JP4191509B2 - Motor control method and motor control apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric motor control method and control device, and more particularly, to initial setting of a motor of an automobile wiper device.
[0002]
[Prior art]
The installation space for the wiper system has become smaller year by year due to the larger engine and larger brake master power. For this reason, in recent years, a system has been put into practical use in which the motor can be driven in a small space by reducing the link operating area to less than half by rotating the motor forward and backward within 180 °. In this motor forward / reverse rotation method, the reversing operation can be performed at an arbitrary position within the wiping angle. Therefore, after setting the lower reversal position, the storage position can be set further below. Therefore, many high-end vehicles have adopted this method and incorporated a wiper storage function.
[0003]
In order to perform forward / reverse rotation of the motor in the wiper system, it is necessary to detect the wiper arm position in order to perform forward / reverse rotation of the motor at an arbitrary position. The wiper arm position is detected by adding / subtracting the number of pulses generated in conjunction with the rotation of the motor. A multi-pole magnetized magnet is attached to the motor rotation shaft, and a sensor such as a Hall IC that outputs a pulse signal by detecting a change in magnetic pole accompanying the rotation is disposed opposite the magnet. The pulse count is reset at one point (origin position) that serves as a reference for the rotational position of the motor unit output shaft to prevent the occurrence of pulse deviation.
[0004]
FIG. 10 is an explanatory diagram showing a configuration for obtaining a pulse reset signal. A sensor magnet 51 as shown in FIG. 10 is attached to the output shaft of the motor unit. For the sensor magnet 51, a sensor 52 such as a Hall IC is arranged so that a reference signal is output when the magnetic pole reaches a predetermined reference position. When a reset signal is output from the sensor 52, the motor rotation angle from the reference position is calculated by adding and subtracting pulses from that point.
[0005]
If the motor rotation angle is known, the current wiper arm position can be detected in consideration of the reduction ratio, link ratio, and the like. The wiper arm moving speed can also be detected from the cycle of the motor rotation pulse. In actual control, the wiper arm position and arm speed are recognized by the pulse count number and pulse period. The motor control system is provided with a forward / reverse circuit such as an H-bridge circuit using an FET, and a control means such as a CPU for controlling the speed and rotation angle of the motor. The motor is controlled based on the position and speed of the wiper arm. The drive control is performed.
[0006]
[Patent Document 1]
Utility Model Registration No. 2561886
[Patent Document 2]
Japanese Patent Laid-Open No. 14-262515
[0007]
[Problems to be solved by the invention]
However, when the entire wiper system is viewed, there are various dimensional variation factors such as variations in dimensions and assembly of system components, variations in characteristics of the sensor itself, variations in magnetization of the sensor magnet 51, and the like. For this reason, the conventional motor control method has a problem that the reset position by the sensor 52 is slightly shifted for each product, and it is difficult to maintain the reversal position accuracy of the wiper arm in the entire product.
[0008]
FIGS. 11A and 11B are explanatory diagrams showing the relationship between the pulse count and the wiper position. FIG. 11A shows a case where the sensor 52 is in a normal position, and FIG. 11B shows a case where the sensor 52 is in a position shifted by an error. Show. In this system, when a reset signal from the sensor 52 is input, the pulse count value is reset to the reference value S. As shown in FIG. 11A, if the sensor 52 is in the normal position, the pulse count value is reset to the reference value S at the correct position. Therefore, if the pulse count value is a normal value, the value is integrated linearly without a break as shown in FIG. If there is an error in the pulse count value, the reset signal of the sensor 52 at the correct position is reset to the correct pulse count value (reference value S) at that position, and the pulse count value is corrected.
[0009]
However, when the sensor 52 is not in the normal position, the pulse count value is reset to the reference value S at an incorrect position. That is, as shown in FIG. 11B, the misplaced mounting position is misunderstood as a normal position, and the pulse count value is reset at this error position. For this reason, the pulse count value is then integrated including the error, and the wiper reversal position is shifted by the error.
