JP2021083271A - Motor drive device, motor drive system, and motor drive method - Google Patents

Abstract

To provide a motor drive device, etc. that can appropriately use a signal from a Hall sensor according to a state of a moving object.SOLUTION: A motor drive device includes a parameter calculation unit that calculates a state parameter representing a state of a rotor based on a signal output from a Hall sensor and a control unit that controls the rotor via a drive unit based on the state parameters calculated by the parameter calculation unit. The parameter calculation unit calculates a state parameter based on a signal from each of a plurality of Hall sensors if a predetermined condition is satisfied and calculates the state parameter based on a portion of the signal from each of the plurality of Hall sensors if the predetermined condition is not satisfied.SELECTED DRAWING: Figure 3

Description

The present invention relates to a motor drive device, a motor drive system and a motor drive method.

A hall sensor is used as a sensor for detecting the rotation angle of a mover of a brushless motor that drives a vehicle door or the like (see Patent Document 1 and the like). For example, in a three-phase brushless motor, the energized phase can be switched by using three Hall sensors.

Japanese Unexamined Patent Publication No. 2005-318724

On the other hand, the hall sensor can also be used as a sensor for detecting the position and operating speed of a moving body such as a door driven by a brushless motor. However, since the frequency of the pulse signal obtained from the Hall sensor changes depending on the moving speed of the moving body, the detection accuracy changes according to the moving speed of the moving body. Further, the accuracy required for detecting the moving speed of the moving body may differ depending on the position and the moving direction of the moving body.

An object of the present invention is to provide a motor drive device, a motor drive system, and a motor drive method capable of appropriately utilizing a signal from a hall sensor according to a state of a moving body.

On one side, a drive unit that drives the rotor of a brushless motor used as a power to move a moving body and signals having different phases from each other depending on the position in the circumferential direction of the rotor driven by the drive unit are transmitted. Based on a plurality of Hall sensors to be output, a parameter calculation unit that calculates a state parameter representing the state of the rotor based on the signal output from the Hall sensor, and the state parameter calculated by the parameter calculation unit. The parameter calculation unit includes a control unit that controls the rotor via the drive unit, and the parameter calculation unit is based on the signals from each of the plurality of Hall sensors when a predetermined condition is satisfied. Provided is a motor drive device that calculates a state parameter and calculates the state parameter based on a part of the signal from each of the plurality of Hall sensors when the predetermined condition is not satisfied.

According to the present invention, the signal from the Hall sensor can be appropriately used according to the state of the moving body.

It is a top view which shows the outline of the slide door opening / closing device 14 including the motor drive device 41. It is explanatory drawing which shows the structure of the switchgear 14. It is a figure which shows the detail of the motor drive device 41, and the electric motor 21. It is a time chart which shows the signal of each part in switchgear 14, and (a) is the figure which shows the operation time chart of each part when the motor drive device 41 drives the electric motor 21 in the forward rotation, (b) and (c). Is a diagram showing the relationship between the rotor position sequence Sn when the electric motor 21 is driven in the forward rotation or the reverse rotation, and the energization pattern to the electric motor 21. It is a figure which illustrates the speed map which defines the target speed Vc when the slide door 12 is closed. It is a figure which illustrates the speed map which defines the target speed Vc at the time of opening a slide door 12. It is a flowchart which shows the process in the position speed calculation unit 54. It is a flowchart which shows each process of step S100 (processing at the time of closing operation). It is a flowchart which shows another process in a position speed calculation unit 54. It is a flowchart which shows the example (processing at the time of open operation; step S200A) which changed the processing shown in FIG. It is a flowchart which shows each process of step S100 (process at the time of open operation). It is a flowchart which shows another process in a position speed calculation unit 54. It is a flowchart which shows the example (process at the time of open operation; step S400A) which changed the process shown in FIG.

FIG. 1 is a plan view showing an outline of an opening / closing device 14 of a sliding door 12 provided with a motor driving device 41 according to an embodiment of the present invention.

As shown in FIG. 1, a sliding door 12 as a moving body is attached to the side portion of the vehicle 11. The sliding door 12 is guided by a guide rail 13 fixed to the vehicle 11 and can move in the front-rear direction of the vehicle between the fully open position shown by the solid line and the fully closed position shown by the alternate long and short dash line in FIG. There is.

The vehicle 11 is provided with an opening / closing device 14, and the opening / closing device 14 opens / closes the slide door 12 according to a predetermined operation. The switchgear 14 has a drive unit 15 fixed to the vehicle 11. The drive unit 15 drives a cable 16 for moving the slide door 12. The cable 16 is hung on the reversing pulley 17 and the reversing pulley 18 arranged at both ends of the guide rail 13, and both ends of the cable 16 are connected to the slide door 12 from the front side and the rear side of the vehicle 11, respectively. ing. When either one side of the cable 16 is pulled by the drive unit 15, the sliding door 12 can move in the opening direction or the closing direction while being pulled by the cable 16.

FIG. 2 is an explanatory diagram showing the configuration of the switchgear 14.

As shown in FIG. 2, the drive unit 15 is provided with an electric motor 21. The electric motor 21 is a three-phase (U-phase, V-phase, and W-phase) DC brushless motor. The electric motor 21 operates by supplying an applied voltage Vu, an applied voltage Vv, and an applied voltage Vw to each of the three phases from the motor driving device 41 according to a predetermined energization pattern.

A rotor 47 (permanent magnet) is fixed to the rotating shaft 21a of the electric motor 21. In the vicinity of the rotation trajectory of the rotor 47, three hall ICs 48u, hall IC48v, and hall IC48w as rotation sensors are provided at positions 120 degrees with each other about the rotation shaft 21a. When the rotating shaft 21a of the electric motor 21 rotates, these three Hall IC48u, Hall IC48v, and Hall IC48w each generate a pulse signal Su, a pulse signal Sv, and a pulse signal Sw that are 120 degrees out of phase with each other. Output to 41.

