JP2014073024A - Dc motor control device and game machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a DC motor control device capable of turning a DC motor by a preset amount of rotation.SOLUTION: A DC motor control device 1 comprises: a communication unit 11 for receiving a control command specifying a target amount of rotation and a target speed of revolution of a DC motor 2; a sensor interface unit 15 for receiving a detection signal from a rotation angle sensor 4 which outputs the detection signal each time the DC motor rotates by a prescribed angle of rotation; a control unit 13 for determining a set value of rotation speed of the DC motor 2 according to the target speed of revolution and calculating a total amount of rotation of the DC motor 2 from the start of rotation by a number of times the detection signal was received, and then lowering the set value of the DC motor than the target speed of revolution so that the DC motor 2 stops rotating just when the DC motor has turned by the target amount of rotation from the start of rotation before the total amount of rotation reaches the target amount of rotation; and a drive signal generation unit 14 for outputting a drive signal for causing the DC motor 2 to rotate according to its set value.

Description

  The present invention relates to a DC motor control device for controlling a DC motor and a gaming machine having such a DC motor control device.

  In order to enhance the interest of the player, a device such as a spinning machine or a ball game machine has been devised to produce an effect that appeals to the player's visual, auditory, or senses. In particular, in order to perform an effect appealing to the player's vision, the gaming machine may be provided with a movable body, for example, a movable accessory. Such moving range and moving speed of the movable body are set in advance according to the effects. Therefore, generally, the amount of rotation per step is determined, and the movable body is driven by a stepping motor that can control the amount of rotation in units of steps. Then, the number of steps corresponding to the amount of movement of the processor unit for effecting (hereinafter simply referred to as the effecting CPU), which is an example of the higher-level control device, moves to the designated position according to the state of the game. By transmitting a command to rotate the stepping motor to the control circuit of the stepping motor, the stepping motor rotates by the number of steps, and as a result, the movable body moves to the designated position (see, for example, Patent Document 1) ).

JP 2009-247833 A

  In recent years, there has been an increase in the number of movable bodies mounted on gaming machines in order to increase the interest of players. As the number of movable bodies mounted on the gaming machine increases, the number of motors that drive each movable body also increases. However, since the space on the back of the gaming machine is limited, it may be difficult to arrange the motors in the gaming machine as the number of motors increases. In particular, since a stepping motor needs to perform excitation control of a plurality of phases, the structure is complicated, and the stepping motor becomes larger accordingly. Furthermore, stepping motors are relatively expensive. Therefore, it is not preferable that the number of stepping motors increases.

  In order to increase the interest of the player, a large movable accessory may be mounted on the gaming machine. In order to drive such a movable accessory, a motor having a high torque is required. However, in order to increase the torque of the stepping motor, the stepping motor itself has to be increased in size, and as a result, there is a possibility that securing the arrangement space may be more difficult.

  On the other hand, there is a DC motor as a kind of generally available motor. A DC motor is less expensive than a stepping motor and is smaller than a stepping motor to produce the same torque. However, since the direct current motor cannot directly specify the rotation amount, the gaming machine is not suitable for driving a movable body whose movement amount per one time is predetermined.

  Accordingly, an object of the present invention is to provide a DC motor control device capable of rotating a DC motor by a preset rotation amount.

  As one form of this invention, the direct-current motor control apparatus which controls a direct-current motor is provided. The DC motor control device includes a communication unit that receives a control command that specifies a target rotation amount and a target rotation speed of the DC motor, and a rotation angle sensor that outputs a detection signal every time the DC motor rotates by a predetermined rotation angle. The sensor interface unit that receives the detection signal and the set value of the rotation speed of the DC motor are determined according to the target rotation speed, and the total rotation amount from the start of rotation of the DC motor is calculated according to the number of receptions of the detection signal. A controller that decelerates the set value from the target rotational speed so that the DC motor rotates at the target rotational amount from the start of rotation before the total rotational amount reaches the target rotational amount, and the rotational speed setting. A drive signal generating unit that generates a drive signal for rotating the DC motor according to the value and outputs the drive signal;

  In this DC motor control device, the control unit sets the rotational speed set value to a value indicating that the DC motor is stationary when the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount is less than the first predetermined value. It is preferable to rotate the DC motor with inertia until the total rotation amount matches the target rotation amount.

  Here, the first predetermined value is preferably set to a larger value as the target rotational speed is faster.

  Alternatively, when the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than the second predetermined value, the control unit may set the rotation speed setting value so as to become slower as the remaining rotation amount decreases. preferable.

  Alternatively, when the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than the third predetermined value, the control unit may set the set value of the rotation speed to a predetermined speed that is slower than the target rotation speed. preferable.

  In this DC motor control device, the control command represents that the DC motor stops at the set value of the rotational speed when the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than the first predetermined value. 1st stop control mode in which the DC motor is rotated by inertia until the total rotation amount matches the target rotation amount, and the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount is less than the second predetermined value Then, the second stop control mode in which the setting value of the rotation speed is set to become slower as the remaining rotation amount decreases, and the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount is a third predetermined value. If it is less than, it includes a stop control mode designation flag for designating any one of a plurality of stop control modes including a third stop control mode for setting the rotational speed set value to a predetermined speed slower than the target rotational speed. It is preferable. In this case, the control unit preferably determines the rotational speed setting value in accordance with the stop control mode designated by the stop control mode designation flag, so that the DC motor is stopped when it is rotated by the target rotation amount from the start of rotation. .

  Furthermore, it is preferable that the control command further includes a speed range designation signal for designating any partial range in a range of rotation speeds that can be set for the DC motor. In this case, it is preferable that a table showing the relationship between the value of the target rotational speed and the pulse width per cycle for controlling the current supply to the DC motor by the pulse width modulation method is set for each partial range. The control unit selects a table corresponding to the partial range specified in the speed range specification signal, determines the pulse width by referring to the selected table, and notifies the drive signal generation unit of the pulse width. It is preferable to cause the drive signal generation unit to generate a drive signal.

  According to another embodiment, the gaming machine main body, the movable body movably disposed on the front surface of the gaming machine main body, the direct current motor that drives the movable body, and the direct current motor each time the direct current motor rotates by a predetermined rotation angle. A gaming machine is provided that includes a rotation angle sensor that outputs a detection signal, a DC motor control device that controls a DC motor, and an effect control unit that controls an effect according to the state of the game. In this gaming machine, the effect control unit specifies the target rotation amount of the DC motor and the target rotation speed of the DC motor corresponding to the moving distance from the current position of the movable body to the moving destination according to the state of the game. A command is generated and the control command is transmitted to the DC motor control device. The DC motor control device determines and detects the setting value of the rotational speed of the DC motor according to the target rotational speed, the communication section that receives the control command, the sensor interface section that receives the detection signal from the rotational angle sensor Calculate the total amount of rotation from the start of rotation of the DC motor based on the number of signal receptions, and stop the DC motor from rotating at the target rotation amount before the total rotation amount reaches the target rotation amount. A control unit that decelerates the set value of the rotation speed from the target rotation speed; and a drive signal generation unit that generates a drive signal for rotating the DC motor according to the set value of the rotation speed and outputs the drive signal.