[0010]
Generally, the operating range of the wiper arm is mechanically limited, and if the wiper reversal position is shifted, the wiper arm may overrun beyond this range. In that case, the mechanical operation limiting means acts to stop the wiper arm, but the motor may be locked accordingly. In addition, such a situation that an abnormal noise is generated when the wiper arm is stopped or the wiper arm is shockedly stopped is not preferable in terms of operation feeling and device durability, and improvement thereof has been demanded.
[0011]
An object of the present invention is to prevent deviation of wiper arm position control due to variations in sensor position.
[0012]
[Means for Solving the Problems]
According to the motor control method of the present invention, the rotation of the rotation shaft is decelerated and transmitted through a motor body having a rotation shaft and a speed reduction mechanism, and the rotation angle is regulated between the first limit position and the second limit position. An output shaft, a first sensor that is provided to face a detected member that is linked to the output shaft, and that outputs a reference signal when a predetermined part of the detected member faces, and is provided on the rotating shaft. A motor control method comprising a second sensor provided opposite to a member to be detected and outputting a pulse signal in accordance with rotation of the rotating shaft, wherein the output shaft is moved from the first limit position. The first position of the first sensor is rotated based on the pulse count value of the pulse signal output by the second sensor from the first limit position to the position where the reference signal is obtained from the first limit position. Create information on the motor First time When the reference signal is obtained during operation, the first position information is used. Indicates the position where the first sensor outputs the reference signal The pulse count value of the pulse signal is corrected.
[0013]
In the present invention, the first position information of the first sensor is created in advance, and the pulse count value is corrected based on the first position information. Therefore, the pulse count value is corrected to reflect the actual sensor position. For this reason, even if the mounting position of the first sensor is shifted, there is no deviation in the pulse count. Therefore, for example, when the motor is applied to a wiper device, the reversing position of the blade is not shifted for each product, and the reversing position accuracy can be commonly maintained for the entire product. In addition, blade overrun can be prevented, and the wiper arm can be prevented from stopping due to mechanical contact. Accordingly, it is possible to prevent the motor from being locked, generating abnormal noise, shocking stopping of the wiper arm, etc., and improving the operational feeling and the durability of the apparatus.
[0014]
In the motor control method, the output shaft is rotated from the second limit position toward the first limit position, and the second sensor outputs the position from which the reference signal is obtained from the second limit position. The second position information of the first sensor may be created based on the pulse count value of the pulse signal.
[0015]
In the motor control method, when the output shaft rotates from the first limit position side to the second limit position side, the pulse count value of the pulse signal is corrected using the first position information. When the output shaft rotates from the second limit position side toward the first limit position side, the pulse count value of the pulse signal may be corrected using the second position information. Thereby, even if there is a difference between the first position information and the second position information due to the characteristics of the first sensor, the pulse count value is corrected using appropriate position information depending on the passing direction of the detected member, Pulse deviation due to sensor characteristics can be prevented.
[0016]
Further, in the motor control method, a magnet may be used as the detected member, and a Hall IC may be used as the first and second sensors.
[0017]
On the other hand, in the motor control device of the present invention, the rotation of the rotating shaft is decelerated and transmitted via a motor main body having a rotating shaft and a speed reducing mechanism, and the rotation angle is between the first limit position and the second limit position. An output shaft that is regulated, a first sensor that is provided to face a detected member that is linked to the output shaft, and that outputs a reference signal when a predetermined part of the detected member faces, and is provided on the rotating shaft And a second sensor that outputs a pulse signal in accordance with the rotation of the rotating shaft, and is output from the second sensor. Pulse counting means for counting the pulse signal, and rotating the output shaft from the first limit position toward the second limit position, and counting the pulse from the first limit position to the position where the reference signal is obtained. By means A first position information forming means for forming the basis of the pulse count value of the issued the pulse signal first position information of the first sensor, the motor First time When the reference signal is obtained during operation, the first position information is used. Indicates the position where the first sensor outputs the reference signal And pulse count correction means for correcting the pulse count value of the pulse signal.
[0018]
In the present invention, the first position information of the first sensor is created in advance by the first position information creation means, and the pulse count value calculated by the pulse count means is corrected based on the first position information. Reflecting this, the pulse count value is corrected. For this reason, even if the mounting position of the first sensor is shifted, there is no deviation in the pulse count. Therefore, for example, when the motor is applied to a wiper device, the reversing position of the blade is not shifted for each product, and the reversing position accuracy can be commonly maintained for the entire product. In addition, blade overrun can be prevented, and the wiper arm can be prevented from stopping due to mechanical contact. Accordingly, it is possible to prevent the motor from being locked, generating abnormal noise, shocking stopping of the wiper arm, etc., and improving the operational feeling and the durability of the apparatus.