Further, the drive gear 24 is fixed to the rotating shaft 21a of the electric motor 21. A large-diameter spur gear 25 is meshed with the drive gear 24, and a driven gear 28 fixed to the output shaft 27 is meshed with the small-diameter spur gear 26 that rotates integrally with the large-diameter spur gear 25. As a result, the rotation of the electric motor 21 is decelerated at a predetermined reduction ratio and transmitted to the output shaft 27.

A cylindrical drum 31 having a spiral guide groove (not shown) formed on the outer peripheral surface of the output shaft 27 is fixed to the output shaft 27. The cable 16 guided by the drive unit 15 is wound around the drum 31 a plurality of times along the guide groove. When the electric motor 21 operates, the drum 31 is driven by the electric motor 21 to rotate, thereby driving the cable 16 and opening and closing the slide door 12. That is, when the electric motor 21 rotates in the forward direction (rotates in the clockwise direction in FIG. 2), the drum 31 rotates in the counterclockwise direction in FIG. As a result, the cable 16 on the rear side of the vehicle is wound around the drum 31, and the slide door 12 moves in the opening direction while being pulled by the cable 16. On the contrary, when the electric motor 21 reverses (rotates in the counterclockwise direction in FIG. 2), the drum 31 rotates in the clockwise direction in FIG. As a result, the cable 16 on the front side of the vehicle is wound around the drum 31, and the slide door 12 moves in the closing direction while being pulled by the cable 16. In this way, the slide door 12 is connected to the electric motor 21 via the cable 16, the drum 31, the output shaft 27, and the like, and is opened and closed by the electric motor 21.

A tensioner 32 is provided between the drum 31, the two reversing pulleys 17, and the reversing pulley 18. The tensioner 32 takes the slack of the cable 16 between the drum 31 and the sliding door 12 to maintain the cable tension within a certain range. The tensioner 32 has a fixed pulley 32a and a movable pulley 32b, respectively. The movable pulley 32b is urged in the rotational direction by a spring member 32c with the fixed pulley 32a as an axis, and the cable 16 has the fixed pulley 32a and the movable pulley. It is hung between 32b. Therefore, when the cable 16 becomes loose, it is urged by the movable pulley 32b to increase the movement path of the cable 16, whereby the tension of the cable 16 is maintained.

The drive unit 15 is provided with a motor drive device 41. The motor drive device 41 controls the operation of the electric motor 21 so as to open and close the slide door 12 at a preset target speed (hereinafter referred to as a target speed Vc).

FIG. 3 is a diagram showing details of the motor drive device 41 and the electric motor 21.

As described above, the electric motor 21 is a three-phase DC brushless motor. The electric motor 21 is a so-called inner rotor type, and includes a rotor 47 (magnet rotor) configured by embedding a permanent magnet (magnet) including a pair of N poles and S poles. Further, the electric motor 21 has U-phase, V-phase, and W-phase stator windings 21u, 21v, and 21w arranged around the rotor 47 at positions of 120 degrees with respect to the rotation shaft 21a. Be prepared.

Further, at positions close to the rotor 47, rotation position detecting elements (Hall IC48u, Hall IC48v, and Hall IC48w) are arranged at positions 120 degrees with respect to the rotation shaft 21a. These Hall ICs output a signal for detecting the rotational position of the rotor 47.

The motor drive device 41 for controlling the electric motor 21 includes a drive unit 42, a DC power supply 44, and a control unit 50.

The drive unit 42 includes transistors 42a to 42f which are MOSFETs (Metal-oxide-semiconductor Field Effect Transistors) as six switching elements connected in a three-phase bridge type. In this case, the drive unit 42 incorporates body diodes 43a to 43f between each source and drain. Each gate of the six bridge-connected transistors 42a to 42f is connected to the control unit 50. Further, the source or drain of the six transistors 42a to 42f is connected to the stator windings 21u, 21v, and 21w. As a result, the six transistors 42a to 42f perform a switching operation by the drive signals H1 to H6 as pulse width modulation signals (PWM (Pulse Width Modulation) signals) input from the control unit 50, and are applied to the drive unit 42. The power supply voltage of the DC power supply 44 is converted into three-phase (U-phase, V-phase, W-phase) applied voltages Vu, Vv, and Vw, and supplied to the stator windings 21u, 21v, and 21w. Any element, for example, an IGBT (Insulated Gate Bipolar Transistor) can be used as the switching element. In this case, a built-in or external freewheel diode can be used instead of the body diodes 43a to 43f.

The control unit 50 uses pulse width modulation signals (PWM) to drive the drive signals H1 to H6 for driving the gates of the transistors 42a to 42f of the drive unit 42 in order to variably control the voltages Vu, Vv, and Vw applied to the electric motor 21. Formed as a signal).

As shown in FIG. 3, the control unit 50 includes a drive signal generation unit 51 (an example of a control unit), a pre-driver 52, a ROM (Read Only Memory) 53, and a position / velocity calculation unit 54 (an example of a parameter calculation unit). Consists of including.

The drive signal generation unit 51 includes a speed signal V (an example of a state parameter) and a position signal P (an example of a state parameter) input from the position / speed calculation unit 54, and the hall IC48u, the hall IC48v, and the hall IC48w (of the hall sensor). Based on the pulse signal Su, the pulse signal Sv, and the pulse signal Sw from (1 example), a PWM command signal (FIG. 3) is generated and output to the pre-driver 52.

The pre-driver 52 forms drive signals H1 to H6 for alternately switching the transistors 42a to 42f based on the input PWM command signal, and outputs the drive signals H1 to H6 to the drive unit 42. As a result, the drive unit 42 applies an energization pattern of the applied voltages Vu, Vv, Vw that alternately energize the stator windings 21u, 21v, and 21w to the stator windings 21u, 21v, 21w, and causes the rotor. 47 is rotated in a predetermined rotation direction.

As shown in FIG. 3, the drive signal generation unit 51 is connected to the open / close switch 45. When the operator operates the open / close switch 45 and the open / close switch 45 inputs the operation signal S instructing the start of opening / closing of the door to the drive signal generation unit 51, the drive signal generation unit 51 inputs from the position / speed calculation unit 54. A PWM command signal is generated according to the speed signal V and the position signal P, and is output to the predriver 52. As will be described later, the operation signal S from the open / close switch 45 is also input to the position / speed calculation unit 54.