  The DC motor control device according to the present invention has an effect that the DC motor can be rotated by a preset rotation amount.

1 is a schematic configuration diagram of a DC motor control device according to one embodiment of the present invention. It is a circuit diagram of a motor drive circuit. It is a figure which shows an example of the table showing the relationship between the drive signal applied to each switch of a motor drive circuit, and the rotation direction of a DC motor. (A) is a figure which shows an example of the format of the control command containing operation information, (b) is a figure which shows an example of the format of the control command containing setting information. It is a figure which shows an example of the relationship between the value of a speed range setting flag, and a speed range. It is a figure which shows an example of the speed table for every speed range. (A) is a figure showing an example of the time transition of the drive signal of a DC motor in immediate stop mode. (B) is a figure showing an example of the time transition of the drive signal of a DC motor in an inertial movement mode. (C) is a figure showing an example of the time transition of the drive signal of a direct-current motor in deceleration mode. (D) is a figure showing an example of the time transition of the drive signal of a direct-current motor in stepped deceleration mode. It is an operation | movement flowchart of a stop control process in case the immediate stop mode is applied as a stop control mode. It is an operation | movement flowchart of a stop control process in case inertial movement mode is applied as stop control mode. It is an operation | movement flowchart of a stop control process in case deceleration control mode is applied as stop control mode. It is an operation | movement flowchart of a stop control process in case the step deceleration mode is applied as a stop control mode. It is an operation | movement flowchart of a DC motor control process. 1 is a schematic perspective view of a bullet ball game machine including a movable body device according to one embodiment of the present invention. 1 is a schematic rear view of a ball game machine including a DC motor control device according to one embodiment of the present invention. (A) is a schematic front view of the movable accessory part seen through the fixed accessory part, and (b) is a movable accessory part movable from the back side of the fixed accessory part. It is a schematic rear view when located at one end of the range, and (c) is a schematic rear view when the movable accessory portion is located at the other end of the movable range, as viewed from the back side of the fixed accessory portion. is there.

  Hereinafter, a DC motor control device according to an embodiment of the present invention will be described with reference to the drawings. When the DC motor control device receives a control command for designating the target rotation amount and the target rotation speed of the DC motor from the host control device, the DC motor control device rotates the DC motor at the target rotation speed. The DC motor control device calculates a total rotation amount after the DC motor starts rotating with respect to the control command based on a detection signal from a rotation angle sensor that outputs a detection signal every time the DC motor rotates by a predetermined angle. The remaining rotation amount, which is the difference between the total rotation amount and the target rotation amount, is obtained. Then, when the remaining rotation amount becomes less than a predetermined value, the DC motor control device stops the DC motor at the time when it rotates by the target rotation amount by decelerating the rotation speed of the DC motor.

  In addition, the DC motor control device is provided with an appropriate deceleration according to a movable body driven by the DC motor by a control command from among a plurality of methods for decelerating the DC motor when the remaining rotation amount becomes less than a predetermined value. Make the method selectively executable.

FIG. 1 is a schematic configuration diagram of a DC motor control device according to one embodiment of the present invention. As shown in FIG. 1, the DC motor control device 1 includes a communication circuit 11, a register 12, a control circuit 13, a drive signal generation circuit 14, and a sensor interface circuit 15.
Each of these units included in the DC motor control device 1 may be mounted on a circuit board (not shown) as a separate circuit, or may be mounted on the circuit board as an integrated circuit in which these units are integrated. May be.

  The DC motor control device 1 controls the DC motor 2 in accordance with the control command received from the host control device. Specifically, the DC motor control device 1 rotates the DC motor 2 at the target rotation speed specified by the control command. In the present embodiment, the DC motor control device 1 is a motor drive circuit that supplies a current to the DC motor 2 as a drive signal that is generated by a pulse width modulation (PWM) method and switches on / off of current supply to the DC motor 2. 3 to control the rotational speed of the DC motor 2. The DC motor control device 1 receives a detection signal indicating that the rotation shaft (not shown) of the DC motor 2 is rotated by a predetermined angle from the rotary encoder 4 and rotates. Calculate the total amount of rotation from the start. The DC motor control device 1 appropriately decelerates the DC motor 2 according to the difference between the target rotation amount specified by the control command and the total rotation amount, so that the DC motor 2 is rotated by the target rotation amount. 2 is stationary.

  FIG. 2 is a circuit diagram of the motor drive circuit 3. The motor drive circuit 3 has four switches TR1 to TR4. Each switch may be a transistor or a field effect transistor, for example. Among these, two switches TR1 and TR3 are connected in series between the power supply and the ground. Similarly, two switches TR2 and TR4 are connected in series between the power supply and ground. The positive terminal of the DC motor 2 is connected between the switches TR1 and TR3, while the negative terminal of the DC motor 2 is connected between the switches TR2 and TR4. The switch terminals of the switches TR1 to TR4 (for example, if the switches TR1 to TR4 are transistors are equivalent to the base terminals, and if the switches TR1 to TR4 are field effect transistors are equivalent to the gate terminals) are respectively driven. Connected to the signal generation circuit 14. The drive signal from the drive signal generation circuit 14 is input to the switch terminals of the switches TR1 to TR4.

FIG. 3 is a diagram illustrating an example of a table representing the relationship between the drive signal applied to each switch and the rotation direction of the DC motor 2.
As shown in the table 300, when the DC motor 2 is rotated forward, the pulse width corresponding to the rotational speed of the DC motor 2 set according to the PWM method is set on the switch terminal of the switch TR1 and the switch terminal of the switch TR4. A drive signal including a periodic pulse is applied. On the other hand, no drive signal is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. Thus, since the power supply voltage is applied to the positive terminal only while the pulse is applied to the switch TR1 and the switch TR4, the DC motor 2 is at a speed corresponding to the pulse width. Rotate forward.
When the DC motor 2 is rotated forward, a drive signal may be applied to one of the switches TR1 and TR4 and the other is always on.

On the other hand, when the DC motor 2 is reversed, a drive signal having a periodic pulse according to the rotational speed of the DC motor 2 set according to the PWM method is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. Is done. On the other hand, no drive signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. As a result, since the power supply voltage is applied to the negative terminal only while the pulses are applied to the switch TR2 and the switch TR3, the DC motor 2 is at a speed corresponding to the pulse width. Reverse.
When the DC motor 2 is reversely rotated, a drive signal may be applied to one of the switches TR2 and TR3, and the other may be always on.