[0019]
In the motor control device, the motor control device causes the output shaft to rotate from the second limit position toward the first limit position, and from the second limit position to the position where the reference signal is obtained. You may further provide the 2nd position information preparation means which produces the 2nd position information of a said 1st sensor based on the pulse count value of the said pulse signal calculated by the counting means.
[0020]
Further, in the motor control device, the motor control device further includes storage means for storing the first and second position information, and the pulse count correction means is configured to store the first and second position information stored in the storage means. Two-position information may be used to correct the pulse count value of the pulse signal.
[0021]
In addition, in the motor control device, when the output shaft rotates from the first limit position side to the second limit position side by the pulse count correction means, the pulse is corrected using the first position information. Corrects the pulse count value of the signal, and corrects the pulse count value of the pulse signal using the second position information when the output shaft rotates from the second limit position side toward the first limit position side. You may make it do.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory diagram showing a configuration of a motor unit including a motor to which the motor control method of the present invention is applied. The motor unit 1 shown in FIG. 1 is used as a drive source for an automobile wiper device. When a wiper blade (hereinafter abbreviated as “blade”) reaches an upside down position, forward / reverse rotation is switched.
[0023]
The motor unit 1 includes a motor 2 and a gear box 3, and the rotation of the rotating shaft 4 of the motor 2 is decelerated within the gear box 3 and is output to the output shaft 5. The rotating shaft 4 is rotatably supported by a bottomed cylindrical yoke 6, and an armature core 7 and a commutator 8 around which a coil is wound are attached. A plurality of permanent magnets 9 are fixed to the inner surface of the yoke 6. The commutator 8 is in sliding contact with a power supply brush 10. The speed (number of rotations) of the motor 2 is controlled by the amount of current supplied to the brush 10.
[0024]
A case frame 11 of the gear box 3 is attached to the opening side edge of the yoke 6. The tip of the rotating shaft 4 protrudes from the yoke 6 and is stored in the case frame 11. A worm 12 is formed at the tip of the rotary shaft 4, and a worm gear 13 that is rotatably supported by the case frame 11 is engaged with the worm 12. The worm gear 13 is integrally provided with a first gear 14 having a small diameter on the same axis. A large-diameter second gear 15 is engaged with the first gear 14. An output shaft 5 that is rotatably supported by the case frame 11 is integrally attached to the second gear 15. Although not shown, the rotary shaft 4 is formed with another worm adjacent to the worm 12 in the direction opposite to the screw direction. The worm gear 13 and the first gear 14 are provided with the same speed reduction member. Power is transmitted to the second gear 15.
[0025]
The driving force of the motor 2 is output to the output shaft 5 while being decelerated through the worm 12, the worm gear 13, the first gear 14, and the second gear 15. A link mechanism (not shown) of a wiper device is connected to the output shaft 5. When the motor 2 is operated, the link member is driven via the output shaft 5, and the wiper arm is operated in conjunction with other link members.
[0026]
A multipolar magnetized magnet 16 (hereinafter abbreviated as magnet 16) is attached to the rotating shaft 4. On the other hand, a Hall IC 17 (second sensor) is provided in the case frame 11 so as to face the outer peripheral portion of the magnet 16. FIG. 2 is an explanatory diagram showing the relationship between the magnet 16 and the Hall IC 17 and the output signal (motor pulse) of the Hall IC 17.
[0027]
As shown in FIG. 2, two Hall ICs 17 (17 </ b> A, 17 </ b> B) are provided at a position having an angle difference of 90 degrees with respect to the center of the rotating shaft 4. In the motor 2, the magnet 16 is magnetized to 6 poles, and a pulse output for 6 cycles is obtained from each Hall IC 17 when the rotating shaft 4 makes one rotation. From the Hall ICs 17A and 17B, as shown on the right side of FIG. 2, pulse signals whose phases are shifted by ¼ period are output. Accordingly, by detecting the appearance timing of the pulses from the Hall ICs 17A and 17B, the rotation direction of the rotating shaft 4 can be determined, and thus the forward / return path of the wiper operation can be determined.