The calculation of the duty (ratio of the drive signal output by the pre-driver 52 to the cycle of the on period) by the drive signal generation unit 51 is executed as follows. That is, the drive signal generation unit 51 performs feedback control based on the moving speed of the slide door 12 (speed of the speed signal V) and the target speed Vc preset and stored in the ROM 53, for example, proportional integration (PI). ) Calculate the duty by control. For example, the drive signal generation unit 51 calculates the duty of the drive signals H1 to H6 based on the moving speed of the slide door 12 indicated by the speed signal V and the target speed Vc, and x = kp (V-Vc) + kiΣ ( V-Vc) is calculated. That is, the drive signal generation unit 51 calculates the output x by referring to the speed map stored in the ROM 53. Here, kp indicates a proportional gain and ki indicates an integrated gain. The speed map that defines the target speed Vc will be described later.

The position / speed calculation unit 54 generates the speed signal V and the position signal P used by the drive signal generation unit 51 to generate the PWM command signal from the pulse signals Su, Sv, and Sw output by the hall ICs 48u, 48v, and 48w, respectively. To do.

When the pulse signals Su, Sv, and Sw output by the hall ICs 48u, 48v, and 48w are input, the position speed calculation unit 54 determines the rotation speed of the electric motor 21, that is, the slide door 12 based on the pulse signal generation interval. The moving speed of is calculated, and the speed signal V is output. Further, the position / velocity calculation unit 54 detects the position of the slide door 12 by counting (integrating) the switching of the pulse signal starting from the time when the slide door 12 reaches the reference position (for example, the fully closed position). The position signal P is output.

As will be described later, the number of pulse signals Su, Sv, and Sw used by the position speed calculation unit 54 to calculate the moving speed of the slide door 12 and the position of the slide door 12 depends on the state of the slide door 12. Change. That is, the position / speed calculation unit 54 uses only one pulse signal, for example, only the pulse signal Su, or all of the pulse signals Su, Sv, and Sw, depending on the state of the slide door 12, and the moving speed of the slide door 12. And the position of the sliding door 12 is calculated.

FIG. 4 is a time chart showing signals of each part in the switchgear 14.

FIG. 4A shows an operation time chart of each part when the motor driving device 41 drives the electric motor 21 in the forward rotation. 4 (b) and 4 (c) are diagrams showing the relationship between the rotor position sequence Sn when the electric motor 21 is driven in the forward rotation or the reverse rotation, and the energization pattern to the electric motor 21. is there.

In the operation of driving the electric motor 21 in the forward rotation, the hall ICs 48u, 48v, and 48w output high signals (H signals) or low signals (L signals) as pulse signals Su, Sv, and Sw, respectively, as shown in FIG. To do. For example, when the rotor 47 is in the rotation position of S1 of the rotor position sequence Sn, the pulse signals Su, Sv, and Sw are H signals, L signals, and H signals, respectively. That is, since it is detected by three Hall ICs, the position signal pattern is HL (indicated by a signal in which pulse signals Su, Sv, and Sw are arranged in parallel), and this position signal pattern is conveniently used. Let the position signal pattern be "A". When the rotor position sequence Sn is S2, the position signal pattern is HLL and the position signal pattern is “B”.

That is, the position signal patterns of the pulse signals Su, Sv, and Sw change in the order of "A" to "F" corresponding to the rotor position sequences S1 to S6 in which the rotor position rotates 360 °.

On the other hand, the drive signal generation unit 51 outputs a PWM command signal for rotating the electric motor 21 in the forward direction to the pre-driver 52 at a predetermined timing based on the position signal patterns of the pulse signals Su, Sv, and Sw. .. The pre-driver 52 outputs drive signals H1 to H6, which are pulse width modulation signals (PWM signals) that drive each gate of the transistors 42a to 42f of the drive unit 42, based on the PWM command signal. In FIG. 4, the hatched portions of the drive signals H1 to H6 show that the transistors 42a to 42f are PWM-controlled and driven on and off.

The drive unit 42 switches and controls the transistors 42a to 42f by the drive signals H1 to H6, and applies the applied voltages Vu, Vv, and Vw to the stator windings 21u, 21v, and 21w as shown in FIG. .. As a result, the rotor 47 of the electric motor 21 rotates in the forward direction. In this embodiment, as shown in FIG. 4, the energization patterns of the applied voltages Vu, Vv, and Vw are conveniently energized patterns G to L corresponding to the above-mentioned position signal patterns A to F. For example, the drive unit 42 outputs the energization pattern G of (0) − (−V) − (+ V) corresponding to the position signal pattern A.

In this way, the pre-driver 52 receives the PWM command signal for driving the electric motor 21 in the forward rotation from the drive signal generation unit 51, and pulse-width-modulates the drive signals H1 to H6 for driving the transistors 42a to 42f. PWM) Output as a signal. Further, as described above, the drive signal generation unit 51 adjusts the pulse width (duty) of the PWM signal according to the target speed Vc and the moving speed. As a result, the applied voltages Vu, Vv, and Vw of the electric motor 21 are variably controlled, and the rotation speed of the rotating shaft 21a of the electric motor 21 is adjusted.

FIG. 4B shows the relationship between the rotor position sequences S1 to S6 defined when the electric motor 21 rotates in the normal direction, the position signal patterns A to F, and the energization patterns G to L.

The order of the rotor position sequence Sn at the time of normal rotation is S1 → S2 → S3 → S4 → S5 → S6, and the order of the position signal patterns is A → B → C → D → E → F. Further, the order of the energization patterns output based on the position signal pattern is the order of G → H → I → J → K → L.

Similarly, as shown in FIG. 4C, the order of the position signal patterns is F → E → D with respect to the order S6 → S5 → S4 → S3 → S2 → S1 of the rotor position sequence Sn at the time of reverse rotation. → C → B → A. Further, the order of the energization patterns output based on the position signal pattern is the order of L → K → J → I → H → G.

