JP2014107946A - Motor controller, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance calculation accuracy of abrasion loss of a brush.SOLUTION: The motor controller includes a current value detection unit, an amount of movement detection unit, and an abrasion loss calculation unit. The current value detection unit detects the current value with which a rotary brushed motor is electrified. The amount of movement detection unit detects the amount of movement of the rotary brushed motor. The abrasion loss calculation unit calculates the abrasion loss of a brush provided in the rotary brushed motor, based on the current value and the amount of movement.

Description

  Embodiments described herein relate generally to a motor control device and method.

  Conventionally, in a rotary electric motor with a brush, since the brush and the commutator are in contact with each other, the rotation of the electric motor causes wear of the brush. In order to maintain the rectifying performance of the brush, it is necessary to check the wear state of the brush and replace the brush when the brush reaches the wear limit.

  In order to confirm the state of wear of the brush, it was necessary not only to remove the housing but also to take out and visually check the brush from the brush holder. Since the work for visual recognition is complicated, a technique for estimating the wear amount based on the energization amount has been proposed.

JP-A-6-141513

  However, the prior art assumes that the motor is rotating when energized, but there is also a control mode that does not rotate when energized. Therefore, it is difficult to estimate the wear amount of the brush only from the energization amount of the motor.

  The motor control device according to the embodiment includes a current value detection unit, a movement amount detection unit, and a wear amount calculation unit. The current value detection unit detects a current value energizing the brushed rotary motor. The movement amount detection unit detects the movement amount of the brushed rotary motor. The wear amount calculation unit calculates a wear amount of a brush provided in the brushed rotary electric motor based on the current value and the movement amount. As an example, with this configuration, the amount of wear of the brush is calculated in consideration of the amount of movement of the rotary electric motor with the brush, so that the estimation of the amount of wear of the brush is more accurate.

  The motor control device according to the embodiment further includes an acquisition unit that acquires an influence coefficient indicating a degree of influence on the wear of the brush based on the heat generation of the brushed rotary motor, and the current value, the movement amount, and the It is preferable to calculate the amount of wear of the brush provided in the brush-type rotary electric motor based on the influence coefficient. As an example of this configuration, the amount of wear of the brush is calculated in consideration of the heat generation of the rotary motor with the brush, so that the estimation of the amount of wear of the brush becomes more accurate.

  In the motor control device according to the embodiment, it is preferable that the wear amount calculation unit calculates the wear amount based on a multiplication result of the current value, the movement amount, and the influence coefficient. As an example of this configuration, when the amount of movement is not detected, the amount of wear of the brush becomes “0”. Therefore, the amount of wear of the brush according to the actual state of the motor is calculated, and the amount of wear of the brush is estimated. There is an effect of higher accuracy.

  In the motor control device according to the embodiment, when the acquisition unit calculates a current integrated value obtained by integrating the current values, the current integrated value is subtracted when the brushed rotary motor is not energized. It is preferable that the influence coefficient based on the current integrated value is obtained. As an example, this configuration derives the current summation depending on whether or not the brushed rotary motor is energized, and thus has an effect of estimating the amount of wear of the brush with higher accuracy.

  The motor control device of the embodiment further includes a storage unit that stores the current integrated value and the influence coefficient due to heat generation of the brushed rotary motor estimated in the case of the current integrated value in association with each other, The acquisition unit preferably acquires the current integrated value and the influence coefficient associated with the storage unit. As an example of this configuration, the influence coefficient is derived from the correspondence between the current integrated value of the brushed rotary electric motor and the influence coefficient, so that the processing load can be reduced.

  It is preferable that the motor control device according to the embodiment further includes an output unit that outputs that when the wear amount calculated by the wear amount calculation unit exceeds a predetermined threshold. As an example, the configuration outputs an effect when the amount of wear of the brush exceeds a threshold value, thereby producing an effect that the user including the driver can recognize that the brush is worn.

