direction of the output shaft 127 based on a pulse signal generated by the pattern plate 153. The storage circuit 230 is configured to hold input information such as an EEPROM for storing various control information without receiving power supply.

  When the DC motor 110 rotates and the output shaft 127 (pattern plate 153) rotates and the first, second, and third contact brushes 155, 156, and 157 are in contact with the rotation detection region 300, the third While the contact brush 157 is in contact with the conductive portion 154a, the first and second contact brushes 155 and 156 are in contact with the conductive portions 151a and 152a (ON), and the first and second contact brushes 155 and 156 are not conductive. A non-energized (OFF) state in which the portions 151b and 152b come into contact with each other periodically occurs.

  Therefore, as shown in FIG. 8, the first and second contact brushes 155 and 156 generate a pulse signal every time the DC motor 110 rotates by a predetermined angle, and the pulse signal is counted by the rotation angle detector 220. As a result, the rotation angle of the output shaft 127 can be detected.

  Further, when the DC motor 110 rotates and the output shaft 127 (pattern plate 153) rotates, and the first, second, and third contact brushes 155, 156, and 157 are in contact with the initialization region 301, FIG. As shown in FIG. 3, the third contact brush 157 and the conductive portion 154a are energized in contact with each other while maintaining the energized (ON) state in which the first and second contact brushes 155 and 156 are in contact with the conductive portions 151a and 152a. From the ON state, a non-energized (OFF) state in which the third contact brush 157 and the non-conductive portion 154b are in contact with each other, and then an energized (ON) state in which the third contact brush 157 and the conductive portion 154a are in contact (conductive). Part → non-conductive part → conductive part).

  Accordingly, the first and second contact brushes 155 and 156 generate two-phase pulse signals (A phase and B phase) of the initialization pattern shown in FIG. 9 according to the angular rotation of the DC motor 110. This initialization pattern is not a pattern in which the amplitudes of the two-phase pulse signals are alternately switched as shown in FIG. 8, but the two-phase pulse signals are simultaneously changed from the low level signal (“00”) to the high level signal (“11”). The high level signal is switched to the low level signal (“00”) at the same time. Note that “0” indicates a low level signal, and “1” indicates a high level signal.

  As described above, the initialization pattern differs from the pattern used to detect the angular rotation of the DC motor 110 in that the amplitudes of the two-phase pulse signals change simultaneously.

  When such a two-phase pulse signal of the initialization pattern is detected by the rotation angle detector 220, the motor drive circuit 210 stops power supply to the DC motor 110, thereby electrically regulating the rotation of the DC motor 110. The position where the two-phase pulse signal of this initialization pattern is detected is stored as the origin position. Thereafter, except for the case where the battery is disconnected and the case where an abnormality occurs in the pulse signal, the DC motor 110 is controlled with the position shifted by one pulse from the origin position as the operation reference.

  Hereinafter, when the two-phase pulse signal of the initialization pattern is detected by the rotation angle detector 220, the rotation of the DC motor 110 is electrically restricted, and the position where the two-phase pulse signal of the initialization pattern is detected is set as the origin position. The act of storing and setting the operation reference deviated from the origin position is called “initial position setting”.

  As is apparent from the above description, in this embodiment, the switch means 158a to 158c for generating a pulse signal each time the output shaft 127 rotates by a predetermined angle by the first and second contact brushes 155, 156 and 157 and the pattern plate 153. A pulse generator (pulse generating means) 158 (see FIG. 7) is configured.

  The switch means 158a and 158b are constituted by contact brushes 155 and 156 and first and second pulse patterns 151 and 152, and are arranged in parallel between the constant voltage circuit (power supply circuit) and the ground. Based on the rotation of the electric motor 110, two-phase switching is performed individually (that is, on and off) to generate a pulse signal. The switch means 158c is composed of a third contact brush 157 (one end of the contact brush 157 is electrically connected to the ground) and the common pattern 154. Between the switch means 158a, 158b and the ground, the switch means 158c is provided. Switching is performed based on the rotation of the electric motor 110.

  Further, since the phase of the first pulse pattern 151 and the phase of the second pulse pattern 152 are shifted, the pulse generator 158 generates a pulse signal (hereinafter referred to as “pulse signal”) generated by the first pulse pattern 151 and the first contact brush 155. This pulse signal is referred to as an A-phase pulse), and a pulse signal out of phase with respect to the A-phase pulse generated by the second pulse pattern 152 and the second contact brush 156 (hereinafter, this pulse signal is referred to as a B-phase pulse). Is called).

  For this reason, in this embodiment, the rotation direction of the DC motor 110 (output shaft 127) is detected depending on which signal of the A-phase pulse and the B-phase pulse is input to the rotation angle detector 220 first. Yes.

  Next, a flow showing control of the actuator 100, that is, the DC motor 110 will be described based on FIGS.

  When the ignition switch (IG switch) of the vehicle is turned on, it is determined based on the flag stored in the storage circuit 230 whether or not the ignition switch is turned on for the first time after connecting the battery (S110). When the ignition switch is turned on for the first time after connecting the battery, the initial position is set (S120), and when the IG switch is turned on, the opening of the air mix door 1 is set to the target position (target The DC motor 110 is controlled so that the rotation angle becomes (S130 to S220).

  The ignition switch is a start permission switch that permits supply of electric power to the DC motor 110.

  On the other hand, when the ignition switch is not turned on for the first time after the battery is connected, a battery removal determination flag (battery removal determination bit) that indicates information indicating that the battery stored in the storage circuit 230 is connected. Is determined (S230).

  If the battery removal determination flag is not set, the initial position is set (S120), and then the DC motor 110 is controlled so that the opening degree of the air mix door 1 becomes the target position (S130 to S220). When the battery removal determination flag is set, the bit is set to 0 and the battery removal determination flag is deleted from the storage circuit 230 (S240), and then the DC motor 110 is set so that the opening degree of the air mix door 1 becomes the target position. Control (S130-S220).

  Further, when the DC motor 110 is controlled so that the opening degree of the air mix door 1 becomes the target position (S130 to S220), that is, when the driving current is supplied to the DC motor 110, the change of the pulse signal When the signal stops, it is highly possible that an abnormality has occurred in the pulse signal. Therefore, if the change in the pulse signal has stopped even after a predetermined time has elapsed since the start of energization of the drive current, an abnormality has occurred in the pulse signal. It is determined that the drive current is not supplied and the actuator 100 is stopped (S210), and information indicating that the change of the pulse signal is stopped is stored in the storage circuit 230 (S220).