[0028]
In the Hall ICs 17A and 17B, the rotational speed of the rotating shaft 4 can be detected from the cycle of either one of the pulse outputs. There is a correlation based on the speed reduction ratio and the link operation ratio between the rotation speed of the rotation shaft 4 and the blade speed, and the blade speed can also be calculated from the rotation speed of the rotation shaft 4.
[0029]
A ring magnet 18 for detecting the absolute position of the blade is attached to the bottom surface of the second gear 15. A printed circuit board 19 is attached to the case frame 11, and a Hall IC 20 (first sensor) is disposed on the printed circuit board 19 so as to face the ring magnet 18. The second gear 15 is attached with a crank arm as described above, and rotates about 180 degrees to reciprocate the blade. When the second gear 15 rotates and the blade comes to a preset reference position, the Hall IC 20 and the ring magnet 18 face each other and a reference signal indicating the absolute position is output.
[0030]
By such a motor unit 1, the blade swings between the lower inversion position and the upper inversion position, and wipes rain, snow, and the like attached to the windshield. FIG. 3 is an explanatory diagram showing the operating range of the blade. During the wiping operation, the blade reciprocates within the wiping range between the upside down positions indicated by the solid line in the figure. When the wiper is stopped, the blade moves to a storage position located below the lower inversion position and is stored in the storage unit. The storage part is provided inside the hood of a vehicle body (not shown).
[0031]
The blade has an upper limit position (second limit position) and a lower limit position (first limit position) outside the upside down position. These upper and lower limit positions are mechanically set in the motor unit 1. For example, a pin (not shown) is protruded from the case frame 11, and a groove (not shown) in which the pin is received is provided in the second gear 15. The groove is recessed by an angle between the upper limit position and the lower limit position, and the pin moves in the groove as the second gear 15 rotates. When the pin comes to both ends of the groove, its movement is restricted, which becomes the upper limit position and the lower limit position of the blade.
[0032]
Further, a reference position where a reference signal is output from the Hall IC 20 is provided near the center of the wiping range and slightly below the inverted position. FIG. 4 is an explanatory diagram showing the relationship between the Hall IC 20 and the ring magnet 18. As shown in FIG. 4, the ring magnet 18 has a two-pole configuration. When the blade comes to the reference position, the polarity of the ring magnet 18 changes (N → S), and a reference signal is output from the Hall IC 20. The position of the blade is detected by this reference signal and a pulse signal (motor pulse) from the Hall IC 17. FIG. 5 is an explanatory diagram showing the relationship between the motor pulse count and the blade position.
[0033]
The output signal from the Hall IC 20 is used as a reference signal indicating the absolute position of the blade. That is, when this reference signal is obtained, it is determined that the blade has passed the reference position shown in FIG. On the other hand, the motor pulse from the Hall IC 17 is used as a relative position signal. The motor pulse is output in proportion to the rotation angle of the rotary shaft 4, and the pulse count value (cumulative number) corresponds to the rotation angle amount. Therefore, by counting the motor pulses after the reference signal is obtained, it is possible to know how much the blade has moved from the reference position.
[0034]
On the other hand, there is a possibility that the motor pulse count is shifted during the operation of the blade due to some cause such as wiping failure. For this reason, the system resets the motor pulse count value when the reference signal is obtained. The reference position is a predetermined position, and the number of motor pulses obtained from the lower inversion position to the reference position is a predetermined value. Therefore, the pulse count value at the reference position is set in advance as the reference value S, and when the reference signal is obtained, the pulse count value is reset to that value. As a result, the pulse count value is always corrected to the reference value S at the reference position, and variation in blade position control due to pulse deviation is prevented.
[0035]
However, as described above, when an error occurs in the installation position of the Hall IC 20 serving as the reference position, as shown in FIGS. 10 and 11, the wiper position is displaced and various problems occur. Therefore, in the motor control method of the present invention, the reference position learning process for confirming the position of the Hall IC 20 is first performed at the beginning of motor installation, and the blade position control as described above is performed after grasping the absolute position of the reference position. .