  When the DC motor 2 is braked, the switch terminal of the switch TR3 and the switch terminal of the switch TR4 are turned on, and the switch terminal of the switch TR1 and the switch terminal of the switch TR2 are turned off.

  Further, when the DC motor 2 is not driven, the switch terminal of each switch is turned off.

  The rotary encoder 4 is an example of a rotation angle sensor, and can be, for example, an optical rotary encoder. The rotary encoder 4 is, for example, disposed so as to be opposed to a disk attached to the rotating shaft of the DC motor 2 and having a plurality of slits along a circumferential direction around the rotating shaft. A light source and a light receiving element. Each time any slit is positioned between the light source and the light receiving element, the light from the light source reaches the light receiving element, whereby the rotary encoder 4 outputs a pulsed detection signal. Thereby, the rotary encoder 4 outputs a detection signal every time the DC motor 2 rotates by a predetermined angle. For example, by providing 50 slits in the disk along the circumferential direction around the rotation axis of the DC motor 2, the rotary encoder 4 has 50 pieces while the rotation shaft of the DC motor 2 makes one rotation. The detection signal is output.

  Hereinafter, each part of the DC motor control device 1 will be described.

For example, the communication circuit 11 connects the DC motor control device 1 to a host control device. The host control device is, for example, an effect CPU for a gaming machine in which the DC motor control device 1 is mounted. The communication circuit 11 receives a control command having a plurality of bits that are serially transmitted from a higher-level control device. Note that the communication circuit 11 may also receive a clock signal for synchronizing with each of a plurality of bits included in the control command from the host control device in order to analyze the control command.
The control command is, for example, operation information for specifying the operation of the DC motor 2 such as a target rotation amount of the DC motor 2 corresponding to the moving amount of the movable body driven by the DC motor 2, or setting for the DC motor 2. And setting information to be defined. A set of operation information and setting information for the DC motor 2 is hereinafter referred to as a command set for convenience. One command set defines the operation of the movable body.
The clock signal can be, for example, a signal having a rectangular pulse for every predetermined number of bits in the control command.

  FIG. 4A is a diagram illustrating an example of a format of a control command including operation information. As shown in FIG. 4A, the control command 400 including the operation information includes, in order from the top, a START flag 401, a device address 402, an operation / setting switching flag 403, control data 404, and an END flag 405. And have. Further, the control command 400 may include a 1-bit spacer having a value of, for example, “0” between adjacent flags, addresses, and data.

The START flag 401 is a bit string indicating the head of the control command 400, and in the present embodiment, nine bits having a value of “1” are consecutive bit strings. The START flag 401 may be a bit string that does not match any other bit string in the control command 400.
The device address 402 is identification information for specifying a DC motor control device to be controlled by the control command 400, and is represented by a bit string having an 8-bit length in this embodiment. The device address 402 is determined by the communication circuit 11 whether or not it matches the identification address separately received from the higher-level control device. If they match, the DC motor control device 1 is determined to be the control target of the control command 400. The

  The operation / setting switching flag 403 is a 1-bit flag indicating whether the control command includes operation information or setting information. In the present embodiment, if the operation / setting switching flag 403 is “0”, the control command includes operation information, and if the operation / setting switching flag 403 is “1”, the control command includes setting information. In the example of FIG. 4A, since the control command 400 includes operation information, the operation / setting switch flag 403 is “0”.

  The control data 404 includes operation information of the DC motor 2 controlled by the DC motor control device 1. Specifically, the control data 404 includes a rotation direction flag 4041, speed data 4042, a stop control mode flag 4043, and rotation amount data 4044.

  The rotation direction flag 4041 is a 1-bit flag indicating the rotation direction of the DC motor 2. In this embodiment, if the rotation direction flag 4041 is “0”, the DC motor control device 1 causes the DC motor 2 to rotate forward, while if the rotation direction flag 4041 is “1”, the DC motor control device. 1 reverses the DC motor 2.

  The speed data 4042 represents the target rotational speed of the DC motor 2. In the present embodiment, the speed data 4042 is a bit string having a length of 4 bits and takes any value from “0” to “15”. If the speed data 4042 is “0”, it means that the DC motor 2 is braked, that is, a brake signal for turning on the switches TR3 and TR4 of the motor drive circuit 3 is output. If the speed data 4042 is “1” to “15”, it represents that the DC motor 2 is rotated at the target rotational speed obtained from the value of the speed data 4042 and the speed range set by the setting information. In this example, the larger the value of the speed data 4042, the faster the target rotation speed.

  The stop control mode flag 4043 is a 2-bit flag indicating a stop control mode for designating a stop method when the DC motor 2 that has once started rotating is stopped. If the stop control mode flag 4043 is “00”, the immediate stop mode is applied. If the stop control mode flag 4043 is “01”, the inertial movement mode is applied. On the other hand, if the stop control mode flag 4043 is “10”, the deceleration control mode is applied. If the stop control mode flag 4043 is “11”, the stepped deceleration mode is applied. Details of the stop control mode will be described later.

  The rotation amount data 4044 represents the target rotation amount of the DC motor 2. In this embodiment, the rotation amount data 4044 is a 13-bit bit string. The rotation amount data 4044 represents the target rotation amount by the number of detection signals received from the rotary encoder 4. That is, a value obtained by multiplying the value indicated in the rotation amount data 4044 by the center angle between adjacent slits of the rotary encoder 4 is the actual target rotation amount of the DC motor 2.

  The END flag 405 is a bit string indicating the end of the control command 400. The END flag 405 may be a bit string that does not match the START flag and other bit strings included in the control command.

  FIG. 4B is a diagram illustrating an example of a format of a control command including setting information. As shown in FIG. 4B, the control command 410 including setting information includes, in order from the top, a START flag 411, a device address 412, an operation / setting switching flag 413, a speed range setting flag 414, and an END. And a flag 415. As compared with the control command 400 including the operation information, the control command 410 including the setting information indicates that the value of the operation / setting switching flag 413 is “1” and sets the speed range setting flag 414 instead of the control data 405. It is different in including. Therefore, the speed range setting flag 414 will be described below.

The speed range setting flag 414 has a 2-bit length and designates a range that is actually used in a range in which the rotation speed of the DC motor 2 can be set as a speed range. Thus, by designating the speed range, the DC motor control device 1 and the host control device can specify the rotation speed in detail with a relatively small number of bits.
The rotational speed of the DC motor 2 also varies depending on the load torque determined by the weight of the movable body that the DC motor 2 drives. Therefore, the host control device can rotate the DC motor 2 at the target rotational speed without changing the value of the speed data by designating the speed range according to the load torque.