FIG. 5 is a diagram illustrating a speed map that defines a target speed Vc when the sliding door 12 is closed. As described above, the speed map is stored in the ROM 53. The speed map that defines the target speed Vc when the sliding door 12 is opened can be defined as a curve different from the speed map of FIG. The target speed Vc may be specified so as to optimize the operation of opening the sliding door 12.

As shown in FIG. 5, the speed map defines the target speed Vc of the slide door 12 in association with the opening width of the slide door 12, that is, a value corresponding to the position of the slide door 12. The drive signal generation unit 51 uses feedback control to make the speed signal V follow the target speed Vc associated with the current position signal P based on the speed signal V and the position signal P of the slide door 12. Calculate the duty of H1 to H6. As described above, the drive signal generation unit 51 can calculate the duty by, for example, proportional integration (PI) control.

As shown in FIG. 5, the target speed Vc of the sliding door 12 takes a different value depending on the door opening width. That is, the target speed Vc increases from the fully open position until the door opening width becomes L1. The target speed Vc takes a constant speed V2 until the door opening width reaches from L1 to L2. When the door opening width becomes smaller than L2, the target speed Vc decreases, and the speed V3 becomes a minimum value. After that, the target speed Vc rises from the speed V3, and the slide door 12 reaches the fully closed position in a state where the speed becomes V1.

In this way, when the door opening width becomes smaller than L2, the target speed Vc is lowered in order to make the operation of the slide door 12 feel as uncomfortable as possible and to suppress pinching by the slide door 12. ..

FIG. 5A is a diagram illustrating a speed map that defines a target speed Vc when the sliding door 12 is opened. As described above, the speed map is stored in the ROM 53.

As shown in FIG. 5A, the speed map defines the target speed Vc of the slide door 12 in association with the opening width of the slide door 12, that is, a value corresponding to the position of the slide door 12. Similar to when the slide door 12 is closed, the drive signal generation unit 51 follows the speed signal V with the target speed Vc associated with the current position signal P based on the speed signal V and the position signal P of the slide door 12. The duty of the drive signals H1 to H6 is calculated by feedback control. As described above, the drive signal generation unit 51 can calculate the duty by, for example, proportional integration (PI) control.

As shown in FIG. 5A, the target speed Vc of the sliding door 12 takes a different value depending on the door opening width. That is, the target speed Vc increases from the fully closed position until the door opening width becomes L3. The target speed Vc takes a constant speed V4 until the door opening width reaches from L3 to L4. When the door opening width becomes larger than L4, the target speed Vc continues to decrease, and the sliding door 12 reaches the fully opened position through the state of the opening width L5.

In this embodiment, the target speed Vc is lowered when the door opening width is larger than L5 because the operation of the slide door 12 does not feel uncomfortable as much as possible, and the slide door 12 and the vehicle body are close to the fully opened position. This is to suppress pinching between them.

6 to 9 are flowcharts showing the processing in the position / velocity calculation unit 54. As described above, the number of pulse signals Su, Sv, and Sw used to calculate the moving speed of the sliding door 12 and the position of the sliding door 12 changes depending on the state of the sliding door 12.

In step S2 of FIG. 6, the position / speed calculation unit 54 determines whether or not the operation signal S (FIG. 3) instructing the closing operation of the slide door 12 is input from the open / close switch 45, and if the determination is affirmed, The process proceeds to step S100 (processing at the time of closing operation), and if the determination is denied, the process proceeds to step S4.

In step S4, the position / speed calculation unit 54 determines whether or not the operation signal S (FIG. 3) instructing the opening operation of the slide door 12 has been input from the open / close switch 45, and if the determination is affirmed, step S300 ( The process proceeds to (open operation processing), and if the judgment is denied, the process proceeds to step S2.

FIG. 7 is a flowchart showing each process of step S100 (processing at the time of closing operation). In the process of FIG. 7, the moving speed of the sliding door 12 and the number of pulse signals used for calculating the position of the sliding door 12 during the closing operation are switched.

In step S104 of FIG. 7, the number of pulse signals (hall sensors) used to calculate the moving speed of the sliding door 12 and the position of the sliding door 12 is set to three. As a result, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using all three pulse signals Su, Sv, and Sw. As shown in FIG. 4A, the position signal pattern of the three pulse signals Su, Sv, and Sw changes every time the rotor 47 rotates 60 degrees. Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 60 degrees, that is, at a frequency of 6 times during one rotation of the rotor 47.

In step S110, the position / velocity calculation unit 54 determines whether or not the slide door 12 has reached the fully closed position, and if the determination is affirmed, recommends processing to step S2. If the determination is denied, step S106 Proceed to processing.

Next, in step S106, the position speed calculation unit 54 determines whether or not the calculated current position of the sliding door 12 is within a predetermined range, that is, whether or not the door opening width is smaller than L2 (FIG. 5). To judge. If this determination is affirmed, the process proceeds to step S104, and if this determination is denied, the process proceeds to step S108.

In step S108, the position speed calculation unit 54 sets the number of pulse signals (hall sensors) used for calculating the moving speed of the slide door 12 and the position of the slide door 12 to one. As a result, for example, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using only the pulse signal Su. As shown in FIG. 4A, the pulse signal Su changes every time the rotor 47 rotates 180 degrees. Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 180 degrees, that is, twice during one rotation of the rotor 47. After that, the position / velocity calculation unit 54 advances the process to step S106.

As described above, in the process shown in FIG. 7, in the closing operation of the sliding door 12, when the door opening width is smaller than L2 (FIG. 5) (when the determination in step S106 is affirmed), the pulse signal Su, The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all three pulse signals of Sv and Sw (step S104). Further, when the door opening width is L2 (FIG. 5) or more (when the determination in step S106 is denied), the moving speed and slide of the slide door 12 are performed by using only one pulse signal, for example, the pulse signal Su. The position of the door 12 is calculated.

