JP2725247B2 - Motor drive control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Application of the Invention) The present invention is to provide a motor drive control device for controlling the drive of a motor used as a drive source for moving a movable member. (Background of the Invention) Conventionally, moving a movable member to a predetermined position by using a motor has been generally performed, but the movable member does not move during movement even though a drive signal is given to the motor. Possible causes include a case where the driving force of the motor is too small (because the power supply voltage is lowered) and a case where the driving friction is too large (such as when an obstacle hits the movable member or its transmission system). . In such a case, usually, a drive signal to the motor is cut off, and at the same time, a warning is displayed to notify the user. However, if the user does not perform any operation such as replacing the battery, the movable member cannot be moved again thereafter, and even if the operation is stopped due to a sudden phenomenon such as the power supply voltage drop, the operation as described above is performed. To do was very inconvenient. Also, ignoring the stop and continuing to energize the motor can be said to be advantageous because sudden operation resumes immediately, but in the case where the motor is stopped due to some abnormal situation Had a large energy consumption, and there was a risk of causing accidents such as heat generation. In order to recover the abnormal speed drop of the motor due to a sudden phenomenon, when the movable member does not reach the target position, it is possible to drive the motor by selecting a driving mode having a large driving torque from among a plurality of driving modes. Conceivable. (Object of the Invention) An object of the present invention is to provide a case in which, when a movable member is not moving to a target position, a driving mode having a large driving torque is selected from a plurality of driving modes to drive a motor. Another object of the present invention is to provide a motor drive control device capable of resetting a target position during operation of motor drive control. (Features of the Invention) In order to achieve the above object, the present invention includes a motor for moving a movable member to a target position, and a plurality of drive modes in which the drive torque of the motor is different. It is determined whether or not the motor is moving, and when the motor is not moving, the motor driving control device that drives the motor by selecting a driving mode having a large driving torque from a plurality of driving modes, Setting means for arbitrarily setting a target position of the member, generating a target set position signal corresponding to the target position, detecting a movement of the movable member, and detecting a current position information signal corresponding to a current position of the movable member; The current position information signal and the target set position signal are compared with each other, and when these two signals match, the current position information signal at that time is stored, and the drive mode is set. Control means for setting a power inhibition mode, wherein when the target position is reset by the setting means, the target set position signal generated by the reset does not match the current position information signal. In response to this, the rotation direction of the motor is determined, and a normal mode in which the drive torque is a normal magnitude is selected as the drive mode. In the normal mode, the current position information signal from the position detection means is determined by a timer. When it is determined that the movable member is moving due to the change within the set time, the changed current position information signal is stored each time, and the current position information signal from the position detecting means is set by the timer. If it is determined that the movable member has not moved since the change does not occur even after a lapse of time, the drive mode having a larger drive torque than the normal mode is set as the drive mode. And selects the mode. (Embodiment of the Invention) FIG. 1 is a schematic block diagram showing an embodiment of the present invention. Control signal a output from output port A of microcomputer 1
Controls the motor driver circuit 2, and the motor 3 rotates according to the drive signal b output from the motor driver circuit 2. As the motor 3 rotates forward and backward, the movable member 4 moves in the direction of the arrow through a gear train (not shown), and the contact pieces 5a to 5c fixed thereto slide on the pattern substrate 6 with the movement. As a result, a position signal c indicating the current position of the movable member 4 is generated and input to the input port C of the microcomputer 1. The operation unit 7 transmits a target position of the movable member 4 specified by the operator to the microcomputer 1, and outputs a target position signal d indicating that to the input port D of the microcomputer 1. The time after being set to "0" is stored in the microcomputer 1.
T _1, T _2, T ₃ indicating that has elapsed timer is arranged. When the motor driver circuit 2 detects a drive mode and a rotation direction necessary for controlling the motor 3 from a control signal a input from the microcomputer 1, the motor driver circuit 2
A drive signal b as shown in FIG. In FIG. 2, the torque of the motor 3 in the speed increasing mode is larger than the torque in the normal mode. Next, the operation will be described with reference to FIGS. In the following description, t ₁ (T ₁ ) is the maximum estimated time required for the movable member 4 to move to the next pattern position in normal driving,
t ₂ is in a state of forcibly stopping the motor 1, the maximum time (energizable time) which can be energized not let damage (breaking) of the motor 1 and the like, t ₃ is energized in order to start the energization again Must be paused for a certain period of time (restarting electricity immediately may cause damage due to insufficient heat dissipation)
Indicates the minimum time (power-disabled time). When the power is turned on, the built-in timer is set to “0” in step 1. In step 2, target position information specified by the operation unit 7 is read. In step 3, current position information of the movable member 4 read by the contact pieces 5a to 5b and input to the input port C is read. In step 4, the target position information is compared with the current position information,
If they match, the process proceeds to steps 17 → 18 → 12 → 13.