  On the other hand, when the drive current is applied to the DC motor 110 and the pulse signal is changing, the pulse waveform (see FIG. 8) is not disturbed and the pulse signal is regularly generated. In other words, it is determined whether or not a pulse skip or the like has occurred (S180). If no pulse skip or the like has occurred, the flow returns to S130 and the DC motor is set so that the opening degree of the air mix door 1 becomes the target position. 110 is controlled, and when a pulse skip or the like occurs, information indicating that a pulse skip or the like has occurred is stored in the storage circuit 230 (S190), and then the process returns to S130 to return to the air mix door 1 The DC motor 110 is controlled so that the opening degree becomes the target position.

  In addition, since the DC motor 110 is controlled with the occurrence of pulse skipping or the like, the actual opening degree of the air mix door 1 is likely to be different from the target position. Therefore, as will be described later, the initial value is set after the ignition switch is shut off.

  Even when the ignition switch is shut off, when the ignition switch is shut off for the first time after the battery is connected, the initial position is set (S300, S310), and the ignition switch is shut off. The battery removal determination flag is stored and held in the storage circuit 230 when a predetermined time has elapsed from the start (S320, S330).

  The predetermined time is shorter than the time for stopping the power supply from the battery to the in-vehicle electric device in order to suppress the consumption of dark current. For this reason, when the battery removal determination flag is held in the storage circuit 230, it means that the battery is connected to the vehicle, and when the battery removal determination flag is not held in the storage circuit 230, Means the battery has been removed.

  On the other hand, even if the ignition switch is shut off, if the ignition switch is not shut off for the first time after the battery is connected, whether or not there has been a pulse skip based on the information stored in the storage circuit 230 (S340), if there is a pulse skip while driving the DC motor 110, the initial position is set (S310), and then a predetermined time has elapsed since the ignition switch was turned off. Sometimes the battery removal determination flag is stored and held in the storage circuit 230 (S320, S330).

  If no pulse skip occurs, it is determined whether or not the pulse signal has been stopped based on the information stored in the storage circuit 230 (S350). The initial position is set after energizing the drive current for rotating the DC motor 110 in the direction opposite to the direction in which the DC motor 110 is rotating immediately before the change of the pulse signal stops (S360, S310).

  In this example, the initial position is set after energizing the drive current that rotates the DC motor 110 in the direction opposite to the direction toward the origin position.

  Next, the function and effect of this embodiment will be described. When the rotation angle detector 220 detects the pulse signal of the initialization pattern, the rotation of the DC motor 110 is electrically restricted by stopping the power supply to the DC motor 110 by the motor drive circuit 210. This makes it possible to perform initialization settings without locking with mechanical restriction means, so initialization settings can be performed regardless of variations in the amount of bending of stoppers, etc., and stop position accuracy at the home position Can be improved. In addition, the electronic control device can be shared. In addition, since initialization is performed without locking, an increase in size and an increase in manufacturing cost can be suppressed.

  As the initialization pattern, a pattern in which the amplitudes of the A-phase and B-phase pulse signals change at least twice simultaneously is used. Further, even if the amplitude of the pulse signal is disturbed due to the entry of a foreign substance, it is rare that the A-phase and B-phase pulse signals are simultaneously switched from a low level signal to a high level signal to a low level signal. Therefore, by using an initialization pattern in which the amplitudes of the A-phase and B-phase pulse signals change twice or more at the same time, the possibility of erroneous detection of the initialization pattern can be reduced.

  In the present embodiment, the third contact brush 157 and the non-conductive portion 154b are brought into contact with each other from the energized (ON) state where the third contact brush 157 and the conductive portion 154a are in contact in order to generate the pulse signal of the initialization pattern. Through a non-energized (OFF) state, the third contact brush 157 and the conductive portion 154a are brought into an energized (ON) state. Accordingly, in the initialization pattern, the amplitudes of the A-phase and B-phase pulse signals are simultaneously switched from the low level to the high level, and are simultaneously switched from the high level to the low level.

  Here, as shown in FIGS. 12A and 12B, in the contact state between the third contact brush 157 and the conductive portion 154a, the A-phase and B-phase pulse signals become the low level signal “0”. In the contact state between the third contact brush 157 and the non-conductive portion 154b (printed circuit board), the A-phase and B-phase pulse signals are high level signals “1”.

  On the other hand, when the third contact brush 157 is worn by the conductive portion 154a and the non-conductive portion 154b, as shown in FIGS. 12 (c) and 12 (d), the contact surface becomes wide, and the third contact brush 157 and the non-conductive portion. The period during which 154b (printed circuit board) contacts is shortened.

  For this reason, as the third contact brush 157 is worn, the period during which the A-phase and B-phase pulse signals are in the high level signal “1” is shortened. Therefore, by increasing the area of the non-conductive portion 154b (printed circuit board) compared to the area of the conductive portion 154a, even if the third contact brush 157 is worn, the A-phase and B-phase pulse signals are generated for a predetermined period. As described above, the high level signal “1” is set. Therefore, the rotation angle detector 220 can reliably detect the high level signals of the A phase and the B phase.

  In contrast, when a pattern in which the amplitudes of the A-phase and B-phase pulse signals are simultaneously switched from high level to low level to high level is used as the initialization pattern, the non-conductive portion 154b for generating a high level signal is used. It is necessary to provide two. Here, since only one non-conductive portion 154b is used in the initialization pattern of the present embodiment, the pattern of the present embodiment is compared to the case of using the initialization pattern that switches from high level to low level to high level. The area of the initialization region 301 of the plate 153 can be reduced. Further, the operable range of the output shaft 127 can be increased.

  In this embodiment, the initial position setting is performed when an abnormality occurs in the pulse signal, that is, when it is highly necessary to perform the initial position setting, that is, when the pulse is stopped and when the pulse skip occurs. Can be greatly reduced. As a result, an increase in manufacturing cost of the actuator 100 can be suppressed.

  In addition, since the origin position is set when the control accuracy is greatly affected, such as when the pulse is stopped or when the pulse skip occurs, the increase in the manufacturing cost of the actuator 100 is suppressed while maintaining high control accuracy. it can.