[0036]
FIG. 6 is a flowchart showing an initial setting procedure when the wiper device of the motor unit 1 is assembled. In the control method of the present invention, when the motor is assembled to the wiper device, the motor initial position is set by the Hall IC 20 in the unit (step S1), and then the mechanical attachment to the wiper device is performed (step S2). . Then, the reference position learning process for each individual motor unit 1 is performed (step S3), and after the variation in the sensor position is absorbed, the vehicle body assembly state is set (step S4).
[0037]
Here, first, the motor unit 1 is set at the initial assembly position, and the position of the output shaft 5 is made constant before mechanical assembly (step S1). The initial assembly position refers to the position of the output shaft 5 when the link member of the wiper device and the motor unit 1 are assembled, and a position rotated by a predetermined angle from the reference position is preset according to the vehicle type. Therefore, before assembling the motor unit 1 to the wiper device, the motor 2 is once energized, and is driven and stopped for a predetermined number of pulses from the time when the reference signal is obtained. By this work, the output shaft 5 stops at a position rotated by a predetermined angle from the reference position, and is set to the assembly initial position.
[0038]
After setting the output shaft 5 to the assembly initial position, the wiper device and the motor unit 1 are assembled (step S2). That is, the link member of the wiper device is set in a predetermined state, and the output shaft 5 set at the initial assembly position is attached thereto. Thereby, the motor unit 1 is attached to the wiper device in a state where the blade position and the position of the output shaft 5 are related to each other.
[0039]
After the output shaft 5 is assembled to the wiper device at a predetermined position, the reference position learning process according to the present invention is performed (step S3). FIG. 7 is a block diagram showing the configuration of a control device that performs this reference position learning process. The control device includes a CPU 21 and an EEPROM 22 as shown in FIG. The CPU 21 receives a pulse signal from the Hall IC 17 and counts the number of pulses, a first position information creating means 24 for creating the first position information indicating the position of the Hall IC 20, and second position information. The second position information creating means 25 for creating
[0040]
The first position information creation means 24 receives the reference signal signal from the Hall IC 20, and when the output shaft 5 is rotated from the lower limit position toward the upper limit position, the first position information creation means 24 performs pulse counting means from the lower limit position to the position where the reference signal is obtained. Based on the pulse count value of the pulse signal calculated by 23, the first position information of the Hall IC 20 is created. The second position information creating means 25 receives the reference signal signal from the Hall IC 20, and when the output shaft 5 is rotated from the upper limit position toward the lower limit position, the second position information creating means 25 performs pulse counting means from the upper limit position to the position where the reference signal is obtained. Based on the pulse count value of the pulse signal calculated by 23, the second position information of the Hall IC 20 is created. The first position information and the second position information created by the first position information creating means 24 and the second position information creating means 25 are stored in the EEPROM 22 which is a storage means.
[0041]
Further, the CPU 21 is provided with pulse count correction means 26 and drive command means 27. The pulse count correction means 26 corrects the pulse count value using at least one of the first and second position information when the reference signal is obtained during the operation of the motor. The drive command means 27 drives and controls the motor 2 based on the pulse count value of the motor 2.
[0042]
The following reference position learning process is performed by such a control device. FIG. 8 is a flowchart showing the procedure of the reference position learning process. Here, first, the motor 2 is driven reversely by the drive command means 27 (step S11), and the blade is moved to the lower limit position (step S12). Next, the motor 2 is rotated forward (step S13), and the blade is moved toward the upper limit position side. At this time, whether or not a reference signal is input is monitored (step S14). When the reference signal is acquired, the process proceeds to step S15, and the first position information creating unit 24 stores the accumulated count value of the motor pulses at that time in the EEPROM 22. Thereby, the distance (pulse count value) from the lower limit position to the reference position in the device is detected, and this becomes the first reference value (first position information) at the reference position.