  The motor control device according to the embodiment shows a current value detection unit that detects a current value that is energized in the brushed rotary motor, and a degree that affects the brush wear based on the heat generated by the brushed rotary motor. It is preferable to include an acquisition unit that acquires an influence coefficient, and a wear amount calculation unit that calculates a wear amount of a brush provided in the brush-type rotary electric motor based on the current value and the influence coefficient. As an example of this configuration, the amount of wear of the brush is calculated in consideration of the heat generation of the rotary motor with the brush, so that the estimation of the amount of wear of the brush becomes more accurate.

  The motor control device of the embodiment includes a current value detection step for detecting a current value energized in the brushed rotary motor, a movement amount detection step for detecting a movement amount of the brushed rotary motor, and the current value. A wear amount calculating step of calculating a wear amount of a brush provided in the brushed rotary electric motor based on the movement amount. As an example, with this configuration, the amount of wear of the brush is calculated in consideration of the amount of movement of the rotary electric motor with the brush, so that the estimation of the amount of wear of the brush is more accurate.

FIG. 1 is a block diagram illustrating an example of a configuration of a vehicle motor control / monitoring apparatus according to an embodiment. FIG. 2 is a diagram illustrating the concept of the conversion map according to the embodiment. FIG. 3 is a diagram for explaining the integrated current value calculated by the current value acquisition unit according to the embodiment. FIG. 4 is a flowchart illustrating an overall processing procedure in the motor control / monitoring apparatus according to the embodiment. FIG. 5 is a flowchart illustrating a procedure of an influence coefficient acquisition process due to motor heat generation in the motor control / monitoring apparatus according to the embodiment. FIG. 6 is a flowchart illustrating an overall processing procedure in the motor control / monitoring apparatus according to the first modification. FIG. 7 is a flowchart showing an overall processing procedure in the motor control / monitoring apparatus according to the second modification.

  Embodiments of a motor control / monitoring apparatus to which an electric motor control apparatus and method of the present invention are applied will be described. The motor control / monitoring device according to the present embodiment may be mounted on a vehicle (electric vehicle, fuel cell vehicle, etc.) that uses the motor as a drive source, but the mounting destination is not limited and the motor is driven. You may mount in the apparatus (system, components, etc.).

  FIG. 1 is a block diagram illustrating an example of a configuration of a vehicle motor control / monitoring device 100 according to an embodiment. As shown in FIG. 1, a meter display device 150 and a battery 160 are connected to the motor control / monitoring device 100. The battery 160 supplies power to the motor 103.

  The motor control / monitoring apparatus 100 includes a microcomputer 101, a motor driver 102, a motor 103, a movement amount detector 104, and a current detector 105.

  The motor driver 102 is an IC for rotating the motor 103 in accordance with the pulse signal input from the microcomputer 101.

  The motor 103 is a rotary electric motor with a brush driven by a battery 160. This embodiment does not limit whether to drive with an AC power supply or a DC power supply. In the present embodiment, the degree of wear of the brush provided in the brush holder after the housing of the motor 103 is removed is detected.

  The movement amount detector 104 detects the stroke (movement) amount of the motor 103 (rotary motor with brush), and outputs a signal indicating the detection result to the microcomputer 101 via the A / D converter 116.

  The current detector 105 detects a current flowing in the motor 103 (rotary motor with brush) and outputs a signal indicating the detection result to the microcomputer 101 via the A / D converter 116.

  The microcomputer 101 includes a CPU 111, a D / A converter 112, a modulator 113, a RAM 114, a ROM 115, and an A / D converter 116.

  The D / A converter 112 converts the digital control value for controlling the motor 103 output from the CPU 111 into an analog waveform signal for controlling the motor 103. The digital control value for controlling the motor 103 output from the CPU 111 is converted into an analog waveform signal for controlling the motor 103.

  The modulator 113 outputs a pulse signal for controlling the motor 103 by converting the threshold level (for example, PWM conversion) of the analog waveform signal converted to the D / A converter 112. .