When all three pulse signals Su, Sv, and Sw are used, the angle of the rotor 47 can be detected more accurately in theory, and the moving speed of the slide door 12 and the position of the slide door 12 can be determined with high resolution. It can be calculated. However, since it is necessary to frequently repeat the process of calculating the moving speed of the slide door 12 and the position of the slide door 12, the processing load on the position / speed calculation unit 54 increases. Further, if the processing capacity of the position / speed calculation unit 54 is insufficient, the moving speed and position of the slide door 12 cannot be calculated with the originally expected resolution.

Therefore, in the example of FIG. 7, only in a predetermined section in the closing operation of the sliding door 12, that is, a section in which the door opening width is smaller than L2 (FIG. 5), three pulse signals Su, Sv, and Sw are used. The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all of the above. This is in consideration of the fact that in the section, a feeling of strangeness is likely to occur with respect to the operation of the slide door 12, and pinching due to the closing operation is likely to occur. By detecting the position of the slide door 12 with high resolution in the section, control faithful to the speed map (FIG. 5) becomes possible, and it is possible to suppress the occurrence of discomfort with the operation of the slide door 12 and pinching due to the closing operation. can do.

Further, for example, when pinching by the sliding door 12 occurs, it is possible to quickly recognize the operation abnormality of the sliding door 12, and the pinching can be detected quickly and with high accuracy.

On the other hand, it is less necessary to control the moving speed of the slide door 12 with relatively high accuracy during the closing operation outside the section. Therefore, by setting the moving speed of the slide door 12 and the position of the slide door 12 to be calculated using only one pulse signal, for example, the pulse signal Su, the processing load on the position speed calculation unit 54 is reduced. doing.

FIG. 8 is a flowchart showing another process in the position / velocity calculation unit 54. Instead of the process shown in FIG. 7, the process shown in FIG. 8 can be substituted.

In the example of FIG. 8, in addition to the processing of FIG. 7, the number of pulse signals (hall sensors) used to calculate the moving speed of the sliding door 12 and the position of the sliding door 12 according to the speed of the sliding door 12 is calculated. I am trying to switch.

In step S204 of FIG. 8, the position speed calculation unit 54 sets the number of pulse signals (hall sensors) used for calculating the moving speed of the slide door 12 and the position of the slide door 12 to three. As a result, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using all three pulse signals Su, Sv, and Sw. As described above, the position signal pattern of the three pulse signals Su, Sv, and Sw changes every time the rotor 47 rotates 60 degrees (FIG. 4A). Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 60 degrees, that is, at a frequency of 6 times during one rotation of the rotor 47.

In step S212, the position / velocity calculation unit 54 determines whether or not the slide door 12 has reached the fully closed position, and if the determination is affirmed, recommends processing to step S2. If the determination is denied, step S206 Proceed to processing.

In step S206, the position / velocity calculation unit 54 determines whether or not the calculated current position of the sliding door 12 is within a predetermined range, that is, whether or not the door opening width is smaller than L2 (FIG. 5). .. If this determination is affirmed, the process proceeds to step S204, and if this determination is denied, the process proceeds to step S208.

In step S208, the position speed calculation unit 54 determines whether or not the calculated current moving speed of the slide door 12 is equal to or higher than a predetermined speed, and if the judgment is affirmed, proceeds to the process to step S210 and makes a judgment. If denied, the process proceeds to step S204.

In step S210, the position speed calculation unit 54 sets the number of pulse signals (hall sensors) used for calculating the moving speed of the slide door 12 and the position of the slide door 12 to one. As a result, for example, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using only the pulse signal Su. As described above, the pulse signal Su changes every time the rotor 47 rotates 180 degrees (FIG. 4A). Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 180 degrees, that is, twice during one rotation of the rotor 47. After that, the position / velocity calculation unit 54 advances the process to step S206.

In the process shown in FIG. 8, in the closing operation of the sliding door 12, when the door opening width is smaller than L2 (FIG. 5) (when the determination in step S206 is affirmed), the pulse signals Su, Sv, and Sw The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all of the three pulse signals of (step S204). Further, even when the door opening width is L2 (FIG. 5) or more (when the determination in step S206 is denied), the calculated current moving speed of the sliding door 12 is less than a predetermined speed (in step S208). While the determination is denied), the moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all three pulse signals Su, Sv, and Sw (step S204). ).

As described above, in the example shown in FIG. 8, in the closing operation of the slide door 12, when the moving speed of the slide door 12 is slow (when the speed is less than a predetermined speed), the pulse signals Su, Sv, and Sw are three. The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all of the pulse signals. Therefore, when the moving speed of the sliding door 12 is slow, control faithful to the speed map (FIG. 5) becomes possible. Further, when the moving speed of the slide door 12 is slow, the frequency of occurrence of the three pulse signals Su, Sv, and Sw is relatively low, so that the processing load on the position speed calculation unit 54 does not increase.

The above-mentioned predetermined speed for separating the number of pulse signals used can be, for example, the speed threshold value V0 shown in FIG. The speed threshold value V0 can be set to an arbitrary value according to the processing capacity of the position speed calculation unit 54 and the like. Further, in the example of FIG. 5, the speed threshold value V0 at the time of closing operation is shown, but the speed threshold value of the same value may be used at the time of opening operation, and the speed threshold value at the time of opening operation is different from the speed threshold value at the time of closing operation. It may be a value.

FIG. 8A is a flowchart showing an example (process at the time of open operation; step S200A) in which the process shown in FIG. 8 is modified. In the example of FIG. 8A, when the determination in step S212 is denied, the position / velocity calculation unit 54 proceeds to step S206A. In step S206A, the position speed calculation unit 54 determines whether or not the calculated current moving speed of the slide door 12 is equal to or higher than a predetermined speed, and if the judgment is affirmed, the process proceeds to step S210 and the judgment is made. If denied, the process proceeds to step S208A.

In step S208A, the position / velocity calculation unit 54 determines whether or not the calculated current position of the sliding door 12 is within a predetermined range, that is, whether or not the door opening width is smaller than L2 (FIG. 5). .. If this determination is affirmed, the process proceeds to step S204, and if this determination is denied, the process proceeds to step S210.

As described above, in the example of FIG. 8A, when the calculated current moving speed of the sliding door 12 is equal to or higher than the predetermined speed, it is always used regardless of the calculated current position of the sliding door 12. The number of pulse signals (hall sensors) to be used is set to one.