  FIG. 5 is a diagram illustrating an example of the relationship between the value of the speed range setting flag and the speed range. In the present embodiment, the DC motor control device 1 controls the rotational speed of the DC motor 2 by the PWM method. Therefore, the speed range is represented by a pulse width per cycle that the drive signal for driving the DC motor 2 has, that is, a range in which the duty ratio can be taken. When the value of the speed range setting flag is “00”, the duty ratio of the drive signal is set between 40% and 100% as indicated by an arrow 501. When the value of the speed range setting flag is “01”, the duty ratio of the drive signal is set between 30% and 90% as indicated by the arrow 502. Further, when the value of the speed range setting flag is “10”, the duty ratio of the drive signal is set between 20% and 80% as indicated by an arrow 503. When the value of the speed range setting flag is “11”, the duty ratio of the drive signal is set between 10% and 70% as indicated by an arrow 504.

  The target rotational speed of the DC motor 2 is set according to the value of the speed data 4042 included in the control data and the speed range specified by the speed range setting flag 414. For example, the specified speed range is divided into 15 equal parts. Then, possible values “0001” to “1111” of the speed data 4042 correspond to any one of the 15 equally divided speed ranges.

Furthermore, the communication circuit 11 receives an identification address for specifying the DC motor control device to be controlled by the control command from the upper control device. When the identification address matches the device address included in the control command, the communication circuit 11 writes the operation information or setting information included in the control command to the register 12. On the other hand, when the identification address and the device address do not match, the communication circuit 11 discards the received control command.
The communication circuit 11 has a memory circuit for storing the identification address so that it can be determined whether or not the identification address and the device address match even when the identification address and the timing of receiving the control command are different. You may do it.

  Further, when one command set stored in the register 12 is executed for the direct current motor 2 controlled by the direct current motor control device 1, the communication circuit 11 performs direct current by the target rotation amount included in the command set. When the motor 2 rotates, a command completion signal indicating that the command set has been executed is output to the host controller. The command completion signal can be a single pulse signal, for example.

The register 12 has a so-called first-in first-out (FIFO) type memory circuit having a storage capacity capable of storing at least one command set of the DC motor 2. The memory circuit included in the register 12 is configured by, for example, a volatile semiconductor memory circuit that can be read and written.
The register 12 stores the command set written by the communication circuit 11. When the command set is read by the control circuit 13, the command set is deleted.

  The control circuit 13 includes, for example, a processor and a nonvolatile memory circuit. Then, the control circuit 13 refers to the command set read from the register 12 and determines the rotation direction of the DC motor 2. The control circuit 13 determines the duty ratio of the drive signal based on the command set and the detection signal from the rotary encoder 4. Then, the control circuit 13 notifies the drive signal generation circuit 14 of the rotation direction and the duty ratio.

  In order to determine the duty ratio of the drive signal, the control circuit 13 sets the command set in the speed table that represents the correspondence between the speed data value and the duty ratio for each speed range, which is stored in advance in the memory circuit. The speed table corresponding to the value of the speed range setting flag included in is specified. Then, the control circuit 13 refers to the specified speed table to set the duty ratio corresponding to the speed data as the duty ratio corresponding to the target rotation speed.

  FIG. 6 is a diagram illustrating an example of a speed table for each speed range. The speed tables 601 to 604 correspond to speed range setting flag values “00”, “01”, “10”, and “11”, respectively. In each speed table, the value in each column in the left column represents speed data, and the value in each column in the right column represents the duty ratio of the drive signal corresponding to the speed data in the left adjacent column. For example, when the value of the speed range setting flag is “00” and the speed data is “0011”, the control circuit 13 determines the duty ratio corresponding to the target rotational speed as 55%.

  Further, every time the command set is executed, the control circuit 13 counts the number of detection signals received from the rotary encoder 4 after the DC motor 2 starts rotating by the execution of the command set, and totals the received detection signals. Is the total amount of rotation of the DC motor 2. Then, the control circuit 13 stores the total rotation amount in the memory circuit.

  Every time the total rotation amount of the DC motor 2 is updated, the control circuit 13 calculates the difference between the target rotation amount specified in the rotation amount data included in the command set and the total rotation amount as the remaining rotation amount. Then, the control circuit 13 sets the target rotation speed according to the stop control mode specified by the stop control mode flag included in the command set so that the DC motor 2 stops when the DC motor 2 rotates by the target rotation amount specified by the control command. The duty ratio is determined according to the corresponding duty ratio and the remaining rotation amount.

  The stop control mode will be described with reference to FIGS. 7 (a) to 7 (d). 7A to 7D, the horizontal axis represents the total rotation amount of the DC motor 2. On the other hand, the vertical axis indicates the voltage of the drive signal, ON indicates that the current flows through the DC motor 2, and OFF indicates that the current does not flow through the DC motor 2.

In this embodiment, the stop control mode is as follows.
(1) Immediate Stop Mode FIG. 7A is a diagram illustrating an example of time transition of the drive signal of the DC motor 2 in the immediate stop mode. In the immediate stop mode, the DC motor control device 1 cycles a pulse signal having a pulse width corresponding to the target rotation speed as the drive signal 701 until the total rotation amount from the rotation start of the DC motor 2 reaches the target rotation amount. To output automatically. After the total rotation amount reaches the target rotation amount, the drive signal becomes a brake signal for turning on only the switches TR3 and TR4 of the motor drive circuit 3. That is, no current flows through the DC motor 2. The immediate stop mode is used, for example, when the movable body driven by the DC motor 2 is lightweight, the target rotational speed is slow, and the DC motor 2 immediately stops when a brake signal is output.

(2) Inertial movement mode FIG.7 (b) is a figure showing an example of the time transition of the drive signal of the DC motor 2 in an inertial movement mode. In the inertial movement mode, the DC motor control device 1 uses the drive signal 702 as the drive signal 702 while the remaining rotation amount that is the difference between the target rotation amount and the total rotation amount is equal to or greater than a predetermined threshold Th (threshold Th> 0). A pulse signal having a pulse width corresponding to the target rotation speed is periodically output. When the remaining rotation amount becomes less than the threshold value Th, the DC motor control device 1 uses the drive signal 702 as a brake signal. Thus, after the brake signal is output, the DC motor control device 1 stops the DC motor 2 when the DC motor 2 is rotated by inertia corresponding to the threshold value Th. The DC motor 2 is controlled so that the total rotation amount becomes the target rotation amount. In the inertial movement mode, for example, the target rotational speed is high, or the movable body driven by the DC motor 2 is heavy, and even if a brake signal is output to the DC motor 2, the DC motor 2 rotates with inertia for a while after that. Used in cases.