  The A / D converter 116 converts the analog waveform signals output from the current detector 105 and the movement amount detector 104 into digital values.

  The ROM 115 is a rewritable non-volatile storage unit such as a flash ROM that does not lose data even when the power is turned off. In addition to the program executed by the CPU 111, the ROM 115 stores a conversion map for obtaining the heat generation amount from the integrated current value. The RAM 114 is used as a work area by the CPU 111.

  An EEPROM (Electrically Erasable Programmable Read-Only Memory) 117 is a non-volatile storage unit suitable for holding data because the data does not disappear even when the power is turned off. The EEPROM 117 according to the present embodiment stores an integrated value of wear parameters.

  The wear parameter is a parameter calculated as the degree of wear of the brush stored in the motor 103. The integrated value of the wear parameter is a value obtained by integrating the wear parameter after replacing the brush.

  The conversion map is a conversion table used for obtaining the amount of heat generated in the motor 103 from the integrated value of the current flowing in the motor 103. FIG. 2 is a diagram showing the concept of the conversion map. As shown in FIG. 2, the relationship between the integrated value Iint of the current and a coefficient T (hereinafter also referred to as an influence coefficient T) indicating the degree of influence on the brush wear due to heat generated by the motor 103 in the case of the integrated value. Is remembered.

  That is, the temperature acquisition unit 123 described later can obtain the influence coefficient T due to heat generation of the motor 103 from the current integrated value with reference to the conversion map shown in FIG.

  Returning to FIG. 1, the CPU 111 reads the software stored in the ROM 115, whereby the current value acquisition unit 121, the movement amount acquisition unit 122, the temperature acquisition unit 123, the wear amount calculation unit 124, and the determination unit 125. And the control unit 126 is realized.

  The current value acquisition unit 121 acquires a current value Imot that is energized to the motor 103 (rotary motor with brush) from the signal input from the current detector 105.

  Furthermore, the current value acquisition unit 121 calculates a current integrated value Iint obtained by integrating the current value Imot that has flowed since the motor 103 started based on the acquired current value Imot. When calculating the current integrated value Iint, the current value acquisition unit 121 according to the present embodiment integrates the current value Imot when the motor 103 is energized, and when the motor 103 is not energized, The current integrated value is subtracted by a predetermined value Isub. The predetermined value Isub varies depending on the motor specifications and characteristics. For this reason, the predetermined value Isub is set based on actual measurement or the like so as to obtain a correlation between a decrease in the temperature of the motor when no power is supplied after heat generation and a decrease in the integrated value.

  FIG. 3 is a diagram for explaining the integrated current value Iint calculated by the current value acquisition unit 121 according to the present embodiment. In the example shown in FIG. 3, the period 301 is a period in which the current value Imot energizing the motor 103 is small, the period 302 is the period in which the motor 103 is not energized, and the period 303 is the period in which the current value Imot energizing the motor 103 is large. And As described above, in the period 302 in which the motor 103 is not energized, the current value acquisition unit 121 subtracts the predetermined value Isub from the current integrated value Iint.

  Returning to FIG. 1, the movement amount acquisition unit 122 acquires the stroke (movement) amount ΔD of the motor 103 (rotary motor with brush) from the signal input from the movement amount detector 104.

  The temperature acquisition unit 123 acquires an influence coefficient T due to heat generated by the motor 103. The temperature acquisition unit 123 according to the present embodiment acquires an influence coefficient T due to heat generation of the motor 103 that is associated with the current integrated value Iint acquired by the current value acquisition unit 121 in the conversion map illustrated in FIG. . In the present embodiment, an example of estimating the influence coefficient T due to heat generation based on the integrated current value Iint will be described. However, other modes may be used, and the influence coefficient T due to heat generation is calculated based on the temperature actually measured by the motor 103. May be.