  Further, since it is determined whether or not the battery has been removed by the battery removal determination flag and the initial position is set, unnecessary initial value setting can be greatly reduced. As a result, an increase in manufacturing cost of the actuator 100 can be suppressed.

  Also, when a pulse stop occurs, the initial position is set after energizing the drive current that rotates the DC motor 110 in the direction opposite to the direction in which the DC motor 110 was rotating immediately before the change of the pulse signal stopped. In addition, the locking phenomenon of the actuator 100 due to the biting of foreign matter can be eliminated spontaneously, and the reliability and durability of the actuator 100 can be improved.

  In addition, after a predetermined time has elapsed since the start of energization of the drive current, it is determined whether or not an abnormality has occurred in the pulse signal, that is, whether or not the change in the pulse signal has stopped. Whether or not an abnormality has occurred in the pulse signal even if the change in the pulse signal is stopped or reduced due to low or the change in the pulse signal is stopped or reduced due to a large load Can be correctly determined.

(Second Embodiment)
In the first embodiment, when the pulse stops and when the pulse skip occurs, the fact is stored in the memory circuit 230, and the initial value is set immediately after the ignition switch is cut off. As shown in FIGS. 13 and 14, when the pulse stops and when the pulse skip occurs, the initial position is set immediately after the occurrence. (Refer to S191 and S221).

  Thereby, the origin position can be reset at an early stage.

  After the ignition switch is cut off, the initial position is set only when the ignition switch is turned off for the first time after the battery is connected.

(Third embodiment)
In the first embodiment, when the pulse stops and when the pulse skip occurs, the fact is stored in the memory circuit 230, and the initial value is set immediately after the ignition switch is cut off. As shown in FIGS. 15 and 16, when the pulse is stopped and when the pulse skip occurs, the fact is stored in the storage circuit 230, and the initial value is set after a predetermined time has elapsed after the ignition switch is cut off. Is.

  Specifically, a control step S290 for determining whether or not a predetermined time has elapsed after the ignition switch is shut off before S300 is provided.

  Thereby, the origin position can be reset without giving a sense of incongruity to the occupant.

(Fourth embodiment)
In the present embodiment, as shown in FIG. 17, the present invention is applied to an electric actuator in which a plurality of actuators 100 and a control device are connected by a data communication network to reduce the number of electric wires.

  Note that a data signal for controlling each actuator 100 and a data signal relating to the number of pulses are exchanged between the CPU and each actuator 100 on the communication line according to a procedure defined by a predetermined protocol. Operates on the basis of a data signal transmitted over the communication line.

(Fifth embodiment)
In the first embodiment described above, in order to control the rotation angle of the air mix door 1 (see FIG. 1), the A-phase and B-phase pulse signals (“00”) output from the pulse generator 158 (see FIG. 7). ”,“ 01 ”,“ 11 ”,“ 10 ”) to detect the rotation angle of the output shaft 127 and to output a two-phase pulse signal (“ 00 ”→“ 11 ”of the initialization pattern output from the pulse generator 158. ”→“ 00 ”), the example in which the DC motor 110 is stopped and the stop position is stored as the origin position has been described.

  Here, in the pattern plate 153 (see FIG. 4), the initialization region 301 is disposed outside the rotation detection region 300, and the first to third contact brushes 155 are used when the rotation angle of the air mix door 1 is controlled. ˜157 only contacts the rotation detection region 300 and does not contact the initialization region 301.

  That is, as shown in FIG. 19, a door control range (this is a rotation detection region) for controlling the rotation angle of the air mix door 1 within the rotatable range of the actuator 100 (hereinafter also referred to as a motor operating range). The initialization area 301 is set outside (corresponding to 300).

  Thereby, the pulse signal of the initialization pattern is not generated from the pulse generator 158 during the normal operation for controlling the rotation angle of the air mix door 1.

  However, depending on the configuration of the actuator 100, the initialization region 301 may be set within the door control range. In this case, even during the normal operation for controlling the rotation angle of the air mix door 1, a pulse signal of the initialization pattern is generated, and the DC motor 110 and thus the air mix door 1 are stopped each time the pulse signal of the initialization pattern is detected. As a result, there is a problem that the passenger feels uncomfortable.

  Therefore, in this embodiment, in order to deal with such a situation, when the initialization area 301 is set in the door control range, the initialization setting (this is a two-phase pulse signal of the initialization pattern). An example of discriminating the recognition of the initialization pattern between the time of performing the operation of storing the detected position as the origin position) and the time of normal operation (that is, during the operation of controlling the rotation angle of the air mix door 1) explain. The “initialization setting” corresponds to the operation of the initial position setting means.

  In the present embodiment, the actuator 100 is applied to a drive device for driving the outlet switching door via a link mechanism (not shown). When the actuator 100 rotates the link lever 160, the rotation of the link lever 160 is transmitted to the outlet switching door via the link mechanism.

  Here, the outlet switching door includes a face door 1a, a foot door 1b, and a differential door 1c shown in FIG. Then, the actuator 100 sequentially rotates and drives the face door 1a, the foot door 1b, and the differential door 1c shown in FIG. 20, and as shown in FIG. 21, the outlet mode is changed from the face mode (FACE) to the bi-level mode (B / L) → foot mode (foot) → foot / diff mode (F / D) → def mode (DEF).

  The face door 1a is a door for opening and closing a face air outlet for blowing conditioned air to the upper body of the occupant, and the foot door 1b is for opening and closing a foot air outlet for blowing conditioned air to the lower body of the occupant. The differential door 1c is a door for opening and closing a differential outlet for blowing conditioned air to the inner surface of the windshield.

  Hereinafter, the operation of the actuator 100 of the present embodiment will be described with reference to FIGS. 22 and 23. FIG. 22 is a flowchart showing a control process of the actuator 100 by the electric control circuit 200. The electric control circuit 200 executes a computer program stored in advance in the storage circuit 230 according to the flowchart shown in FIG.

  For example, when the ignition switch of the vehicle is turned on, when the ignition switch is turned on for the first time after connecting the battery, it is determined that it is necessary to memorize the origin position and is included in the storage circuit 230. An initialization flag is set in the RAM (S401: setting means).

