JP4868822B2 - Motor control device - Google Patents

Description

The present invention relates to a motor control apparatus, and more particularly relates to a motor control device that can improve the stopping position accuracy of the movable part in the control that drives the motor to move the movable portion to the target position.

  A playback device having a changer function for a disc such as a CD, DVD, MD, etc. has a driving force of a motor, such as a mechanism for inserting and ejecting a disc and a mechanism for switching a disc to be played back. It incorporates a complex mechanism that is configured to move the moving parts such as the stocker on which the disk is mounted and various slide levers to the target position, and the control of such a mechanism is realized by the drive control of the motor. .

  In a motor-equipped device having a mechanism for driving a motor and moving a movable part to a target position, such as a reproducing apparatus having a conventional changer function, the following motor drive control is usually performed. In other words, the motor is driven using the motor drive start command as a trigger, the movable part is moved toward the target position, and the push switch arranged at the position where the motor drive is stopped is connected to the moved movable part. When turned ON by contact, the control unit detects the push switch ON and performs motor drive stop processing, or the output value of the potentiometer that detects the moving position of the movable unit is the target value range in which the motor drive is stopped. When it is detected that the motor has entered, motor drive stop processing is performed. Note that the movable portion is stopped after some movement due to inertia even after the motor drive stop processing.

  In such a motor-equipped device, as described in Patent Document 1 below, environmental conditions such as operating temperature, degree of wear of parts due to aging, degree of complexity of a mechanism having a movable part, and addition to the movable part The motor may be driven at a rotational speed different from the rotational speed commanded by the control unit due to the influence of the load fluctuation degree or the like. For this reason, it is difficult to accurately stop the movable part at the desired position simply by stopping the drive of the motor by defining the drive stop position with the push switch ON or the output value of the potentiometer as described above. However, there are cases where the vehicle stops far beyond the target stop position. Further, when the movable part stops with a predetermined value or more deviating from the target stop position, control for stopping the movable part at the target stop position, so-called retry control is executed again. .

  However, even in the conventional retry control, when the push switch is turned on or the output value of the potentiometer enters the target value range, the motor drive stop process is performed in the same manner as described above. Even if the same control is repeated under a situation where the motor is driven at a speed different from the speed, the movable part may not be stopped at the target position. There was also a problem of end. In addition, such errors often result in unreproducible complaints, and there is a problem that it is difficult to determine the cause and take measures.

Also, when using a conventional push switch that only has an ON / OFF switching function, the detailed stop position cannot be grasped, and the backlash due to the backlash of the movable mechanism is unintentionally reached the OFF position. There is a possibility that the movable part may move, and there is a problem that stop control using a conventional push switch having only an ON / OFF switching function cannot perform stop control considering backlash. .
Japanese Unexamined Patent Publication No. 60-84985

Means for solving the problems and their effects

The present invention has been made in view of the above problems, and can improve the stop position accuracy of the movable part in the control of driving the motor to move the movable part to a target position, reducing the number of times of retry control, and control. It aims at providing the motor control apparatus which can aim at shortening of time.

In order to achieve the above object, a motor control device (1) according to the present invention is a motor control device that performs drive control of the motor in a device having a mechanism for driving a motor and moving a movable portion to a target position. Measuring means for measuring information relating to the driving time of the motor when the movable part is moved to a target position, and storage means for storing information relating to the driving time of the motor measured by the measuring means And a motor drive time predicting means for predicting information related to the drive time of the motor when moving the movable part to a target position based on the information stored in the storage means, and storing in the storage means and updating means for information relating to driving time of the motor is updated to the information related to the driving time of the motor, which is predicted by the motor driving time prediction means being, by the updating means It is characterized in that a motor deceleration control means for performing deceleration control of the motor before the predicted driving time of the new by motor has elapsed.

  According to the motor control device (1), the drive time of the motor when the movable part is moved to the target position (that is, from when the drive start command is output to when the drive stop command is output) Information related to the drive time of the motor when moving the movable part to the target position based on the information stored in the storage means. Since the updating process is repeated, the learning control that repeats the updating can increase the accuracy of the predicted driving time of the motor, and can increase the accuracy of the deceleration timing of the motor. Therefore, the movable portion can be stopped at the target position without performing retry control, and the accuracy of the stop position of the movable portion at the target position can be improved.

  The information related to the driving time of the motor includes information for calculating the driving time in addition to the driving time of the motor, for example, information such as the moving speed of the movable part, As the predicted driving time of the motor, the previous driving time of the motor stored in the storage unit is adopted, the previous moving speed of the movable part stored in the storage unit, and the control start position to the target position are stored. The driving time of the motor calculated from the distance can be employed.

Further, according to the motor control device (1), by the motor speed-reduction control means, the deceleration control of the motor before the predicted driving time of the motor, which is updated by said updating means has elapsed is performed, the motor The motor (the number of rotations) can be decelerated before the estimated driving time elapses, that is, before the motor stop driving control is started, and the movable due to inertia after the motor is stopped driving. The moving distance of the moving part can be kept short, the amount of deviation from the target position of the movable part can be reduced, the stop position accuracy to the target position of the movable part can be increased, and the control is repeated, i.e. It is possible to reduce the number of retries and shorten the control time.

In the motor control device ( 2 ) according to the present invention, in the motor control device (1) , the storage means includes information on an environmental condition where the device is placed and / or a load condition applied to the movable part. Further, the motor driving time predicting means is stored and predicts the driving time of the motor in consideration of an environmental condition in which the device is placed and / or a load condition applied to the movable part. Yes.