  The wear amount calculation unit 124 includes a current value Imot acquired by the current value acquisition unit 121, a movement amount ΔD acquired by the movement amount acquisition unit 122, an influence coefficient T due to heat generation acquired by the temperature acquisition unit 123, and Based on the above, the amount of wear of the brush in the motor 103 (hereinafter, a parameter indicating the amount of wear of the brush is referred to as a wear parameter) is calculated. In the present embodiment, the wear parameter is calculated based on the multiplication result of the absolute value of current | Imot |, the movement amount ΔD, and the influence coefficient T due to heat generation, but may be calculated by another method.

  Further, the determination unit 125 determines whether or not the calculated integrated value of the wear parameter exceeds a predetermined wear amount threshold value. Only when it is determined that it has exceeded, a notification to that effect is output to the meter display device 150.

  The meter display device 150 includes a buzzer 151 and a lamp 152, and outputs a warning sound from the buzzer 151 and a lamp 152 when receiving a notification when the integrated value of wear exceeds a threshold value from the determination unit 125. The lamp 152 indicating the wear is turned on.

  The control unit 126 controls the motor via the D / A converter 112 so that the brush in the motor 103 is not worn when the integrated value of wear exceeds the threshold value from the determination unit 125.

  Next, overall processing in the motor control / monitoring apparatus 100 according to the present embodiment will be described. FIG. 4 is a flowchart showing a procedure of the above-described processing in the motor control / monitoring apparatus 100 according to the present embodiment.

  First, the current value acquisition unit 121 calculates a current value Imot based on a signal from the current detector 105 (step S401).

  Next, the movement amount acquisition unit 122 calculates a movement (stroke) amount ΔD of the motor 103 based on a signal from the movement amount detector 104 (step S402).

  Thereafter, the temperature acquisition unit 123 acquires the coefficient of influence T on the brush wear due to the heat generated by the motor 103 estimated based on the current value Imot (step S403). A specific acquisition method will be described later.

  Thereafter, the wear amount calculation unit 124 calculates the wear parameter W from the product of the absolute value of the current value Imot, the movement (stroke) amount ΔD of the motor 103, and the influence coefficient T due to the heat generation of the motor 103 (step S404). ). Specifically, it is calculated by the following equation (1).

W = | Imot | * ΔD * T (1)

  As shown in the equation (1), by taking the product of | Imot | * ΔD and energizing but not rotating, | Imot | * ΔD = 0, so the wear parameter W is also ' 0 '. On the other hand, when the motor 103 is driven at a high speed, the increase amount of the wear parameter W becomes large. Thus, in the present embodiment, it is possible to calculate the wear parameter W according to the current and the rotation amount.

  Then, the wear amount calculation unit 124 adds the calculated wear parameter W to the wear parameter integrated value Wint, and integrates the wear parameter integrated value Wint (step S405). Specifically, it is calculated by the following equation (2).

Wint = Wint + W (2)

  The wear parameter integrated value Wint is an integrated value of the wear parameter accumulated after the brush of the motor 103 is replaced. The wear parameter integrated value Wint is held in the EEPROM 117, which is a non-volatile memory, regardless of whether or not the power of the vehicle system is turned off. When the motor 103 is restarted, the wear amount calculation unit 124 adds up the wear parameter integrated value Wint held when the power supply was turned off last time.

  Next, the determination unit 125 determines whether or not the wear parameter integrated value Wint is smaller than a threshold (wear threshold) Whtr for prompting the replacement of the brush (step S406). When it determines with it being small (step S406: Yes), a process is complete | finished as it is. The wear threshold Whtr is set to an appropriate value according to the actual mode.

  On the other hand, when the determination unit 125 determines that the wear parameter integrated value Wint is not smaller than the wear threshold value Whtr, in other words, not less than the threshold value (step S406: No), the buzzer 151, the lamp 152, etc. provided in the meter display device 150 The warning means warns the user including the driver who is driving the vehicle and prompts measures such as replacement (step S407).

  Thereafter, the control unit 126 performs control to reduce the wear of the brush of the motor 103 by limiting the use of the motor 103 that has caused the warning (step S408). This control includes, for example, operating at a lower current than normal, or setting the minimum operation without operating the optional function.