  Accordingly, the DC motor 110 is controlled to rotate in a predetermined initialization direction (S402). Accordingly, when it is determined that the DC motor 110 has rotated in the initialization direction and has detected the pulse signal of the initialization pattern as shown in FIG. 23A (S403: YES), initialization is set as follows. .

  Specifically, the power supply to the DC motor 110 is stopped, the rotation of the DC motor 110 (that is, the actuator 100) is stopped, the initialization flag is reset (S404, S405), and the stop position of the output shaft 127 is set. The operation reference of the DC motor 110 is set by storing the origin position in the storage circuit 230 (S406).

  On the other hand, when the initialization flag is set as described above, as shown in FIG. 23B, even if the DC motor 110 is rotated in the initialization direction, the pulse signal of the initialization pattern is not detected and the A phase and the B phase are detected. When the pulse signal output is stopped (that is, the amplitude change of the A-phase and B-phase pulse signals is stopped), it is determined that the link lever 160 collides with the stopper 5a and the DC motor 110 is locked (S407). .

  At this time, the DC motor 110 is rotated in the direction opposite to the initialization direction (hereinafter referred to as the reverse initialization direction) (S408). Accordingly, when it is determined that the pulse signal of the initialization pattern has been detected, a motor stop process (S404), an initialization reset process (S405), and a reference setting process (S406) are performed.

  As described above, even if the DC motor 110 is rotated in the reverse initialization direction, when the pulse signal of the initialization pattern is not detected and the output of the A-phase and B-phase pulse signals is stopped, the link lever 160 is connected to the stopper 5b. It is determined that the DC motor 110 is locked due to a collision.

  In this case, assuming that the detection of the pulse signal of the initialization pattern has failed, when the DC motor 110 is rotated in the initialization direction and a certain number of pulse signals are detected in the rotation detection region 300 (S411), the power to the DC motor 110 is detected. Supply is stopped and rotation of DC motor 110 is stopped (S412). Along with this, an initialization failure flag indicating failure of detection of the pulse signal of the initialization pattern is set (S413).

  On the other hand, the initialization flag is in a reset state during normal operation (during operation for switching the outlet mode) in which the rotation angle of the DC motor 110 is controlled to sequentially rotate the face door 1a, foot door 1b, and differential door 1c. In this case, the CPU determines that it is unnecessary to store the origin position, and maintains the rotation without stopping the rotation of the DC motor 110 even if the pulse signal of the initialization pattern is detected. Note that the control means maintains the rotation of the DC motor 110 when the pulse signal of the initialization pattern is detected as described above.

  As described above, according to the present embodiment, while the initialization setting for rotating the DC motor 110 to the origin position is being executed, the DC motor 110 is stopped when the initialization pattern pulse signal is detected. During operation, even if the pulse signal of the initialization pattern is detected, the rotation of the DC motor 110 is maintained without stopping.

  That is, by distinguishing the recognition of the initialization pattern between the execution of the initialization setting and the normal operation, the DC motor 110 is stopped when the pulse signal of the initialization pattern is detected during the normal operation, and the passenger feels uncomfortable. Prevent giving.

  Hereinafter, a method for determining the initialization direction in which the DC motor 110 is first rotated to detect the pulse signal of the initialization pattern as described above will be described.

  For example, in the example shown in FIG. 23A, the region on the stopper 5b side is larger than the region on the stopper 5a side than the initialization region 301 in the door control range. For this reason, the probability that the DC motor 110 stops in the region on the stopper 5b side is higher than the probability that the DC motor 110 stops in the region on the stopper 5a side.

  Accordingly, the direction in which the DC motor 110 is rotated from the stopper 5b toward the stopper 5a is the initialization direction, and the direction in which the DC motor 110 is rotated from the stopper 5a toward the stopper 5b is the initialization direction. However, the probability (that is, the detection probability) of detecting the pulse signal of the initialization pattern in a short period is high.

  That is, if the direction in which the DC motor 110 is rotated from the large region to the small region among the two regions that bound the initialization region 301 in the door control range is the initialization direction, the opposite direction is the initialization direction. Compared to the case, the probability of detecting the pulse signal of the initialization pattern in a short period is high.

  Therefore, when the initialization direction for rotating the DC motor 110 when detecting the pulse signal of the initialization pattern during the initialization setting is determined based on the probability of detecting the pulse signal of the initialization pattern, in a short period of time, Since the pulse signal of the initialization pattern can be detected, the initialization setting can be completed in a short period of time.

  On the other hand, when the initialization area 301 is located at substantially the center of the door control range, it is impossible to determine the initialization direction based on the probability of detecting the pulse signal of the initialization pattern.

  Alternatively, based on the probability of detecting the pulse signal of the initialization pattern, for example, even if the rotation direction from the stopper 5b to the stopper 5a is determined as the initialization direction (stopper 5b → stopper 5a), both ends of the door control range in the air conditioning casing 5 There is a case where the mechanical strength of the corresponding part is small due to the thin thickness of the part corresponding to the end in the initialization direction among the parts, and the function is not performed even if the stopper 5a is installed in the corresponding part. Yes.

  That is, even if an attempt is made to install the stopper 5a at the corresponding part in the air-conditioning casing 5, the mechanical strength of the corresponding part is small due to the structure of the air-conditioning casing 5 and it cannot withstand the collision of the link lever 160. You may not be able to.

  In this case, the air-conditioning casing 5 determines the initialization direction depending on the mechanical strength of both ends of the door control range. That is, in the air conditioning casing 5, the direction from the end portion having the low mechanical strength to the end portion having the high mechanical strength is determined as the initialization direction.

(Sixth embodiment)
In the sixth embodiment, as shown in FIG. 24, the electronic control device 500 and a plurality of actuators 100 are connected by a network by data communication, and the electronic control device 500 controls each actuator 100 by multiplex communication. Thus, an example will be described in which the recognition of the initialization pattern is distinguished between the execution of the initialization setting and the normal operation.

  In this case, an electric control circuit 200 is provided for each actuator 100, and the electric control circuit 200 is provided with a communication circuit in addition to the motor drive circuit 210 and the rotation angle detector 220 described in the first embodiment. ing. This communication circuit communicates with the CPU of the electronic control device 500 via a communication line.

  The electric control circuit 200 is built in a connector connected to the actuator 100, and this connector is for connecting a communication line, a power supply line, a GND line, and the like.