FIG. 9 is a flowchart showing each process of step S100 (processing at the time of open operation). In the process of FIG. 9, the moving speed of the sliding door 12 and the number of pulse signals used for calculating the position of the sliding door 12 during the closing operation are switched.

In step S304 of FIG. 9, the number of pulse signals (hall sensors) used to calculate the moving speed of the sliding door 12 and the position of the sliding door 12 is set to three. As a result, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using all three pulse signals Su, Sv, and Sw. As described above, the position signal pattern of the three pulse signals Su, Sv, and Sw changes every time the rotor 47 rotates 60 degrees. Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 60 degrees, that is, at a frequency of 6 times during one rotation of the rotor 47.

In step S310, the position speed calculation unit 54 determines whether or not the slide door 12 has reached the fully closed position, proceeds to step S2 if the determination is affirmed, and if the determination is denied, step S306. Proceed to processing.

In step S306, the position / velocity calculation unit 54 determines whether or not the calculated current position of the sliding door 12 is within a predetermined range, that is, whether or not the door opening width is larger than L5 (FIG. 5). .. If this determination is affirmed, the process proceeds to step S304, and if this determination is denied, the process proceeds to step S308.

In step S308, the position speed calculation unit 54 sets the number of pulse signals (hall sensors) used for calculating the moving speed of the slide door 12 and the position of the slide door 12 to one. As a result, for example, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using only the pulse signal Su. As described above, the pulse signal Su changes every time the rotor 47 rotates 180 degrees. Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 180 degrees, that is, twice during one rotation of the rotor 47. After that, the position / velocity calculation unit 54 advances the process to step S306.

As described above, in the process shown in FIG. 9, in the closing operation of the sliding door 12, when the door opening width is larger than L5 (FIG. 5A) (when the determination in step S306 is affirmed), the pulse signal Su, The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all three pulse signals of Sv and Sw (step S304). Further, when the door opening width is L5 (FIG. 5A) or less (when the determination in step S306 is denied), the moving speed and slide of the slide door 12 are performed by using only one pulse signal, for example, the pulse signal Su. The position of the door 12 is calculated.

As described above, when all three pulse signals Su, Sv, and Sw are used, the angle of the rotor 47 can be detected more accurately in theory, and the moving speed and slide of the slide door 12 can be detected with high resolution. The position of the door 12 can be calculated. However, since it is necessary to frequently repeat the process of calculating the moving speed of the slide door 12 and the position of the slide door 12, the processing load on the position / speed calculation unit 54 increases. Further, if the processing capacity of the position / speed calculation unit 54 is insufficient, the moving speed and position of the slide door 12 cannot be calculated with the originally expected resolution.

Therefore, in the example of FIG. 9, only in a predetermined section in the opening operation of the sliding door 12, that is, a section in which the door opening width is larger than L5 (FIG. 5A), three pulse signals Su, Sv, and Sw are used. The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all of the above. This is in consideration of the fact that in the section, a feeling of strangeness is likely to occur with respect to the operation of the slide door 12, and pinching due to the opening operation is likely to occur. By detecting the position of the slide door 12 with high resolution in the section, control faithful to the speed map (FIG. 5A) becomes possible, and it is possible to suppress the occurrence of discomfort with the operation of the slide door 12 and pinching due to the opening operation. can do.

Further, for example, when pinching by the sliding door 12 occurs, it is possible to quickly recognize the operation abnormality of the sliding door 12, and the pinching can be detected quickly and with high accuracy.

On the other hand, it is less necessary to control the moving speed of the slide door 12 with relatively high accuracy during the opening operation outside the section. Therefore, by setting the moving speed of the slide door 12 and the position of the slide door 12 to be calculated using only one pulse signal, for example, the pulse signal Su, the processing load on the position speed calculation unit 54 is reduced. doing.

FIG. 10 is a flowchart showing another process in the position / velocity calculation unit 54. Instead of the process shown in FIG. 9, the process shown in FIG. 10 can be substituted.

In the example of FIG. 10, in addition to the processing of FIG. 9, the number of pulse signals (hall sensors) used to calculate the moving speed of the sliding door 12 and the position of the sliding door 12 according to the speed of the sliding door 12 is calculated. I am trying to switch.

In step S404 of FIG. 10, the position speed calculation unit 54 sets the number of pulse signals (hall sensors) used for calculating the moving speed of the slide door 12 and the position of the slide door 12 to three. As a result, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using all three pulse signals Su, Sv, and Sw. As described above, the position signal pattern of the three pulse signals Su, Sv, and Sw changes every time the rotor 47 rotates 60 degrees (FIG. 4A). Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 60 degrees, that is, at a frequency of 6 times during one rotation of the rotor 47.

In step S412, the position / velocity calculation unit 54 determines whether or not the slide door 12 has reached the fully open position, recommends processing to step S2 if the determination is affirmed, and proceeds to step S406 if the determination is denied. Proceed with processing.

In step S406, the position / velocity calculation unit 54 determines whether or not the calculated current position of the sliding door 12 is within a predetermined range, that is, whether or not the door opening width is larger than L5 (FIG. 5A). .. If this determination is affirmed, the process proceeds to step S404, and if this determination is denied, the process proceeds to step S408.

In step S408, the position speed calculation unit 54 determines whether or not the calculated current moving speed of the slide door 12 is equal to or higher than a predetermined speed, and if the judgment is affirmed, proceeds to the process to step S410, and the judgment is made. If denied, the process proceeds to step S404.

In step S410, the position speed calculation unit 54 sets the number of pulse signals (hall sensors) used for calculating the moving speed of the slide door 12 and the position of the slide door 12 to one. As a result, for example, the moving speed of the slide door 12 and the position of the slide door 12 are calculated using only the pulse signal Su. As described above, the pulse signal Su changes every time the rotor 47 rotates 180 degrees (FIG. 4A). Therefore, the angle of the rotor 47 can be recognized every time the rotor 47 rotates 180 degrees, that is, twice during one rotation of the rotor 47. After that, the position / velocity calculation unit 54 advances the process to step S406.