(3) Deceleration control mode FIG.7 (c) is a figure showing an example of the time transition of the drive signal of the DC motor 2 in the deceleration control mode. In the deceleration control mode, while the remaining rotation amount is equal to or greater than a predetermined threshold Th (threshold Th> 0), the DC motor control device 1 uses the pulse signal having a pulse width corresponding to the target rotation speed as the drive signal 703. Are output periodically. When the remaining rotation amount becomes less than the threshold value Th, the DC motor control device 1 narrows the width of each pulse included in the drive signal 703 in order to make the rotation speed of the DC motor 2 slower than the target rotation speed. To do. When the DC motor 2 starts to decelerate and the DC motor 2 rotates by the amount of rotation corresponding to the threshold Th, that is, when the total amount of rotation of the DC motor 2 reaches the target rotation amount, the DC motor control is performed. The apparatus 1 stops the DC motor 2 using the drive signal 703 as a brake signal.

(4) Step Deceleration Mode FIG. 7D is a diagram illustrating an example of time transition of the drive signal of the DC motor in the step deceleration mode. Even in the stepped deceleration mode, while the remaining rotation amount is equal to or greater than a predetermined threshold value Th (threshold value Th> 0), the DC motor control device 1 uses a pulse signal having a pulse width corresponding to the target rotation speed as the drive signal 704. Are output periodically. When the remaining rotation amount becomes less than the threshold Th, the DC motor control device 1 narrows the width of each pulse included in the drive signal 704 in order to make the rotation speed of the DC motor 2 slower than the target rotation speed. To do. Then, the DC motor control device 1 reduces the rotation speed of the DC motor 2 by narrowing the pulse width as the remaining rotation amount decreases. Finally, after the DC motor 2 starts decelerating, when the DC motor 2 rotates by the rotation amount corresponding to the threshold Th, that is, when the total rotation amount of the DC motor 2 reaches the target rotation amount, The DC motor control device 1 stops the DC motor 2 using the drive signal 704 as a brake signal.

In the deceleration control mode and the stepped deceleration mode, for example, even when the target rotation speed is high or the movable body driven by the DC motor 2 is heavy, the total rotation amount of the DC motor 2 is more accurate than the inertial movement mode. It is used when the DC motor 2 is controlled so as to achieve the target rotation amount.
These stop control modes may be selected according to the behavior of a movable body driven by the DC motor 2, for example, a movable accessory of a gaming machine, when the DC motor 2 stops rotating. For example, when the play of the gear that transmits the rotation of the DC motor 2 to the movable accessory is large, the movable accessory exhibits the following behavior for each stop control mode.
When the immediate stop mode or the inertial movement mode is applied as the stop control mode, the movable accessory vibrates within the play range of the gear by the sudden stop of the DC motor 2. Therefore, the movable accessory can be shown to the player of the gaming machine as if the movable accessory collided with something.
On the other hand, when the deceleration control mode is applied as the stop control mode, the shock when the DC motor 2 is stopped is mitigated, so that the vibration of the movable accessory is also suppressed. Therefore, it can be shown to a player that a movable accessory stops without vibrating.
Further, when the step deceleration mode is applied as the stop control mode, the impact when the DC motor 2 is stopped is further alleviated. Therefore, it can be shown to a player that a movable accessory stops smoothly. Further, in this case, since the timing for starting to decelerate the DC motor 2 can be advanced, it is possible to make the player seem to slowly decelerate the movable accessory.

FIG. 8 is an operation flowchart of stop control processing when the immediate stop mode is applied as the stop control mode.
The control circuit 13 determines whether or not the detection signal from the rotary encoder 4 has been received via the sensor interface circuit 15 (step S101).
If the detection signal has not been received, the control circuit 13 repeats the process of step S101 until the detection signal is received.
On the other hand, when the control circuit 13 receives the detection signal, that is, when the DC motor 2 is rotated by a rotation angle corresponding to one step, the control circuit 13 is one step in the total rotation amount from the start of the rotation of the DC motor 2 for the command set being executed. The total rotation amount is updated by adding the minute rotation angle (step S102). Then, the control circuit 13 calculates the remaining rotation amount by subtracting the total rotation amount from the target rotation amount specified in the command set (step S103).

When the remaining rotation amount is found, the control circuit 13 determines whether or not the remaining rotation amount is 0 or less (step S104).
If the remaining rotation amount is larger than 0, that is, if the total rotation amount of the DC motor 2 has not reached the target rotation amount (step S104-No), the control circuit 13 sets the duty ratio of the drive signal to the target rotation speed. The corresponding duty ratio is set (step S105). Then, the control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio. The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the duty ratio, and outputs the drive signal to the motor drive circuit 3. Further, the control circuit 13 repeats the processes after step S101.

On the other hand, if the remaining rotation amount is 0 or less, that is, if the total rotation amount of the DC motor 2 has reached the target rotation amount (step S104-Yes), the control circuit 13 sets the duty ratio of the drive signal to 0. Set. Then, the control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio (step S106). When notified that the duty ratio is 0, the drive signal generation circuit 14 outputs a brake signal to the motor drive circuit 3.
Then, the control circuit 13 reports the command completion by transmitting a command completion signal indicating that the DC motor 2 has rotated by the target rotation amount to the upper control device via the communication circuit 11 (step S107). Thereafter, the control circuit 13 ends the stop control process.

FIG. 9 is an operation flowchart of stop control processing when the inertial movement mode is applied as the stop control mode.
In addition, since the process of step S201-step S203 is respectively the same as the process of step S101-S103 shown by FIG. 8, description is abbreviate | omitted.

  When the remaining rotation amount is obtained in step S203, the control circuit 13 determines whether or not the remaining rotation amount is less than the threshold value Th (step S204). The threshold value Th is a positive value corresponding to the amount of rotation from when the DC motor 2 is braked until the DC motor 2 stops. Note that the threshold value Th may be a predetermined fixed value, or may be set according to the target rotation speed so as to increase as the target rotation speed increases. In this case, for example, a table representing the relationship between the duty ratio of the drive signal and the threshold value Th is stored in advance in a memory included in the control circuit 13. Then, the control circuit 13 refers to the table and determines a threshold value Th corresponding to the duty ratio of the drive signal.

  If the remaining rotation amount is equal to or greater than the threshold Th, that is, if the brake is immediately applied to the DC motor 2, the total rotation amount does not reach the target rotation amount even when the rotation due to inertial motion is taken into consideration (step S204). -No), the control circuit 13 sets the duty ratio of the drive signal to a duty ratio corresponding to the target rotational speed (step S205). Then, the control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio. The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the duty ratio, and outputs the drive signal to the motor drive circuit 3. Further, the control circuit 13 repeats the processes after step S201.

  On the other hand, if the remaining rotation amount is less than Th (step S204—Yes), the control circuit 13 sets the duty ratio of the drive signal to 0. Then, the control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio (step S206). When notified that the duty ratio is 0, the drive signal generation circuit 14 outputs a brake signal to the motor drive circuit 3.