  The electronic control unit 500 includes a CPU (Central Processing Unit), a storage circuit, a constant voltage circuit, and the like. The CPU designates a target position for each of the electric control circuits 200 and performs individual electric control. The circuit 200 rotates the output shaft 127 of the corresponding actuator 100 to the target position.

  The storage circuit stores data associated with the processing of the computer program and the CPU, and the constant voltage circuit is supplied with power from the in-vehicle battery to supply a constant voltage to the CPU, the storage circuit, etc., and via the power line A constant voltage is supplied to each of the plurality of electric control circuits 200.

  Next, as an operation of the present embodiment, an example in which the electronic control device 500 causes the one actuator 100 to perform initialization setting will be described with reference to FIG. FIG. 25 is a flowchart showing communication control processing by the electronic control device 500. The electronic control device 500 executes the computer program according to the flowchart shown in FIG. In FIG. 25, the electric control circuit 200 is abbreviated as IC.

  For example, when the electronic control unit 500 determines that it is necessary to perform initialization setting with respect to a certain actuator 100, the electronic control unit 500 sets an initialization flag and outputs an initialization flag signal indicating the set initialization flag. Then, the data is transmitted to an electric control circuit 200 (hereinafter also referred to as a corresponding electric control circuit 200) corresponding to one actuator 100 (S501).

  In addition to this, the electronic control unit 500 transmits an instruction signal for rotating one actuator 100 in the initialization direction to the corresponding electrical control circuit 200 (S502).

  Accordingly, when the corresponding electrical control circuit 200 receives such an initialization flag signal, the corresponding electrical control circuit 200 sets the initialization flag and rotates one actuator 100 in the initialization direction.

  Thereafter, when the corresponding electrical control circuit 200 determines that the pulse signal of the initialization pattern has been detected, it sets an initialization detection flag and transmits an initialization detection flag signal indicating the set initialization detection flag to the electronic control unit 500. In addition, the power supply to a certain actuator 100 is stopped to stop the rotation. This completes the initialization setting.

  In addition, when the electronic control device 500 receives such an initialization pattern detection flag signal (S503: YES), the electronic control device 500 outputs an instruction signal for instructing the corresponding electric control circuit 200 to reset the initialization flag and clear the initialization detection flag. At the same time, the current position of one actuator 100 is transmitted (S504).

  Accordingly, upon receiving the instruction signal and the current position, the corresponding electrical control circuit 200 resets the initialization flag, clears the initialization detection flag, and stores the transmitted current position as the reference position.

  On the other hand, instead of detecting the pulse signal of the initialization pattern as described above, when the link lever 160 collides with the stopper 5a, the output of the A-phase and B-phase pulse signals is stopped.

  Thereafter, if the read state of the A phase and the B phase does not change for a predetermined time, the electronic control device 500 determines that the output of the A phase and B phase pulse signals is stopped (S506: YES), and the corresponding electrical control. An instruction signal for rotating one actuator 100 in the reverse initialization direction is transmitted to the circuit 200 (S507).

  Thereafter, when the corresponding electric control circuit 200 receives this instruction signal, it rotates one actuator 100 in the reverse initialization direction. When corresponding electrical control circuit 200 detects a pulse signal of an initialization pattern, it sets an initialization detection flag and transmits an initialization detection flag signal indicating the set initialization detection flag to electronic control unit 500.

  Accordingly, when electronic control unit 500 receives such an initialization detection flag signal, it determines YES in S508 and executes the processes of S504 and S505.

  On the other hand, the corresponding electric control circuit 200 does not detect the pulse signal of the initialization pattern when the one actuator 100 is rotated in the reverse initialization direction as described above, and the electronic control device 500 does not detect the A phase and the B phase. When the output stop of the pulse signal is detected, it is determined that the initialization setting (initialization) of one actuator 100 has failed because the link lever 160 collides with the stopper 5b and is locked (S509: YES). An instruction signal to rotate one actuator 100 by a predetermined number of pulses in the initialization direction is transmitted to the electric control circuit 200 (S510).

  Accordingly, upon receiving this instruction signal, the corresponding electrical control circuit 200 rotates one actuator 100 by a predetermined number of pulses in the initialization direction. As a result, the link lever 160 is rotated by a certain angle in the direction opposite to the stopper 5b.

  In addition, the electronic control device 500 resets the initialization flag, transmits an initialization flag signal indicating the reset initialization flag to the corresponding electric control circuit 200 (S511), and performs initialization setting of one actuator 100. Assuming failure, an initialization failure flag is set (S512).

  When the corresponding electric control circuit 200 receives such an initialization flag signal, the corresponding electric control circuit 200 stores the initialization flag signal and stops the rotation by stopping the power supply to a certain actuator 100. As a result, the initialization setting operation of one actuator 100 is stopped.

  According to the present embodiment described above, when performing initialization setting (that is, initialization), the electronic control device 500 transmits an initialization flag signal indicating the set initialization flag to the electric control circuit 200 to perform electric control. The circuit 200 also sets an initialization flag. Since the electric control circuit 200 performs the initialization setting only when the initialization flag is set, the same effect as that of the fifth embodiment described above can be obtained.

  Further, in one actuator 100, when the link lever 160 collides with the stopper 5b, the stopper 5b bends, and therefore the stopper 5b may be deteriorated due to its compositional deformation or the like.

  On the other hand, in the present embodiment, when the initialization setting operation is stopped, the link lever 160 is rotated by a certain angle in the opposite direction of the stopper 5b, so that the bending of the stopper 5b is eliminated and the stopper 5b is deteriorated. Can be suppressed.

(Seventh embodiment)
In the above-described sixth embodiment, an example has been described in which the electronic control device 500 transmits an initialization flag signal to the electric control circuit 200 to instruct the corresponding electric control circuit 200 to execute / not execute initialization settings.

  However, in this case, as a communication format between the electronic control device 500 and the corresponding electric control circuit 200, it is necessary to add at least one bit of information in order to transmit and receive the initialization flag signal. For this reason, the corresponding electrical control circuit 200 also needs to process the initialization flag signal, which complicates the configuration of the built-in control logic unit.

  Therefore, in the seventh embodiment, using the information handled in the normal control that is normally performed between the electronic control device 500 and the corresponding electric control circuit 200, an instruction to execute / not execute the initialization setting is given.