In the process shown in FIG. 10, in the closing operation of the sliding door 12, when the door opening width is larger than L5 (FIG. 5A) (when the determination in step S406 is affirmed), the pulse signals Su, Sv, and Sw The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all of the three pulse signals of (step S404). Further, even when the door opening width is L5 (FIG. 5A) or less (when the determination in step S406 is denied), the calculated current moving speed of the sliding door 12 is less than the predetermined speed (step S408). While the determination is denied), the moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all three pulse signals Su, Sv, and Sw (step S404). ).

As described above, in the example shown in FIG. 10, when the moving speed of the sliding door 12 is slow (when the moving speed is less than a predetermined speed) in the opening operation of the sliding door 12, there are three pulse signals Su, Sv, and Sw. The moving speed of the sliding door 12 and the position of the sliding door 12 are calculated using all of the pulse signals. Therefore, when the moving speed of the sliding door 12 is slow, control faithful to the speed map (FIG. 5A) becomes possible. Further, when the moving speed of the slide door 12 is slow, the frequency of occurrence of the three pulse signals Su, Sv, and Sw is relatively low, so that the processing load on the position speed calculation unit 54 does not increase.

FIG. 10A is a flowchart showing an example (process at the time of open operation; step S400A) in which the process shown in FIG. 10 is changed. In the example of FIG. 10A, when the determination in step S412 is denied, the position / velocity calculation unit 54 proceeds to step S406A. In step S406A, the position speed calculation unit 54 determines whether or not the calculated current moving speed of the slide door 12 is equal to or higher than a predetermined speed, and if the judgment is affirmed, proceeds to the process to step S410, and the judgment is made. If denied, the process proceeds to step S408A.

In step S408A, the position / velocity calculation unit 54 determines whether or not the calculated current position of the sliding door 12 is within a predetermined range, that is, whether or not the door opening width is larger than L5 (FIG. 5A). .. If this determination is affirmed, the process proceeds to step S404, and if this determination is denied, the process proceeds to step S410.

As described above, in the example of FIG. 10A, when the calculated current moving speed of the sliding door 12 is equal to or higher than the predetermined speed, it is always used regardless of the calculated current position of the sliding door 12. The number of pulse signals (hall sensors) to be used is set to one.

In the above embodiment, the door opening width of the sliding door 12, that is, the number of pulse signals to be used depending on the position of the sliding door 12 is selected, but in either or both of the closing operation and the opening operation of the sliding door 12. , The number of pulse signals to be used may be selected only according to the moving speed of the sliding door 12. For example, when the moving speed of the sliding door 12 is smaller than a predetermined speed, the number of pulse signals used may be increased regardless of the position of the sliding door 12.

Further, the number of pulse signals to be used may be selected from three or more stages. For example, the number of pulse signals to be used can be selected from 1 to 3 according to the position and moving speed of the sliding door 12. When the number of pulse signals to be used is 2, the state of the slide door 12 can be detected with higher resolution than when the number is 1. Further, when the number of pulse signals to be used is 2, the processing load on the position / velocity calculation unit 54 can be reduced as compared with the case where the number is 3.

As described above, according to the above embodiment, the number of pulse signals used when calculating the position and moving speed of the sliding door 12 is changed according to the position of the sliding door 12, so that the position speed is calculated. The moving speed of the slide door 12 can be controlled with high accuracy in a required section while reducing the processing load on the unit 54. In addition, the moving state of the sliding door 12 can be detected quickly and with high accuracy.

Further, the number of pulse signals used when calculating the position and moving speed of the sliding door 12 is changed according to the moving speed of the sliding door 12, and the number of pulse signals used when the moving speed is low is increased. As a result, the moving speed of the slide door 12 can be controlled with high accuracy when the moving speed is low. Further, the moving state of the sliding door 12 can be detected quickly and with high accuracy. Further, by reducing the number of pulse signals used when the moving speed is high, it is possible to suppress an increase in the processing load on the position speed calculating unit 54 when the moving speed is high.

Although each embodiment has been described in detail above, the present invention is not limited to a specific embodiment, and various modifications and changes can be made within the scope of the claims. It is also possible to combine all or a plurality of the components of the above-described embodiment.

The following additional notes will be further disclosed with respect to the above examples.

[Appendix 1]
A drive unit (42) that drives a rotor (47) of a brushless motor (21) used as power to move a moving body (12), and a drive unit (42).
A plurality of Hall sensors (48u, 48v, 48w) that output signals having different phases according to the position in the circumferential direction of the rotor driven by the drive unit, and
A parameter calculation unit (54) that calculates a state parameter representing the state of the rotor based on the signal output from the Hall sensor, and a parameter calculation unit (54).
A control unit (51) that controls the rotor via the drive unit based on the state parameter calculated by the parameter calculation unit.
With
The parameter calculation unit calculates the state parameter based on the signals from each of the plurality of Hall sensors when a predetermined condition is satisfied, and when the predetermined condition is not satisfied, the parameter calculation unit of the plurality of Hall sensors. The motor drive (41) calculates the state parameters based on a portion of the signals from each (FIGS. 6 and 7).

According to the configuration of Appendix 1, since the number of signals of the hall sensor to be used is switched in calculating the state parameter, the number of signals to be used can be appropriately selected according to the state of the moving body. ..

[Appendix 2]
The moving body is an opening / closing body for a vehicle, and the predetermined condition is satisfied when the position of the opening / closing body calculated based on the state parameter is closer to a fully closed position or a fully open position than a predetermined position. The motor drive device according to Appendix 1.

According to the configuration of Appendix 2, when the position of the opening / closing body is closer to the fully closed position or the fully open position than the predetermined position, the number of signals of the hall sensor used increases, so that the position of the opening / closing body is closer to the predetermined position. The moving speed of the opening / closing body can be controlled with high accuracy in the fully closed position or the section close to the fully open position. In addition, operation abnormalities such as pinching can be detected quickly and with high accuracy.