[0043]
Even after obtaining the reference signal, the motor 2 is further driven to move the blade to the upper limit position (step S16). By reading the pulse count value when the blade reaches the upper limit position, the mechanical operating angle between the blade upper and lower limit positions can be detected. Then, after the blade reaches the upper limit position, the motor is driven in reverse again (step S17) to move the blade toward the lower limit position. Also at this time, the presence or absence of the input of the reference signal is monitored (step S18). When the reference signal is acquired, the process proceeds to step S19, where the second position information creating means 25 stores the accumulated count value of the motor pulses at that time in the EEPROM 22. Thereby, the distance from the upper limit position to the reference position in the apparatus can be calculated, and this becomes the second reference value (second position information). The first and second reference values may be written in the ROM area of a flash microcomputer used for the control device.
[0044]
After obtaining the reference signal, the motor 2 is further driven to move the blade to the lower limit position (step S20), and the routine is exited. Thereby, the reference position learning process is completed, and information regarding the reference position unique to the apparatus is acquired. After the reference position learning process, the process returns to the process of FIG. 6 to set the wiper device at the vehicle body assembly position (step S4), and the routine is exited. The wiper device to which the motor unit 1 is attached and these processes are completed is appropriately attached to the vehicle body. The assembly initial position may be set to the same state as the vehicle body assembly position.
[0045]
FIG. 9 is an explanatory diagram showing the relationship between the pulse count and the wiper position when the control method of the present invention is applied to the motor unit 1. FIG. 9A shows the case where the Hall IC 20 is in the normal position, and FIG. Indicates a case where the Hall IC 20 is mounted at a shifted position. When the above learning process is not performed, the wiper position is displaced as shown in FIG. On the other hand, in the motor that has undergone the learning process, the pulse count value is reset to reflect the actual position of the Hall IC 20. For this reason, even if the mounting position of the Hall IC 20 is shifted, the wiper position is not displaced.
[0046]
First, in the motor that has undergone the learning process, the pulse count value is reset at the actual mounting position by the first and second reference values stored in the EEPROM 22. As shown in FIG. 9A, if the Hall IC 20 is at a normal position (for example, 45 ° from the lower inversion position), the pulse count correction means 26 sets the pulse count value to the normal first reference value S. ₀ Reset to. If the pulse count value at the reference position is a normal value during the wiper operation, the value is integrated linearly without a break. If there is an error in the pulse count value, the correct value at the 45 ° position (first reference value S) is generated by the reset signal of the Hall IC 20 at the correct position. ₀ ) And the pulse count value is corrected.
[0047]
On the other hand, when the Hall IC 20 is not in the normal position (for example, 50 ° from the bottom inversion position), the following is performed. In this case, the shifted mounting position (50 °) is detected in advance by the learning process described above, and 50 ° becomes the reference position of the device. At this reference position, the pulse count value at the 50 ° position is the first reference value S. ₁ And stored in the EEPROM 22. Then, as shown in FIG. 9B, when the reference signal is obtained from the Hall IC 20 at the mounting position, the pulse count correction means 26 corrects the pulse count value at the 50 ° position (first reference value S). ₁ ). Accordingly, the pulse count value is accumulated without any error thereafter, and the wiper position is controlled without shifting despite the mounting position of the Hall IC 20 being shifted.
[0048]
For this reason, the inversion position of the blade is not shifted for each product, and the inversion position accuracy can be maintained in common for the entire product. In addition, blade overrun can be prevented, and the wiper arm can be prevented from stopping due to mechanical contact. Accordingly, it is possible to prevent the motor from being locked, generating abnormal noise, shocking stopping of the wiper arm, etc., and improving the operational feeling and the durability of the apparatus.
[0049]
The Hall IC 20 may have a difference in the position where the reference signal is output due to the hysteresis of the element when the opposing polarity changes from N to S and when the polarity changes from S to N. Accordingly, in contrast to the previous example, when the reference position is reached from the upper inverted position, the first reference value S ₁ If reset is performed using this, there is a possibility that a pulse shift occurs due to this hysteresis. Therefore, in this case, if the reset is performed using the second reference value obtained in the previous step S19, this pulse deviation can be eliminated.
[0050]
It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.