  That is, the corresponding electric control circuit 200 detects a pulse signal of an initialization pattern (A / B phase: 0/0 → 1/1 → 0/0) when the stored current position information is a predetermined value. Then, the rotation of the actuator 100 is stopped, and even if a pulse signal of an initialization pattern is detected in the case of other current position information, the actuator 100 is not stopped and ignored.

  Therefore, the electronic control device 500 makes a distinction between implementation / non-implementation of the initialization setting by manipulating the current position information stored in the corresponding electrical control circuit 200 during the initialization setting / normal operation.

  For example, the corresponding electrical control circuit 200 compares the stored current position with the target position transmitted from the electronic control unit 500, and if there is a difference between the two, the actuator is arranged so that the current position matches the target position. 100 is driven (that is, the DC motor 110 is energized).

  In the actuator 100, the rotation angle detector 220 recognizes the A / B phase pulse signal output during the driving, counts the number of pulses of the pulse signal, and updates the current position by increasing / decreasing it. If the current position matches the target position, the actuator 100 is stopped.

  Here, since the A / B-phase pulse signal indicates 2-bit pulse information of the A / B phase, the lower-order 2 bits of the current position information (for example, 10 bits) is used, so that the pulse information and the current position are used. The lower 2 bits correspond to each other on a one-to-one basis.

  In other words, if the current position is 4d (= 100b) and the A / B phase is 0/0, the A / B phase is always set even if the DC motor 110 is driven and the current position becomes 8d (= 1000b). 0/0.

  Therefore, when the A / B phase pulse signal of the initialization pattern (0/0 → 1/1 → 0/0) is detected when the lower 2 bits of the current position are “00”, the corresponding electric control circuit 200 The control logic unit is configured to stop the DC motor 110 and set the initialization detection flag (= 1).

  With the above configuration, even if the initialization pattern pulse signal is detected when the lower 2 bits of the current position information are other than “00”, for example, “11”, the DC motor 110 is not stopped and the initialization detection flag is also set. Therefore, it is possible to distinguish when the initialization setting is performed and when it is not performed.

  On the other hand, the electronic control unit 500 transmits the current position to the corresponding electric control circuit 200 so that the lower 2 bits of the current position information become “00” when the initialization pattern pulse signal is detected at the start of initialization setting. To do. As a result, the corresponding electric control circuit 200 stops when the pulse signal of the initialization pattern is detected, and during normal operation, the current position when the pulse signal of the initialization is detected has its lower 2 bits set to “00” ( Other than this (which corresponds to a predetermined value), for example, by setting it to be “11” (eg, current position = 1Bh), the pulse signal of the initialization pattern is ignored.

  Next, specific initialization control processing by the electronic control device 500 will be described with reference to FIGS. 27 and 26. FIG.

  FIG. 27 is a flowchart showing initialization control processing by the electronic control device 500, and FIG. 26 is a characteristic table showing an example of setting of current location information / target position transmitted to the corresponding electrical control circuit 200.

  First, the pulse state of the A / B phase pulse signal is read from the corresponding electric control circuit 200 (S521), and the characteristics of the pulse signal of the initialization pattern are referred to with reference to the characteristic table of FIG. 26 based on the read pulse state. The current position at the time of detection (hereinafter referred to as the current position at the time of initialization) is calculated, and the calculated current position at the time of initialization is transmitted to the corresponding electric control circuit 200 (S522).

  In the characteristic table of FIG. 26, when the rotation direction of the actuator 100 is set to the initialization direction, an example in which the current position (8-bit information) is subtracted with the count of the number of pulses to approach the target position is shown.

  Thereafter, in S523, the target position (“00h”) at the time of initialization is transmitted, and the corresponding electric control circuit 200 rotationally drives the actuator 100 (DC motor 110) in the initialization direction. After that, when the initialization detection flag is received from the corresponding electrical control circuit 200, the instruction signal for clearing the initialization detection flag is transmitted and the current position at the time of initialization detection is transmitted as in the sixth embodiment described above ( S525, S526).

  On the other hand, when the corresponding electric control circuit 200 cannot detect the pulse signal of the initialization pattern and the link lever 160 collides with one of the stoppers 5a and 5b and is locked, the electronic control device 500 again at the locked position. The pulse state of the A / B phase pulse signal is read (S528). Then, when the current position and the target position at the time of driving in the anti-initialization direction are calculated based on the read pulse state and the characteristic table of FIG. 26, the calculated current position is transmitted (S529). Then, the target position is transmitted (S530).

  In the characteristic table of FIG. 26, when the rotation direction of the actuator 100 is the anti-initialization direction, the current position (8-bit information) is increased as the number of pulses is counted so as to approach the target position (FFh). An example is shown.

  Thereafter, when the electronic control device 500 receives the initialization detection flag from the corresponding electrical control circuit 200 (S531: YES), the initialization detection flag clear instruction processing (S525) and the current position transmission processing (S526) are executed. .

  Further, when the electronic control device 500 cannot receive the initialization detection flag from the corresponding electric control circuit 200 and receives a pulse stop detection signal (S532: YES), the A / B phase pulse signal is again received at the locked position. The pulse state is read (S533).

  Then, based on the read pulse state and the characteristic table of FIG. 26, the current position at the time of driving in the initialization direction is calculated, and the calculated current position is transmitted (S534). An instruction signal for rotating one actuator 100 by a predetermined number of pulses in the initialization direction is transmitted. Further, the target position when rotated by the predetermined number of pulses in the initialization direction is transmitted, and the initialization failure flag is set (initialization failure flag = 1) (S536).

  Accordingly, the corresponding electric control circuit 200 rotates one actuator 100 by a predetermined number of pulses in the initialization direction, and stores the current position and the target position sent from the electronic control device 500.

(Eighth embodiment)
In the seventh embodiment described above, at the start of initialization (that is, at the start of initialization setting), first, the A / B phase pulse state is read, and the characteristic table shown in FIG. Determine the current position when detecting the pulse signal of the initialize pattern. In this case, in determining the current position, it is a condition that the DC motor 110 is stopped.

  However, as shown in FIG. 23B, even when the DC motor 110 is driven, the link lever 160 collides with the stopper 5a and is locked without detecting the pulse signal of the initialization pattern. The corresponding electric control circuit 200 can read the A / B phase pulse state at the locked position, and determine and invert the current position based on the read pulse state. Then, the stopper 5a (locking means) is bent, and when the lock is released (motor energization OFF), the rotating shaft of the DC motor 110 is returned in the reverse direction by the reaction force.