After setting the duty ratio of the drive signal to 0, the control circuit 13 determines whether or not the remaining rotation amount is 0 (step S207). If the remaining rotation amount is greater than 0 (No at Step S207), the control circuit 13 repeats the processes after Step S201.
On the other hand, if the remaining rotation amount is 0 or less (step S207-Yes), the control circuit 13 sends a command completion signal indicating that the DC motor 2 has rotated by the target rotation amount via the communication circuit 11 to the upper control. By transmitting to the apparatus, the completion of the instruction is reported (step S208). Thereafter, the control circuit 13 ends the stop control process.

FIG. 10 is an operation flowchart of stop control processing when the deceleration control mode is applied as the stop control mode.
In addition, since the process of step S301-step S303 is respectively the same as the process of step S101-S103 shown by FIG. 8, description is abbreviate | omitted.

  When the remaining rotation amount is obtained in step S303, the control circuit 13 determines whether or not the remaining rotation amount is less than the threshold value Th (step S304). Note that the threshold value Th may be a predetermined fixed value as in the inertial movement mode, or may be set according to the target rotation speed so as to increase as the target rotation speed increases. However, the remaining rotation amount threshold value Th in the deceleration control mode may be equal to or longer than the remaining rotation amount threshold value in the inertial movement mode.

  If the remaining rotation amount is equal to or greater than the threshold value Th (step S304—No), the control circuit 13 sets the duty ratio of the drive signal to a duty ratio corresponding to the target rotation speed (step S305). Then, the control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio. The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the duty ratio, and outputs the drive signal to the motor drive circuit 3. Further, the control circuit 13 repeats the processes after step S301.

On the other hand, if the remaining rotation amount is less than Th (step S304—Yes), the control circuit 13 sets the duty ratio of the drive signal to ½ of the duty ratio corresponding to the target rotation speed. The control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio (step S306). The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the duty ratio, and outputs the drive signal to the motor drive circuit 3.
In step S306, instead of setting the duty ratio of the drive signal to a duty ratio corresponding to ½ of the target rotation speed, the control circuit 13 sets the rotation speed at which the DC motor 2 can stop immediately when a brake signal is output. A corresponding duty ratio (for example, 5% to 10%) may be set. Alternatively, the control circuit 13 corresponds to the duty ratio of the drive signal after deceleration to such an extent that the DC motor 2 can smoothly decelerate, for example, 1/3, 2/5, 3/5 or 2/3 of the target rotational speed. It is good also as duty ratio to do.

After reducing the duty ratio of the drive signal, the control circuit 13 determines whether or not the remaining rotation amount is 0 or less (step S307). If the remaining rotation amount is greater than 0 (step S307—No), the control circuit 13 repeats the processing from step S301.
On the other hand, if the remaining rotation amount is 0 or less (step S307—Yes), the control circuit 13 sets the duty ratio of the drive signal to 0. The control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio (step S308). When notified that the duty ratio is 0, the drive signal generation circuit 14 outputs a brake signal to the motor drive circuit 3. Then, the control circuit 13 reports the completion of the command by transmitting a command completion signal indicating that the DC motor 2 has rotated by the target rotation amount to the upper control device via the communication circuit 11 (step S309). Thereafter, the control circuit 13 ends the stop control process.

FIG. 11 is an operation flowchart of stop control processing when the stepped deceleration mode is applied as the stop control mode.
The operation flowchart of the stop control process when the stepped deceleration mode shown in FIG. 11 is applied is compared with the operation flowchart of the stop control process when the deceleration control mode shown in FIG. 10 is applied. Only the process of step S406 is different, and the processes of steps S401 to S405 and steps S407 to S409 are the same as the processes of steps S301 to S305 and steps S307 to S309, respectively. Therefore, the process of step S406 will be described below.

In step S404, if the remaining rotation amount is less than the threshold value Th (step S404-Yes), the control circuit 13 sets the duty ratio of the drive signal to a duty ratio corresponding to the target rotation speed (remaining rotation amount / Th). Set to the value multiplied by. Then, the control circuit 13 notifies the drive signal generation circuit 14 of the duty ratio (step S406). The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the duty ratio, and outputs the drive signal to the motor drive circuit 3. Thereby, the DC motor 2 decelerates as the remaining rotation amount decreases.
Thereafter, when the remaining rotation amount becomes 0, the control circuit 13 sets the duty ratio of the drive signal to 0, and the drive signal generation circuit 14 outputs a brake signal. Thereafter, the control circuit 13 reports the command completion by transmitting a command completion signal to the host control device via the communication circuit 11.

  The drive signal generation circuit 14 includes, for example, a variable pulse generation circuit that can change the width of an output pulse, and a periodic pulse signal that is a drive signal generated by the variable pulse generation circuit. And a switch circuit for switching whether to output to the switch. Then, the drive signal generation circuit 14 generates a drive signal for driving the DC motor 2 according to the PWM method in accordance with the duty ratio notified from the control circuit 13, and sends the drive signal to any switch of the motor drive circuit 3. Output. Note that the length of one cycle of the drive signal is, for example, 50 μsec. For example, when the rotation direction notified from the control circuit 13 is normal rotation, the drive signal generation circuit 14 outputs periodic pulse signals to the switches TR1 and TR4 of the motor drive circuit 3. On the other hand, when the rotation direction notified from the control circuit 13 is reverse, the drive signal generation circuit 14 outputs periodic pulse signals to the switches TR2 and TR3 of the motor drive circuit 3.

  The sensor interface circuit 15 includes an interface circuit that receives a detection signal from the rotary encoder 4. The sensor interface circuit 15 outputs the detection signal to the control circuit 13 every time it receives the detection signal.

  FIG. 12 is an operation flowchart of a DC motor control process executed by the DC motor control device 1. This DC motor control process is executed each time the DC motor control device 1 receives a command set from a host control device and the command set is stored in the register 12.

  The control circuit 13 reads the command set stored in the register 12 and deletes the command set from the register 12 (step S501). Then, the control circuit 13 stores, in the memory of the control circuit 13, a flag representing the target rotation speed, the target rotation amount, and the rotation direction included in the command set.

  The control circuit 13 refers to the rotation direction flag to determine the rotation direction of the DC motor 2 and notifies the drive signal generation circuit 14 of the rotation direction (step S502). Further, the control circuit 13 notifies the drive signal generation circuit 14 of a duty ratio corresponding to the target rotation speed (step S503). The drive signal generation circuit 14 generates a drive signal having a pulse width corresponding to the duty ratio, and outputs the drive signal to the motor drive circuit 3. Thereby, the DC motor 2 starts to rotate.