For example, the process of FIG. 8 assumes that the initial assembly position is on the lower limit position side than the reference position. However, when the position is on the upper limit position side, the reference position is learned by reversing the operation. Is possible. That is, in step S11, the actual mounting position of the Hall IC 20 can be learned by driving the motor forward and moving the blade to the upper limit position side and searching for the reference position therefrom. In the motor unit 1 described above, one Hall IC 20 is used as the second sensor. However, the present invention can be applied to a motor using a plurality of second sensors. In that case, the position of each sensor is individually recognized by the learning process described above.
[0051]
In the above-described embodiment, the Hall IC is used as a sensor for obtaining an absolute position signal or a relative position signal. However, the type of sensor is not limited to this, and an optical encoder using a photodiode or the like. Other types of sensors such as infrared sensors and infrared sensors may be used.
[0052]
Furthermore, although an example in which the present invention is applied to a motor for a wiper device has been shown, the application target is not limited to this, and the present invention is used for an electrical component for a vehicle such as an automobile tailgate, a sliding door, a power window, and a sunroof. It can also be applied to motors. In addition, the thing which drives and uses a motor to a limit position like a power window can always obtain a reset signal at an accurate position using the butting position. In this respect, since the wiper device performs forward / reverse rotation of the motor at an upside down position without mechanical restriction, pulse deviation is likely to occur, and the concept of overrun also occurs. For this reason, the learning process as described above is particularly effective in the wiper device. Furthermore, the control method and apparatus of the present invention can be applied not only to automobiles but also to motors for various electric appliances.
[0053]
【The invention's effect】
According to the motor control method of the present invention, the output shaft is rotated in advance from the first limit position toward the second limit position, and the pulse signal output by the second sensor from the first limit position to the position where the reference signal is obtained. The first position information of the first sensor is created based on the pulse count value of the motor, and the motor First time When the reference signal is obtained during operation, the pulse count value of the pulse signal is corrected using the first position information, so that the pulse count value is corrected to reflect the actual sensor position. For this reason, even if the mounting position of the first sensor is shifted, there is no deviation in the pulse count.
[0054]
Therefore, for example, when the motor is applied to a wiper device, the reversing position of the blade is not shifted for each product, and the reversing position accuracy can be commonly maintained for the entire product. In addition, blade overrun can be prevented, and the wiper arm can be prevented from stopping due to mechanical contact. Accordingly, it is possible to prevent the motor from being locked, generating abnormal noise, shocking stopping of the wiper arm, etc., and improving the operational feeling and the durability of the apparatus.
[0055]
Further, according to the motor control device of the present invention, the first position information creating unit creates the first position information of the first sensor in advance, and corrects the pulse count value calculated by the pulse counting unit based on the value. The pulse count value is corrected to reflect the actual sensor position. For this reason, even if the mounting position of the first sensor is shifted, there is no deviation in the pulse count.
[0056]
Therefore, for example, when a motor using the motor control device is applied to a wiper device, the reversal position of the blade is not shifted for each product, and the reversal position accuracy can be commonly maintained for the entire product. In addition, blade overrun can be prevented, and the wiper arm can be prevented from stopping due to mechanical contact. Accordingly, it is possible to prevent the motor from being locked, generating abnormal noise, shocking stopping of the wiper arm, etc., and improving the operational feeling and the durability of the apparatus.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a configuration of a motor unit including a motor to which a motor control method of the present invention is applied.
FIG. 2 is an explanatory diagram showing a relationship between a magnet and a Hall IC and an output signal (motor pulse) of the Hall IC.
FIG. 3 is an explanatory view showing an operating range of a blade.
FIG. 4 is an explanatory diagram showing a relationship between a Hall IC and a ring magnet.
FIG. 5 is an explanatory diagram showing a relationship between a motor pulse count number and a blade position.
FIG. 6 is a flowchart showing an initial setting procedure of the motor unit.
FIG. 7 is a block diagram illustrating a configuration of a control device that performs reference position learning processing;
FIG. 8 is a flowchart illustrating a procedure of reference position learning processing.
FIG. 9 is an explanatory diagram showing the relationship between the pulse count and the wiper position when the control method of the present invention is applied to the motor unit of FIG. 1; b) shows a case where the Hall IC is mounted at a shifted position.
FIG. 10 is an explanatory diagram showing a configuration for obtaining a pulse reset signal.