  Therefore, even if the corresponding electric control circuit 200 tries to determine the initialization condition (that is, the current position when detecting the pulse signal of the initialization pattern) at the lock position of the DC motor 110, the DC motor 110 does not stop and is unstable. Therefore, if the initialization condition is deviated and reversed as it is, even if the initialization area 301 is rotated, the motor is stopped if the condition is not satisfied (that is, the lower 2 bits of the current position are other than “00”, etc.) That is, a situation where the pulse signal of the initialization pattern cannot be detected is conceivable.

  Therefore, as shown in FIG. 28, when the counter 5 is reversed after being locked by the stopper 5a, the corresponding electrical control circuit 200 must always cross the detection position of the pulse signal of the initialization pattern (that is, the initialization region 301). After the DC motor 110 is reliably stopped prior to locking with the stopper 5b on the opposite side, the initialization setting is started.

  That is, the electronic control unit 500 reads out the pulse state of the A / B phase pulse signal from the corresponding electric control circuit 200, and initializes it with reference to the characteristic table of FIG. 26 based on the read pulse state. The current position at the time of detection of the pattern pulse signal is determined, and the determined current position is transmitted to the corresponding electrical control circuit 200. Thereafter, the electronic control device 500 and the corresponding electrical control circuit 200 perform processing in the same manner as in the seventh embodiment.

(Ninth embodiment)
In the above-described fifth to eighth embodiments, the initialization direction is determined in advance, and in the example of FIG. 23B, the vehicle is stopped near the FACE (that is, near the stopper 5a). When initialization setting (initialization) is started with the initialization direction as the direction of the stopper 5a, the stopper 5a is surely locked. If it is frequently performed, the DC motor 110, the stopper 5a, etc. may be damaged.

  Therefore, in the example of FIG. 23A, when the initialization setting (initialization) is started in the summer when it is considered that there are many situations where the face mode is set in particular, the lock is prevented by setting the initialization direction to the DEF side. it can.

  When the air mix door 1 is rotationally driven by the actuator 100, the initialization region 301 increases the COOL side (in the direction of decreasing the air temperature blown into the room) and the HOT side (increases the air temperature blown into the room) in the door control range. In the middle of the direction), the initialization direction is changed according to the season, for example, the direction to operate toward the HOT side in the summer is the initialization direction, and the direction to operate toward the COOL side in the winter is the initialization direction.

  As a result, it is possible to avoid locking after the initialization setting is started, and to reduce the time required for the initialization setting.

  Here, in determining the season, the CPU of the corresponding electric control circuit 200 may use the detected temperature of the internal air temperature sensor that detects the air temperature in the vehicle interior as the initialization setting means. In addition, the CPU of the corresponding electric control circuit 200 may determine the season using the detected temperature of the outside air temperature sensor that detects the air temperature outside the passenger compartment, and the CPU of the corresponding electric control circuit 200 may further determine the season. The season may be determined using both the detected temperature and the detected temperature of the internal air temperature sensor.

(10th Embodiment)
In the fifth to ninth embodiments, the method of detecting or ignoring the pulse signal of the initialization pattern has been described. However, as the pulse signal of the initialization pattern, a mechanical contact between the contact brushes 155 to 157 and the pattern plate 153 is used. Therefore, if the contact brushes 155 to 157 and the pattern of the pattern plate 153 are worn, or a desired pulse output cannot be obtained due to chattering or contamination, or the above-described sixth and seventh embodiments. As shown in the figure, since communication is performed between the electronic control device 500 and the corresponding electric control circuit 200, there may be a situation in which the pulse signal of the initialization pattern cannot be detected when an error occurs in communication information due to electric noise.

  In this case, unless the cause of the failure to detect the pulse signal of the initialization pattern is removed at the start of the initialization setting, the non-detection of the pulse signal of the initialization pattern is repeated. Due to the increase in the number of locks at 5a and 5b, the stoppers 5a and 5b and the like are destroyed, and the current consumption is large, so that adverse effects such as a decrease in battery voltage can be considered.

  Therefore, if the initialization pattern pulse signal cannot be detected even after passing the initialization region 301 a predetermined number of times or more, it is regarded as not established and the DC motor 110 needs to be stopped.

  Therefore, the electronic control device 500 performs control processing on the corresponding electrical control circuit 200 as follows.

  That is, every time the DC motor 110 is locked by either one of the stoppers 5a and 5b, the corresponding electric control circuit 200 determines that the pulse signal of the initialization pattern is not detected for each actuator 100, and reverses the DC motor 110. However, when it is determined that the number of inversions exceeds a certain number, it is determined that the detection of the pulse signal of the initialization pattern has failed, and the DC motor 110 is stopped.

  In this case, by stopping at the “position where fail-safe is performed” (see FIG. 29) of each door, it is possible to avoid problems related to safety such as that window fog cannot be removed or hot air does not blow out. In addition, in FIG. 29, the position which performs fail safe, such as an air mix door, a blower outlet door, an inside / outside air inlet door, a cold wind bypass door, is shown.

  For example, as shown in FIG. 23C, it is preferable to set the number of inversions so as to pass through the initialization region 301 at least twice. Specifically, the number of reversals is set to “3” (a fixed number), and the DC motor 110 is locked and reversed by one of the stoppers 5a and 5b, and then locked and reversed by the other stopper. (Reversing means), and when the DC motor 110 is locked by one of the stoppers thereafter, the DC motor 110 is reversed, and it is determined that the detection of the pulse signal of the initialization pattern has failed, and the DC motor 110 is determined as “a position to perform fail-safe”. (Fail-safe stop means). In this case, it becomes effective against a detection error due to temporary noise or the like of the pulse signal of the initialization pattern.

(Other embodiments)
In the above-described embodiment, as the initialization pattern, a pattern in which two-phase pulse signals are simultaneously switched in the order of low level signal → high level signal → low level signal (“00” → “11” → “00”) is used. However, instead of this, a pattern in which high level signal → low level signal → high level signal (“11” → “00” → “11”) may be used. Furthermore, as shown in FIG. 30, a pattern in which two-phase pulse signals are simultaneously switched from a low level signal to a high level signal (“00” → “11”) may be used as the initialization pattern.