[Appendix 3]
The motor according to Appendix 1, wherein the moving body is an opening / closing body for a vehicle, and the predetermined condition is satisfied when the operating speed of the opening / closing body calculated based on the state parameter is smaller than the predetermined speed. Drive device.

According to the configuration of Appendix 3, when the operating speed of the opening / closing body is smaller than the predetermined speed, the number of signals of the hall sensor used increases, so that the opening / closing body opens / closes in a section where the operating speed of the opening / closing body is smaller than the predetermined speed. The moving speed of the body can be controlled with high accuracy. In addition, operation abnormalities such as pinching can be detected quickly and with high accuracy.

[Appendix 4]
The motor drive device according to Appendix 2 or Appendix 3, wherein the control unit controls the rotation of the rotor according to a map that defines the relationship between the operating speed of the opening / closing body and the opening width of the opening / closing body.

According to the configuration of Appendix 4, the operating speed of the opening / closing body is controlled according to the map.

[Appendix 5]
The motor drive device according to any one of Supplementary note 2 to Supplementary note 6, wherein the predetermined conditions differ depending on the moving direction of the opening / closing body.

According to the configuration of Appendix 5, the moving speed of the opening / closing body in both the closing operation and the opening operation of the opening / closing body can be optimized.

[Appendix 6]
A brushless motor used as power to move a moving body,
The drive unit that drives the rotor of the brushless motor and
A plurality of Hall sensors that output signals having different phases according to the position of the rotor driven by the drive unit in the circumferential direction, and
A parameter calculation unit that calculates a state parameter representing the state of the rotor based on the signal output from the Hall sensor, and a parameter calculation unit.
A control unit that controls the rotor via the drive unit based on the state parameter calculated by the parameter calculation unit.
With
The parameter calculation unit calculates the state parameter based on the signals from each of the plurality of Hall sensors when a predetermined condition is satisfied, and when the predetermined condition is not satisfied, the parameter calculation unit of the plurality of Hall sensors. A motor drive system that calculates the state parameters based on a portion of the signal from each (FIGS. 6 and 7).

According to the configuration of Appendix 6, since the number of signals of the hall sensor to be used is switched in calculating the state parameter, the number of signals to be used can be appropriately selected according to the state of the moving body. ..

[Appendix 7]
The drive step that drives the rotor of the brushless motor used to move the moving body,
A state parameter representing the state of the rotor is calculated based on the signals output from a plurality of Hall sensors that output signals having different phases from each other according to the position in the circumferential direction of the rotor driven by the drive step. Parameter calculation steps and
A control step that controls the rotor via the drive unit based on the state parameter calculated by the parameter calculation step, and a control step.
With
In the parameter step, when a predetermined condition is satisfied, the state parameter is calculated based on the signal from each of the plurality of Hall sensors, and when the predetermined condition is not satisfied, each of the plurality of Hall sensors. A motor driving method for calculating the state parameters based on a portion of the signal from (FIGS. 6 and 7).

According to the configuration of Appendix 7, since the number of signals of the hall sensor to be used is switched in calculating the state parameter, the number of signals to be used can be appropriately selected according to the state of the moving body. ..

12 Sliding door 21 Electric motor 41 Motor drive device 42 Drive unit 47 Rotor 48u, 48v, 48w Hall IC
51 Drive signal generator 54 Position speed calculation unit

Claims (7)

A drive unit that drives the rotor of a brushless motor used as power to move a moving body,
A plurality of Hall sensors that output signals having different phases according to the position of the rotor driven by the drive unit in the circumferential direction, and
A parameter calculation unit that calculates a state parameter representing the state of the rotor based on the signal output from the Hall sensor, and a parameter calculation unit.
A control unit that controls the rotor via the drive unit based on the state parameter calculated by the parameter calculation unit.
With
The parameter calculation unit calculates the state parameter based on the signals from each of the plurality of Hall sensors when a predetermined condition is satisfied, and when the predetermined condition is not satisfied, the parameter calculation unit of the plurality of Hall sensors. A motor drive that calculates the state parameters based on a portion of the signal from each. The moving body is an opening / closing body for a vehicle, and the predetermined condition is satisfied when the position of the opening / closing body calculated based on the state parameter is closer to a fully closed position or a fully open position than a predetermined position. The motor drive device according to claim 1. The moving body is an opening / closing body for a vehicle, and the predetermined condition is satisfied when the operating speed of the opening / closing body calculated based on the state parameter is smaller than the predetermined speed. Motor drive. The motor drive device according to claim 2 or 3, wherein the control unit controls the rotation of the rotor according to a map that defines the relationship between the operating speed of the opening / closing body and the opening width of the opening / closing body. The motor drive device according to any one of claims 2 to 4, wherein the predetermined conditions differ depending on the moving direction of the opening / closing body. A brushless motor used as power to move a moving body,
The drive unit that drives the rotor of the brushless motor and
A plurality of Hall sensors that output signals having different phases according to the position of the rotor driven by the drive unit in the circumferential direction, and
A parameter calculation unit that calculates a state parameter representing the state of the rotor based on the signal output from the Hall sensor, and a parameter calculation unit.
A control unit that controls the rotor via the drive unit based on the state parameter calculated by the parameter calculation unit.
With
The parameter calculation unit calculates the state parameter based on the signals from each of the plurality of Hall sensors when a predetermined condition is satisfied, and when the predetermined condition is not satisfied, the parameter calculation unit of the plurality of Hall sensors. A motor drive system that calculates the state parameters based on a portion of the signal from each. The drive step that drives the rotor of the brushless motor used to move the moving body,
A state parameter representing the state of the rotor is calculated based on the signals output from a plurality of Hall sensors that output signals having different phases from each other according to the position in the circumferential direction of the rotor driven by the drive step. Parameter calculation steps and
A control step that controls the rotor via a drive step based on the state parameter calculated by the parameter calculation step, and a control step.
With
In the parameter calculation step, when a predetermined condition is satisfied, the state parameter is calculated based on the signal from each of the plurality of Hall sensors, and when the predetermined condition is not satisfied, the plurality of Hall sensors A motor drive method for calculating the state parameters based on a portion of the signals from each.

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