11A and 11B are explanatory diagrams showing the relationship between the pulse count and the wiper position, in which FIG. 11A shows a case where the sensor is at a normal position, and FIG. 11B shows a case where the sensor is at a position shifted by an error. Yes.
[Explanation of symbols]
1 Motor unit
2 Motor
3 Gearbox
4 Rotating shaft
5 Output shaft
6 York
7 Armature core
8 Commutator
9 Permanent magnet
10 brushes
11 Case frame
12 Warm
13 Worm gear
14 First gear
15 Second gear
16 Multipolar magnetized magnet
17, 17A, 17B Hall IC
18 Ring magnet
19 Printed circuit board
20 Hall IC
21 CPU
22 EEPROM (memory means)
23 Pulse counting means
24 1st position information preparation means
25 Second position information creating means is provided.
26 Pulse count correction means
27 Drive command means
51 Sensor magnet
52 sensors
S standard value
S ₀ First reference value
S ₁ First reference value

Claims (8)

A motor body having a rotation shaft; an output shaft that transmits the rotation of the rotation shaft by decelerating through a speed reduction mechanism; and a rotation angle between the first limit position and the second limit position; and the output A first sensor that is provided facing a detected member that is linked to a shaft and that outputs a reference signal when a predetermined portion of the detected member is opposed, and is provided facing a detected member that is provided on the rotating shaft. And a second sensor for outputting a pulse signal along with the rotation of the rotating shaft,
The output shaft is rotated from the first limit position toward the second limit position, and the pulse count value of the pulse signal output by the second sensor from the first limit position to the position where the reference signal is obtained. Based on the first position information of the first sensor,
When the reference signal is obtained during the initial operation of the motor , the pulse count value of the pulse signal indicating the position where the first sensor outputs the reference signal is corrected using the first position information. Motor control method.   2. The motor control method according to claim 1, wherein the output shaft is rotated from the second limit position toward the first limit position, and the second sensor is moved from the second limit position to a position where the reference signal is obtained. The second position information of the first sensor is created based on the pulse count value of the pulse signal output from the motor.   3. The motor control method according to claim 2, wherein when the output shaft rotates from the first limit position side toward the second limit position side, a pulse count value of the pulse signal is calculated using the first position information. And correcting the pulse count value of the pulse signal using the second position information when the output shaft rotates from the second limit position side toward the first limit position side. Motor control method.   4. The motor control method according to claim 1, wherein the detected member is a magnet, and the first and second sensors are Hall ICs. A motor body having a rotation shaft; an output shaft that transmits the rotation of the rotation shaft by decelerating through a speed reduction mechanism; and a rotation angle between the first limit position and the second limit position; and the output A first sensor that is provided facing a detected member that is linked to a shaft and that outputs a reference signal when a predetermined portion of the detected member is opposed, and is provided facing a detected member that is provided on the rotating shaft. A motor control device having a second sensor that outputs a pulse signal along with the rotation of the rotating shaft,
Pulse counting means for counting the pulse signal output from the second sensor;
The output shaft is rotated from the first limit position toward the second limit position, and the pulse count of the pulse signal calculated by the pulse count means from the first limit position to the position where the reference signal is obtained. First position information creating means for creating first position information of the first sensor based on a value;
Pulse count correction means for correcting a pulse count value of the pulse signal indicating a position at which the first sensor outputs a reference signal using the first position information when the reference signal is obtained during the initial operation of the motor ; A motor control device comprising:   6. The motor control device according to claim 5, wherein the motor control device further rotates the output shaft from the second limit position toward the first limit position, and obtains the reference signal from the second limit position. A motor control device comprising second position information creating means for creating second position information of the first sensor based on a pulse count value of the pulse signal calculated by the pulse count means up to a position.   7. The motor control apparatus according to claim 6, wherein the motor control apparatus further includes storage means for storing the first and second position information, and the pulse count correction means is stored in the storage means. A motor control device that corrects a pulse count value of the pulse signal using the first and second position information.   8. The motor control device according to claim 6, wherein the pulse count correction means uses the first position information when the output shaft rotates from the first limit position side toward the second limit position side. When the output shaft rotates from the second limit position side to the first limit position side, the second position information is used to correct the pulse count value of the pulse signal. A motor control device that corrects a value.

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