That is, in step 17, the current position of the movable member 4 is stored, and in step 18, the built-in timer is set to "0" again. In step 12, the energization inhibition mode is selected as the drive mode, and in step 13, a drive signal b as shown in FIG. Since the motor 3 does not move in such an energization inhibition mode, steps 2 → 3 → 4 → 17 → 18 → 12 → 13 → 2 are repeated as long as the target position information input from the operation unit 7 does not change. If the user changes the target position in the operation unit 7 in the above state, it is detected in step 4 that the target position information does not match the current position information, and the process proceeds to step 5. In step 5, if the value obtained by subtracting the current position information from the target position information is positive, normal rotation in FIG. 2 is selected, and if negative, reverse rotation is selected and the process proceeds to step 6. In step 6, the stored previous position information is compared with the current position information, and if they match, the process proceeds to step 7,
If they do not match, go to step 15. Since the power-supply-disabled mode is currently set as described above, the previous position information matches the current position information, and the process proceeds to step 7. Elapsed time step 7, the internal timer is performed for determining whether or not exceeded the time T _3, the step 14 if it is determined to have exceeded, if not, proceed to step 8. Here, the built-in timer is "0" in step 18 until the previous state.
, The time T ₃ does not exceed, and the process proceeds to step 8. Whether the elapsed time of the internal timer in step 8 has exceeded the time T _2, also if whether the elapsed time of the internal timer at step 9 exceeds the time T _1, it is determined that each have judged, exceeded Goes to step 12 or step 11; otherwise, goes to step 9 or 10. Here, for the same reason as the judgment in step 7, the process goes from step 9 to step 10. In step 10, the normal mode shown in FIG.
Proceed to. In step 13, steps 5 and 10
The control signal a corresponding to the drive mode and the rotation direction determined in the above is output from the output port A to the motor driver circuit 2. Thus, the movable member 4 starts to move to the designated target position. This corresponds to the point in time in FIG. From the step 13, the process proceeds to the step 2 again. As long as the built-in timer does not exceed the time T ₁ (the maximum expected time t ₁ required to reach the adjacent pattern position), the steps 2 → 3
→ 4 → 5 → 6 → 7 → 8 → 9 → 10 → 13 → 2 is repeated. During the repetition of the above steps, the movable member 4 moves to the next pattern position, and when this is read from the position signal c, the process proceeds from step 6 to steps 15 → 16. In step 15, the current position of the movable member 4 is stored, and in step 16, the built-in timer is set to "0". Step 10 → 13
Step 2 → 3 → 4 → 5 → 6 → 7 → 8 → 9 → 10
→ Repeat steps 13 → 2. Within the foregoing such operation is repeated without exceeding the maximum expected time t ₁ shown in FIG. 4, moves to a position where the movable member 4 is a target, reads the position signal c that thing, step From 4, the process proceeds to step 17, where the current position of the movable member 4 is stored, the built-in timer is set to “0” in step 18, and the energization inhibition mode is selected as the drive mode in step 12. That is, step 2 described above →
Repeat 3 → 4 → 17 → 18 → 12 → 13 → 2. This allows
The movable member 4 has reached the designated target position.
This corresponds to the point in FIG. On the other hand, the previous step 2 → 3 → 4 → 5 → 6 → 7 → 8 → 9
While repeating → 10 → 13 → 2, the maximum expected time t ₁
In other words, if the movable member 4 does not reach the adjacent pattern position even though the elapsed time of the built-in timer has exceeded the time T ₁ (in a case where the movable member 4 has stopped), the process proceeds from step 9 to step 11. Then, the speed-up mode is selected as the drive mode. This corresponds to the point in time in FIG. The reason for selecting the speed increasing mode as described above is that when the motor 3 is stopped due to a sudden phenomenon (such as a drop in power supply voltage), the torque of the motor 3 is increased from the normal state so that the movable member 4 can be moved again. Is likely to start moving. This or thereafter exceeds the internal timer time T _2, or unless either move the movable member 4 up pattern position of the neighbor, Step 2 → 3 → 4 → 5 → 6 → 7 → 8 → 9 → 11 →
If the movable member 4 moves to the adjacent pattern position and reads this from the position signal c during this process, that is, if the latter case is detected, the process proceeds from step 6 to step 6. 15 → 16 → 10
Proceed to and select the normal mode here and go to step 13 → 2
Proceed to. That is, here, it is assumed that the movable member 4 starts to move again (the sudden phenomenon has been eliminated) because the torque of the motor 3 has been increased from the normal state. This corresponds to the point in time in FIG. After this, the previous step 2 → 3 → 4 → 5 → 6 → 7 → 8 → 9 → 10 →
Repeat 13 → 2. Also, if ,, further internal timer after selecting the speed increasing mode at the step 11 has exceeded the time T _2, i.e. when it is detected that the case of the former described above, proceeds to step 12 from step 8, Here, the control signal a corresponding to the selection of the energization inhibition mode is output from the output port A to the motor driver circuit 2 at the same time. In other words, more of the movable member 4 continues to energization while it is stopped (exceed the energizable time t ₂ is), for example, since the motor 3 is at risk of being destroyed by heat generation, to the motor 3 The current is cut off (see FIG. 2) to prevent this. This corresponds to the point in time in FIG. Thereafter, steps 2 → 3 → 4 again as described above.