  By performing the above-described processing every predetermined period (for example, every 2 ms), it is possible to always monitor the wear state of the brush in the motor used in a system such as a vehicle.

  Next, the acquisition process of the influence coefficient T due to the heat generation of the motor 103 in step S403 in FIG. 4 in the motor control / monitoring apparatus 100 according to the present embodiment will be described. FIG. 5 is a flowchart showing a procedure of the above-described processing in the motor control / monitoring apparatus 100 according to the present embodiment.

  Next, the current value acquisition unit 121 determines whether or not the motor 103 is energized, in other words, whether or not the current value Imot> 0A (step S501). In determining whether the current is 0 A, an allowable error based on the accuracy of the current detector 105, the characteristics of the motor 103, and the like is set in advance.

  If the current value acquisition unit 121 determines that the current is energized (current value | Imot |> 0A) (step S501: Yes), the value obtained by squaring the current value Imot is added to the current integrated value Iint. The integrated value is updated (step S502). Specifically, it is calculated by the following equation (3).

Iint = Iint + Imot ^ 2 (3)

  When the motor is a resistor, the amount of heat generated is proportional to the power P (= current I * voltage V = current I ^ 2 * resistance R). If the motor resistance is a fixed value, the amount of heat generated is proportional to the square of the current. For this reason, in the formula (3), the square of the current value Imot is added to the current integrated value Iint.

  On the other hand, if the current value acquisition unit 121 determines that no current is supplied (current value | Imot | = 0A) (step S501: No), the predetermined value Isub is subtracted from the current integrated value Iint to update the integrated value. (Step S503). Specifically, it is calculated by the following equation (4). Note that the lower limit value of the current integrated value Iint is set to “0” so as not to become a negative value.

Iint = Iint−Isub (4)

  As described above, in the present embodiment, as shown in FIG. 3, the current integrated value Iint that increases according to the magnitude of the energized current during continuous energization and decreases according to the motor specifications / characteristics when not energized is acquired. it can.

  After steps S502 and S503, the temperature acquisition unit 123 refers to the conversion map shown in FIG. 2 and acquires an influence coefficient T due to heat generation of the motor 103 corresponding to the current integrated value Iint (step S504).

  By repeating the above-described processing at regular intervals, it is possible to always calculate the current integrated value Iint for deriving the influence coefficient T due to the heat generation of the motor 103. For example, the fixed cycle is preferably the same cycle as the FB cycle of motor current control, such as 500 μs.

  In a conventionally used motor (rotary motor with brush), the brush is worn according to the rotation. For this reason, there was a request to check the degree of wear. The wear of the brush is mainly caused when the brush and the commutator come into contact with each other when the brush rotates. However, there are also utilization methods such as pressing control and control for generating a torque equal to the reaction force of the mechanism, but energizing but not rotating. In this case, power is supplied, but wear hardly occurs. For this reason, in the method for calculating the wear parameter of the brush based on the energization amount proposed in the prior art, there is a deviation from the actual wear amount.

  Further, as a factor for promoting wear, there is heat generation of the motor due to continuous energization. Conventionally, acceleration of wear based on motor heat generated by continuous energization has not been considered.

  Therefore, in this embodiment, acceleration of wear based on motor heat generation is considered. In the motor control / monitoring apparatus 100 according to the present embodiment, the wear of the brush of the motor 103 is based on not only the energization current of the motor 103 but also the rotation amount (movement amount) of the motor 103 and the heat generation amount of the motor 103. The amount was to be estimated. Thereby, since the use mode in which the motor 103 is energized but does not rotate and the heat generated during energization are also taken into consideration, it is possible to estimate the wear amount of the brush with higher accuracy. As a result, efficient replacement and inspection of the brush of the motor 103 can be realized.

  Further, in the motor control / monitoring device 100 according to the present embodiment, the brush is completely completed by warning with one or more of the lamp 152 and the buzzer 151 of the meter display device 150 before the brush is completely worn. It is possible to suppress wear and loss of control.