  The control circuit 13 determines whether or not the value of the stop control mode flag is “00” (step S504). If the value of the stop control mode flag is “00” (step S504—Yes), the control circuit 13 executes motor stop control in the immediate stop mode (step S505).

  On the other hand, if the value of the stop control mode flag is not “00” (step S504—No), the control circuit 13 determines whether or not the value of the stop control mode flag is “01” (step S506). If the value of the stop control mode flag is “01” (step S506—Yes), the control circuit 13 executes motor stop control in the inertial movement mode (step S507).

On the other hand, if the value of the stop control mode flag is not “01” (step S506—No), the control circuit 13 determines whether or not the value of the stop control mode flag is “10” (step S508). If the value of the stop control mode flag is “10” (step S508—Yes), the control circuit 13 executes motor stop control in the deceleration control mode (step S509). On the other hand, if the value of the stop control mode flag is not “10” (step S508—No), the control circuit 13 executes motor stop control in the stepped deceleration mode (step S510).
After step S505, S507, S509, or S510, the DC motor control device 1 ends the DC motor control process.

  As described above, this DC motor control device uses a rotary encoder to determine the actual rotation amount from the start of rotation of the DC motor, and the DC motor is turned on before the actual rotation amount reaches the target rotation amount. Slow down. Thereby, this DC motor control device can rotate the DC motor by the target rotation amount. Furthermore, this DC motor control device can select a stop control mode to be applied from a plurality of stop control modes simply by rewriting the control command, so that the DC motor can be stopped depending on the application or the movable body driven by the DC motor. The time can be controlled appropriately.

In addition, this invention is not limited to said embodiment. For example, one control command may include both operation information and setting information. Further, according to the modification, the DC motor control device may correspond to only one of the plurality of stop control modes. In this case, the control command may not include the stop control mode flag.
According to another modification, the target rotational speed of the DC motor may be specified within the entire controllable range of the rotational speed of the DC motor, that is, the duty ratio of the drive signal is in the range of 0% to 100%. Good. In this case, the specification of the speed range in the setting information may be omitted.

  According to yet another modification, the control circuit measures the actual rotational speed of the DC motor according to the interval of the detection signal received from the rotary encoder, and the difference between the target rotational speed and the actual rotational speed is reduced. The speed table to be automatically applied may be switched. For example, if the actual rotational speed is slower than the target rotational speed, the control circuit will respond to the speed table corresponding to a faster speed range than the currently applied speed table, that is, the speed data value of the control command. Alternatively, the duty ratio of the drive signal may be determined by switching to a speed table that assigns a higher duty ratio. Conversely, if the actual rotational speed is higher than the target rotational speed, the control circuit sets the speed table corresponding to a slower speed range than the currently applied speed table, that is, the speed data value of the control command. Alternatively, the duty ratio of the drive signal may be determined by switching to a speed table that assigns a lower duty ratio.

  According to still another modification, the control command sets an automatic / manual switching flag for switching whether to specify a speed range to be applied by the control command or to determine the speed range by the automatic control as described above. Furthermore, you may have. For example, the automatic / manual switching flag may be provided in a control command including operation information, or may be provided in a control command including setting information. In this modification, the control circuit refers to the automatic / manual switching flag, and when the flag has a value (for example, “1”) indicating that the speed range is designated by the control command, the value of the speed range setting flag To determine the speed table to be applied. On the other hand, when the automatic / manual switching flag has a value (for example, “0”) indicating that the automatic control is performed, the control circuit determines the initial value of the duty ratio by the speed table specified by the speed range setting flag. Then, after the rotation of the DC motor 2 is started, the speed table applied by the automatic control as described above may be determined.

The DC motor control device according to the above-described embodiment or modification may be mounted on a gaming machine such as a bullet ball game machine or a spinning game machine.
FIG. 13 is a schematic perspective view of the ball game machine 100 including the DC motor control device according to the above-described embodiment or modification. FIG. 14 is a schematic rear view of the ball game machine 100. As shown in FIG. 13, the ball game machine 100 is provided in a large area from the top to the center, and includes a game board 101 that is a main body of the game machine, and a ball receiving part that is disposed below the game board 101. 102, an operation unit 103 having a handle, and a display device 104 provided in the approximate center of the game board 101.
Further, the ball game machine 100 is provided between the fixed board part 105 disposed below the game board 101 on the front surface of the game board 101 and the game board 101 and the fixed game part 105 for the production of the game. And a movable accessory part 106 arranged. A rail 107 is disposed on the side of the game board 101. On the game board 101, a number of obstacle nails (not shown) and at least one winning device 108 are provided.

  The operation unit 103 launches a game ball with a predetermined force from a launching device (not shown) according to the amount of rotation of the handle by the player's operation. The launched game ball moves upward along the rail 107 and falls between a number of obstacle nails. When it is detected by a sensor (not shown) that a game ball has entered any of the winning devices 108, the main control circuit 110 provided on the back surface of the game board 101 determines a predetermined value corresponding to the winning device 108 containing the game balls. The game balls are paid out to the ball receiving unit 102 via a ball payout device (not shown). Further, the main control circuit 110 displays various images on the display device 104 via the effect CPU 111 provided on the back of the game board 101.

  The movable accessory unit 106 is an example of a movable body that moves according to the state of the game, and is controlled by the DC motor control device 112 according to the embodiment of the present invention or a modification thereof provided on the back surface of the game board 101. DC motor 125 (see FIGS. 15A to 15C).

  FIG. 15A is a schematic front view of the movable accessory portion 106 driven by the DC motor control device 112 as seen through the fixed accessory portion 105, and FIG. FIG. 15C is a schematic rear view when the movable accessory part 106 is located at one end of the movable range, as viewed from the back side of the part 105, and FIG. 15C is a view from the rear side of the fixed accessory part 105. It is a schematic back view in case the movable accessory part 106 is located in the other end of the movable range.

  In this embodiment, the movable accessory part 106 includes a star-shaped decorative member 121 and a rod-shaped support member 122 that holds the decorative member 121 at one end. The support member 122 engages with a rail 123 provided on the back side of the fixed accessory portion 105 so as to contact the lower end of the support member 122 in an oblique direction from the lower left end of the game board 101 toward the upper right. It is held so as to be able to move straight along the rail 123. In this example, as shown in FIG. 15B, when the movable accessory part 106 is located at the lower left end of the movable range, the decorative member 121 is viewed from the front side of the game board 101. Is hidden behind the fixed accessory part 105 and is not visible to the player. On the other hand, as shown in FIG. 15C, when the movable accessory portion 106 is located at the upper right end of the movable range, the entire decorative member 121 is more than the fixed accessory portion 105. Thus, the player can visually recognize the entire decorative member 121.