→ 5 → 6 → 7 → 8 → 12 → 13 → 2 is repeated. Within that further repeating the loop, the internal timer After exceeds the time T _3, i.e. be subjected to a current from via the previous time T ₂ to the motor 3 again and would have no effect on the motor 3 Once passed energization downtime t _3, the flow advances from step 7 to step 14, and forcibly set to time T ₁ the contents of the internal timer here, step 2 → 3 → 4 → 5 → 6
It enters a loop that repeats → 7 → 8 → 9 → 11 → 13 → 2. This means that the drive mode is set to the speed-up mode again in step 11,
And in order to see whether the movable member 4 begins to move, of course this is done only energizable time t _2. This corresponds to the point in time in FIG. Thereafter, the same operation is repeated several times. If the movable member 4 still does not move to the adjacent pattern position, the user is informed of the fact by, for example, displaying a warning as in the related art. According to the present embodiment, when the movable member 4 does not move due to the decrease in the power source voltage and the torque of the motor 3, the speed increasing mode is selected, and the movable member 4 is again activated. The movement of No. 4 is resumed, so that it is not necessary for the user to perform troublesome operations. If the frictional resistance is so large that the motor 3 does not move even if the torque of the motor 3 is increased, the power supply to the motor 3 is prohibited at this point. No waste of energy is consumed. (Correspondence between the invention and the embodiment) In this embodiment, the operation unit 7 serves as a setting unit of the invention.
The contact pieces 5a to 5c and the pattern substrate 6 correspond to position detecting means, and the microcomputer 1 corresponds to control means. (Effects of the Invention) As described above, according to the present invention, there are provided setting means for arbitrarily setting a target position of a movable member and generating a target set position signal corresponding to the target position, and When the target position is reset, the rotation direction of the motor is determined according to the fact that the target setting position signal generated by the reset does not match the current position information signal. Since the normal mode of the normal size is selected, when the movable member is not moving to the target position, the driving mode in which the driving torque is large is selected from the plurality of driving modes to drive the motor. In such a case, the target position can be reset during the operation of the motor drive control.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic block diagram showing one embodiment of the present invention, and FIG.
FIG. 3 is a diagram showing an example of drive signals of the motor shown in FIG. 1, FIG. 3 is a flowchart of the apparatus of FIG. 1, and FIG. 4 is a time chart thereof. 1 ... microcomputer, 2 ... motor driver circuit, 3 ... motor, 4 ... movable member, 5 ... contact piece, 6 ... pattern board, 7 ... operation section.

Claims (1)

(57) [Claims] A motor for moving the movable member to the target position and a plurality of drive modes with different driving torques for the motor are provided, and it is determined whether or not the movable member is moving. Is a motor drive control device that drives the motor by selecting a drive mode having a large drive torque from among a plurality of drive modes, arbitrarily setting a target position of the movable member, and setting a target corresponding to the target position. Setting means for generating a set position signal; position detecting means for detecting movement of the movable member and generating a current position information signal corresponding to a current position of the movable member; and setting the current position information signal and the target setting. Control means for comparing the current position information signal at the time when these two signals coincide with each other, and setting the drive mode to the energization inhibition mode. When the target position is reset by the setting unit, the rotation direction of the motor is determined according to the fact that the target set position signal generated by the reset does not match the current position information signal, and the drive is performed. The normal mode in which the driving torque is a normal magnitude is selected as the mode, and the movable member is moving because the current position information signal from the position detecting means changes within the time set by the timer in the normal mode. If you decide
When the changed current position information signal is stored each time, and the current position information signal from the position detection means does not change even after the time set by the timer has elapsed, and it is determined that the movable member has not moved, A motor drive control device for selecting a drive mode having a larger drive torque than the normal mode as the drive mode.