  In this case, the energization (ON) state where the third contact brush 157 and the conductive portion 154a are in contact is made, and the energization (ON) state where the first and second contact brushes 155, 156 and the conductive portions 151a, 152a are in contact is made. At the same time, it is switched to a non-energized (OFF) state (a state where the first and second contact brushes 155 and 156 are in contact with the non-conductive portions 151b and 152b).

  Further, as the initialization pattern, a pattern in which two-phase pulse signals are simultaneously switched from a high level signal to a low level signal (“11” → “00”) may be used. Further, if the initialization pattern is a pattern different from the pattern for detecting the rotation angle of the DC motor 110, the amplitude of the two-phase pulse signal changes as “01” → “10” → “01”. A pattern in which the amplitude of a two-phase pulse signal changes, such as “11” → “00” → “11”, or “10” → “01” → “11” may be used. A pattern in which the amplitude of the two-phase pulse signal changes, such as “10”, may be used.

  “01” is a state in which the A phase is a low level signal and the B phase is a high level signal, “00” is a state in which both the A phase and the B phase are low level signals, “11” is the phase A, Both B phases are in a high level signal state, and “10” indicates a state in which the A phase is a high level signal and the B phase is a low level signal.

  In the above-described embodiment, the position where the power supply to the DC motor 110 is stopped and the rotation of the DC motor 110 is electrically stopped is stored as the origin position, and thereafter, the position shifted from the origin position is used as the operation reference. Although the motor 110 is controlled, the present invention is not limited to this. For example, the origin position may be used as the operation reference.

  In the above-described embodiment, the present invention has been described by taking a sliding contact type position detection device as an example. However, the present invention is not limited to this, and other position detection devices such as an optical encoder may be used. Can also be applied.

  In the above-described embodiment, the pulse generator 158 is provided on the output shaft 127. However, the present invention is not limited to this, and for example, a rotating part further decelerated for the pulse generator 158 (pulse plate 153) is provided. A pulse signal may be generated.

  In the above-described embodiment, the common pattern (common conductive portion pattern) 154 provided on the inner peripheral side from both pulse patterns 151 and 152 is provided. However, the present invention is not limited to this, and both pulses are provided. The common pattern 154 may be provided on the outer peripheral side of the patterns 151 and 152, or the common pattern 154 may be provided between both the pulse patterns 151 and 152.

  In the above-described tenth embodiment, the example in which the pulse signal of the initialization pattern is determined to be undetected every time the DC motor 110 is locked by any one of the stoppers 5a and 5b has been described. If the pulse signal of the initialization pattern cannot be detected even if the rotation is rotated by a certain angle or more, the DC motor 110 may be reversed by determining that the pulse signal of the initialization pattern has not been detected.

  In the above-described tenth embodiment, the electronic control device 500 and the plurality of electric control circuits 200 are configured to perform communication control. When the electronic control device 500 determines that the number of inversions of the DC motor 110 exceeds a certain number of times, the initialization is performed. The example in which it is determined that the detection of the pulse signal of the pattern has failed and the corresponding electric control circuit 200 is instructed to stop the DC motor 110 has been described. However, the present invention is not limited to this, and is related to the instruction from the electronic control device 500. Instead, as shown in FIG. 7, when the electric control circuit 200 determines that the number of inversions of the DC motor 110 exceeds a certain number in the case of controlling the actuator 100, the detection of the pulse signal of the initialization pattern has failed. It may be determined and the DC motor 110 may be stopped.

  Moreover, in the above-mentioned embodiment, although this invention was applied to the vehicle air conditioner, application of this invention is not limited to this.

DESCRIPTION OF SYMBOLS 100 Electric actuator 110 DC motor 120 Reduction gear 127 Output shaft 151 1st pulse pattern 152 2nd pulse pattern 153 Pulse pattern plate 154 Common pattern 155 1st contact brush 156 2nd contact brush 157 3rd contact brush

Claims (4)

An electric motor (110);
A pulse generator (158) for generating a pulse signal in accordance with the rotation of the electric motor and generating a pulse signal of an initialization pattern indicating the origin position of the rotation;
Control means for controlling the rotation angle of the rotating shaft in accordance with the pulse signal generated from the pulse generator;
Initial position setting means (S404 to S406) for stopping rotation of the electric motor and storing the stop position as an origin position when detecting the pulse signal of the initialization pattern;
An electric actuator system comprising: failsafe stop means for stopping rotation of the electric motor at a position where failsafe is performed when it is determined that detection of the pulse signal of the initialization pattern has failed. The fail-safe stopping means is
Even if the rotation of the electric motor is rotated in one direction by the initial position setting means, when it is determined that the pulse signal of the initialization pattern is not detected based on the pulse signal from the pulse generator, the electric motor Reversing means for reversing the rotation of the motor;
2. The electric actuator system according to claim 1, wherein when the number of times of reversal by the reversing unit exceeds a predetermined number of times, it is determined that the detection of the pulse signal of the initialization pattern has failed. An electric motor (110) for rotating the movable part (1a, 1b, 1c);
A pulse generator (158) for generating a pulse signal according to the rotation of the electric motor and generating a pulse signal of an initialization pattern indicating the origin position of the rotation within a rotation control range of the movable unit; A plurality of electric actuators (100) each comprising:
Control means for controlling the rotation angle of the rotating shaft for each electric actuator according to the pulse signal generated from the pulse generator, and stopping the rotation of the electric motor when detecting the pulse signal of the initialization pattern A plurality of electric control circuits (200) individually including initial position setting means (S404 to S406) for storing the stop position as an origin position;
An electronic control unit (500) in communication with the plurality of electrical control circuits,
When the electronic control device determines that the detection of the pulse signal of the initialization pattern has failed for each electric actuator, the electronic control device has a position in which the electric control circuit performs fail-safe for the electric control circuit for each electric actuator. An electric actuator system that commands to stop rotation. The electronic control device
Even if the rotation of the electric motor is rotated in one direction by the initial position setting means, based on the pulse signal from the pulse generator, the pulse signal of the initialization pattern is not detected and determined for each electric actuator. Reversing means for reversing the rotation of the electric motor for each electric actuator,
The electric motor according to claim 3, wherein when the number of times of reversing by the reversing means exceeds a certain number of times, the electric actuator is determined to have failed to detect the pulse signal of the initialization pattern. Actuator system.

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