  Further, after the warning, the control is shifted to a control with little addition to the motor brush. Thereby, reduction of wear progress can be aimed at. As a result, by reducing the wear progress, the continuous operation time can be extended until the brush is replaced.

(Modification 1)
In the embodiment described above, the example in which the wear state of the motor 103 is derived in consideration of the movement (stroke) amount of the motor 103 and the heat generation amount of the motor 103 has been described. However, the embodiment described above is not limited to deriving the wear state of the motor 103 by combining the movement (stroke) amount of the motor 103 and the heat generation amount of the motor 103. Therefore, in the first modification, an example in which the wear state of the motor 103 is derived from the movement (stroke) amount of the motor 103 will be described. Note that this variation can be realized with the same configuration as the embodiment, and the description of the configuration is omitted.

  Next, an overall process in the motor control / monitoring apparatus 100 according to this modification will be described. FIG. 6 is a flowchart illustrating the above-described processing procedure in the motor control / monitoring apparatus 100 according to the first modification.

  First, the current value acquisition unit 121 calculates a current value Imot based on a signal from the current detector 105 (step S601).

  Next, the movement amount acquisition unit 122 calculates a movement (stroke) amount ΔD of the motor 103 based on a signal from the movement amount detector 104 (step S602).

  Thereafter, the wear amount calculation unit 124 calculates the wear parameter W from the product of the absolute value of the current value Imot and the movement (stroke) amount ΔD of the motor 103 (step S603). Specifically, it is calculated by the following equation (5).

W = | Imot | * ΔD (5)

  Then, the wear amount calculation unit 124 adds the calculated wear parameter W to the wear parameter integrated value Wint, and updates the wear parameter integrated value Wint (step S604). This equation is the equation (2) shown in the above-described embodiment.

  Next, the determination unit 125 determines whether or not the wear parameter integrated value Wint is smaller than a threshold value (wear threshold value) Wtr1 for prompting brush replacement (step S605). When it determines with it being small (step S605: Yes), a process is complete | finished as it is. It should be noted that the wear threshold value Whtr1 is set to an appropriate value according to the actual mode.

  On the other hand, when the determination unit 125 determines that the wear parameter integrated value Wint is equal to or greater than the wear threshold value Whtr1 (step S605: No), the vehicle is driven by warning means such as the buzzer 151 and the lamp 152 provided in the meter display device 150. A warning is given to the user including the driver who is driving, and a measure such as replacement is urged (step S606).

  Thereafter, the control unit 126 performs control to reduce the wear of the brush of the motor 103 by limiting the use of the motor 103 that has caused the warning (step S607).

  In this modification, it is possible to detect the wear state according to the movement (stroke) amount of the motor 103 by the above-described processing.

(Modification 2)
In the second modification, an example in which the wear state of the motor 103 is derived from the heat generated by the motor 103 will be described. Note that this variation can be realized with the same configuration as the embodiment, and the description of the configuration is omitted.

  Next, an overall process in the motor control / monitoring apparatus 100 according to this modification will be described. FIG. 7 is a flowchart showing the above-described processing procedure in the motor control / monitoring apparatus 100 according to the second modification.

  First, the current value acquisition unit 121 calculates a current value Imot based on a signal from the current detector 105 (step S701).

  Thereafter, the temperature acquisition unit 123 acquires the influence coefficient T due to the heat generation of the motor 103 estimated based on the current value Imot (step S702). Note that a specific method for obtaining the influence coefficient T is the same as that in the embodiment, and a description thereof is omitted.

  Thereafter, the wear amount calculation unit 124 calculates the wear parameter W from the product of the absolute value of the current value Imot and the influence coefficient T of heat generation (step S703). Specifically, it is calculated by the following equation (6).

W = | Imot | * T (6)

  Then, the wear amount calculation unit 124 adds the calculated wear parameter W to the wear parameter integrated value Wint, and updates the wear parameter integrated value Wint (step S704).