  Teeth as linear gears are formed on the upper surface side of the support member 122, and these teeth are located on the lower left side of the support member 122 when the movable accessory part 106 is located at the upper right end of the movable range. It engages with a reduction gear 124 installed in the vicinity of the end position on the end side. The reduction gear 124 is engaged with a gear 127 attached to the rotating shaft 126 of the DC motor 125. Therefore, when the DC motor 125 rotates by a predetermined angle, the movable accessory portion 106 moves by a predetermined movement amount corresponding to the rotation angle via the gear 127 and the reduction gear 124. The DC motor 125 is controlled by the DC motor control device 112.

  On the basis of the state signal indicating the state of the game transmitted from the main control circuit 110 to the effect CPU 111, the effect CPU 111 determines the target coordinates of the movable accessory part 106 and generates a control command according to the determination. . Then, the rendering CPU 111 outputs the generated control command to the DC motor control device 112. For example, before the game ball enters the winning device 107, the directing CPU 111 moves the movable accessory portion 106 from the current location to the lower left of the movable range so that the movable accessory portion 106 is hidden by the fixed accessory portion 105. While specifying the rotation amount of the DC motor 125 corresponding to the moving distance to the end as the target rotation amount, for example, a control command specifying the deceleration control mode is transmitted to the DC motor control device 112. On the other hand, when it is detected that the game ball has entered the winning device 107 and a state signal indicating this is input from the main control circuit 110 to the effect CPU 111, the effect CPU 111 moves the movable accessory part 106 to its current location. The rotation amount of the DC motor 125 corresponding to the movement distance from the upper end of the movable range to the upper right end of the movable range is specified as a target rotation amount, and for example, a control command for specifying an inertial movement mode is generated, and the control command is Transmit to DC motor control device 112.

  The DC motor control device 112 is a DC motor control device according to the above-described embodiment or a modification thereof, and the DC motor 125 is targeted based on the control command received from the rendering CPU 111 and the detection signal received from the rotary encoder 128. The DC motor 125 is controlled so that it stops when it has been rotated by the amount of rotation. Thereby, the movable accessory part 106 can move to the movement destination according to the production accurately.

  Thus, those skilled in the art can make various changes in accordance with the embodiment to be implemented within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 DC motor control apparatus 2 DC motor 3 Motor drive circuit 4 Rotary encoder 11 Communication circuit 12 Register 13 Control circuit 14 Drive signal generation circuit 15 Sensor interface circuit 100 Ball game machine 101 Game board 102 Ball receiving part 103 Operation part 104 Display apparatus 105 Fixed accessory part 106 Movable accessory part 107 Rail 108 Prize winning device 110 Main control circuit 111 CPU for production
112 DC Motor Control Device 121 Decoration Member 122 Support Member 123 Rail 124 Reduction Gear 125 Stepping Motor 126 Rotating Shaft 127 Gear 128 Rotary Encoder

Claims (8)

A DC motor control device for controlling a DC motor,
A communication unit that receives a control command that specifies a target rotation amount and a target rotation speed of the DC motor;
A sensor interface unit that receives the detection signal from a rotation angle sensor that outputs a detection signal each time the DC motor rotates by a predetermined rotation angle;
The set value of the rotational speed of the DC motor is determined according to the target rotational speed, and the total rotation amount from the start of rotation of the DC motor is calculated according to the number of receptions of the detection signal, and the total rotation amount is A controller that decelerates the set value from the target rotational speed so that the DC motor is stopped when the target rotational amount is rotated from the start of rotation before reaching the target rotational amount;
A drive signal generating section for generating a drive signal for rotating the DC motor according to the set value of the rotation speed, and outputting the drive signal;
A direct-current motor control device comprising:   The control unit sets the set value to a value indicating that the DC motor is stationary when a remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount is less than a first predetermined value, The DC motor control device according to claim 1, wherein the DC motor is rotated by inertia until a rotation amount coincides with the target rotation amount.   The DC motor control device according to claim 2, wherein the first predetermined value is set to a larger value as the target rotational speed is faster.   The control unit sets the set value to be slower as the remaining rotation amount decreases when a remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than a second predetermined value. Item 4. The DC motor control device according to Item 1.   The control unit sets the set value to a predetermined speed slower than the target rotation speed when a remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than a third predetermined value. The DC motor control device according to 1. The control command is
When the remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than a first predetermined value, the set value is set to a value indicating that the DC motor is stationary, and the total rotation amount is the target rotation amount. A first stop control mode for rotating the DC motor by inertia until it coincides with a rotation amount;
A second stop control mode for setting the set value to be slower as the remaining rotation amount decreases, when a remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount is less than a second predetermined value; as well as,
A third stop control mode for setting the set value to a predetermined speed slower than the target rotation speed when a remaining rotation amount obtained by subtracting the total rotation amount from the target rotation amount becomes less than a third predetermined value; Including a stop control mode designation flag for designating one of a plurality of stop control modes,
The control unit determines the set value according to a stop control mode specified by the stop control mode specification flag, and stops the DC motor after rotating the DC motor by the target rotation amount from the start of rotation. The direct-current motor control device described. The control command further includes a speed range designation signal for designating any partial range of a range of rotational speeds that can be set for the DC motor, and the value of the target rotational speed and current supply to the DC motor A table showing the relationship with the pulse width per cycle for controlling the pulse width by the pulse width modulation method is set for each partial range,
The control unit selects the table corresponding to the partial range designated by the speed range designation signal, determines the pulse width by referring to the selected table, and generates the pulse width as the drive signal The DC motor control device according to any one of claims 1 to 6, wherein the drive signal generation unit generates the drive signal by notifying the unit. A gaming machine body,
A movable body movably disposed on the front surface of the gaming machine body;
A direct current motor for driving the movable body;
A rotation angle sensor that outputs a detection signal each time the DC motor rotates by a predetermined rotation angle;
A DC motor control device for controlling the DC motor;
A production control unit that controls production according to the state of the game,
The effect control unit is configured to specify a target rotation amount of the DC motor and a target rotation speed of the DC motor corresponding to a moving distance from the current position of the movable body to a moving destination according to the state of the game. Generate a command, transmit the control command to the DC motor control device,
The DC motor controller is
A communication unit for receiving the control command;
A sensor interface unit that receives the detection signal from the rotation angle sensor;
The set value of the rotational speed of the DC motor is determined according to the target rotational speed, and the total rotation amount from the start of rotation of the DC motor is calculated according to the number of receptions of the detection signal, and the total rotation amount is A controller that decelerates the set value from the target rotational speed so that the DC motor is stopped when the target rotational amount is rotated from the start of rotation before reaching the target rotational amount;
A drive signal generating section for generating a drive signal for rotating the DC motor according to the set value of the rotation speed, and outputting the drive signal;
A gaming machine characterized by comprising:

Images