  Next, the determination unit 125 determines whether or not the wear parameter integrated value Wint is smaller than a threshold value (wear threshold value) Whtr2 for prompting replacement of the brush (step S705). When it determines with it being small (step S705: Yes), a process is complete | finished as it is. Note that the wear threshold value Whtr2 is set to an appropriate value according to the actual mode.

  On the other hand, when the determination unit 125 determines that the wear parameter integrated value Wint is greater than or equal to the wear threshold value Whtr2 (step S705: No), the vehicle is driven by warning means such as the buzzer 151 and the lamp 152 provided in the meter display device 150. A warning is given to the user including the driver who is driving, and a measure such as replacement is urged (step S706).

  Thereafter, the control unit 126 performs control to reduce the wear of the brush of the motor 103 by limiting the use of the motor 103 that has caused the warning (step S707).

  In the present modification, it is possible to detect the wear state according to the amount of heat generated by the motor 103 by the above-described processing.

  Although the motor control / monitoring apparatus 100 according to the above-described embodiment can be used for a clutch, a steering, or the like, the use destination is not limited and any configuration having a brushed rotary motor may be used.

  Although the embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. The novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 100 ... Motor control and monitoring apparatus, 101 ... Microcomputer, 102 ... Motor driver, 103 ... Motor, 104 ... Movement amount detector, 105 ... Current detector, 111 ... CPU, 112 ... D / A converter, 113 ... Modulator , 114 ... RAM, 115 ... ROM, 116 ... A / D converter, 117 ... EEPROM, 121 ... current value acquisition unit, 122 ... movement amount acquisition unit, 123 ... temperature acquisition unit, 124 ... wear amount calculation unit, 125 ... Judgment unit, 126 ... control unit, 150 ... meter display device, 151 ... buzzer, 152 ... lamp, 160 ... battery

Claims (8)

A current value detector for detecting a current value energized in the brushed rotary motor;
A movement amount detector for detecting a movement amount of the brushed rotary motor;
A wear amount calculation unit that calculates a wear amount of a brush provided in the brushed rotary electric motor based on the current value and the movement amount;
An electric motor control device. An acquisition unit for acquiring an influence coefficient indicating a degree of influence on the wear of the brush based on heat generation of the brushed rotary motor;
Based on the current value, the amount of movement, and the influence coefficient, to calculate the amount of wear of the brush provided in the brushed rotary motor,
The motor control device according to claim 1. The wear amount calculation unit calculates the wear amount based on a multiplication result of the current value, the movement amount, and the influence coefficient.
The motor control device according to claim 2. The acquisition unit calculates a current integrated value obtained by integrating the current values, and subtracts the current integrated value when the brushed rotary motor is not energized, and based on the current integrated value. Obtaining the influence coefficient,
The motor control device according to claim 2 or 3. A storage unit that associates and stores the current integrated value and the influence coefficient due to heat generation of the brushed rotary motor estimated in the case of the current integrated value;
The acquisition unit acquires the influence coefficient associated with the current integrated value and the storage unit,
The motor control device according to claim 4. When the wear amount calculated by the wear amount calculation unit exceeds a predetermined threshold, an output unit that outputs that effect,
The motor control device according to any one of claims 1 to 5, further comprising: A current value detector for detecting a current value energized in the brushed rotary motor;
An acquisition unit for acquiring an influence coefficient indicating a degree of influence on the wear of the brush based on the heat generated by the brushed rotary motor;
Based on the current value and the influence coefficient, a wear amount calculation unit that calculates a wear amount of a brush provided in the brushed rotary electric motor,
An electric motor control device. A current value detecting step for detecting a current value energized in the brushed rotary motor;
A movement amount detecting step for detecting a movement amount of the brushed rotary motor;
A wear amount calculating step for calculating a wear amount of a brush provided in the brushed rotary electric motor based on the current value and the movement amount;
A method for controlling an electric motor including:

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