According to the motor control device ( 2 ), the motor driving time predicting means corresponds to an environmental condition such as a temperature at which the device is placed and / or a load condition such as a weight applied to the movable part. The predicted drive time of the motor can be set in consideration of factors that easily affect the drive of the motor and the operation of the mechanism. Therefore, the next time the movable part is moved to the target position, the motor deceleration control is performed before the estimated driving time of the motor in consideration of factors that easily affect the driving of the motor and the operation of the mechanism. The speed reduction control of the motor can be performed by the means, and the speed reduction control of the motor is performed at an appropriate timing in consideration of these factors even in a situation where the driving of the motor and the operation of the mechanism are easily affected. Thus, the amount of deviation of the movable part from the target position can be reduced.

It will be described below with reference to the embodiment of the motor controller according to the present invention with reference to the drawings. In the present embodiment, a case where the motor control device according to the present invention is applied to a disk reproducing device having a CD changer function will be described.

  FIG. 1 is a block diagram schematically showing a main part of the disc reproducing apparatus according to the embodiment (1). The disc reproducing apparatus 1 includes a movable mechanism unit 10 including a CD changer mechanism 11, a motor 20 that is a drive source of the movable mechanism unit 10, a control unit 22 that controls driving of the motor 20 via the drive unit 21, A storage unit 23 for storing information related to the drive control of the motor 20 performed by the control unit 22 and an operation unit 24 including a button switch for inputting a command for reproducing, selecting, or ejecting a CD are included. It is configured.

  In the present embodiment, the case where the drive control of the motor 20 performed by the control unit 22 is applied to the movement control of the movable unit (the slide lever 16 and the stocker bottom plate 12 described below) of the CD changer mechanism 11 will be described. To do.

  The CD changer mechanism 11 includes a stocker bottom plate 12 and a CD storage stocker 13 arranged on the stocker bottom plate 12, and a height position of the stocker bottom plate 12 and the like. Is slidably attached to the side wall of a main chassis (not shown) that is engaged with the potentiometer 15 and the stocker bottom plate 12 and that constitutes the housing of the disk reproducing apparatus 1. The lever 16 and the gear mechanism 17 for transmitting the driving force of the motor 20 to the slide lever 16 are included, and the slide lever 16 is slid by the driving force of the motor 20 via the gear mechanism 17 so that the cam It is a mechanism for raising and lowering the stocker bottom plate 12 via the mechanism. The CD changer mechanism 11 is also equipped with a dividing mechanism (not shown) that divides a plurality of stockers 13 vertically. Further, a cam mechanism may be provided between the slide lever 16 and the gear mechanism 17 to transmit the drive.

  The storage unit 23 stores information related to the driving time of the motor 20 when the stocker bottom plate 12 engaged with the slide lever 16 is moved to the target position, that is, the driving time of the motor (the motor 20 Time from output of drive start command to output of drive stop command) and information for calculating the drive time, for example, movement speed of bottom plate 12 for stocker (average movement speed when moved to target position) However, it is stored every time the motor control is performed, that is, the information is stored as a learning value.

  Further, the control unit 22 composed of a microcomputer takes in the output value of the potentiometer 15 and drives the motor 20 via the drive unit 21 to move the stocker bottom plate 12 engaged with the slide lever 16 to the target position. Control to be performed. Further, the control unit 22 predicts the driving time of the motor 20 when the stocker bottom plate 12 is next moved to the target position based on the information stored in the storage unit 23 (motor driving time prediction means). When the stocker bottom plate 12 is moved to the target position next time, a function (motor deceleration control means) for performing deceleration control of the motor 20 before the predicted driving time of the motor 20 has elapsed is provided.

2 shows the height position (horizontal axis) and moving speed (vertical axis) of the stocker bottom plate 12 to be moved by the drive control of the motor 20 performed by the control unit 22 in the disc reproducing apparatus 1 according to the embodiment (1). It is the figure which showed the relationship. Note that P _{1 on} the horizontal axis is a control start position of the bottom plate 12 for stocker, P ₂ is a position where drive stop control of the motor 20 is performed, P ₃ is a stop target position (also referred to as target position) of the bottom plate 12 for stocker, and P _4. Indicates the upper limit position of the stop target range of the bottom plate 12 for stocker, and the P _{2 to} P ₄ section is set as the stop target range.

In the control unit 22, when the stocker bottom plate 12 is moved from the control start position P ₁ to the stop target position P ₃ , the driving time of the motor 20 is determined from information stored in the storage unit 23 (control learning value up to the previous time). A predicted value (motor predicted drive time) is obtained, and then drive control of the motor 20 is started, the moving speed of the stocker bottom plate 12 is increased to a predetermined value, and the stocker bottom plate 12 is directed to the stop target position P _3. Move.

Thereafter, when the driving time of the motor 20 is counted and moved to a position P ₅ before the predicted motor driving time elapses (that is, before the position P ₂ where the driving stop control of the motor 20 is performed), the deceleration control of the motor 20 is performed. Starting, the moving speed of the stocker bottom plate 12 is lowered. Thereafter, when the stocker bottom plate 12 moves to a position P ₂ where the drive stop control of the motor 20 is performed, the drive stop control of the motor 20 is performed and the movement of the stocker bottom plate 12 is stopped. Since the control for decelerating the motor 20 is performed before the position P _{2 where} the stop control is performed, the amount of movement due to the inertia of the stocker bottom plate 12 after the drive stop control of the motor 20 is suppressed, and the position near the stop target position P ₃ is suppressed. It is possible to stop with high accuracy.

  Next, the movement processing operation of the movable part performed by the control unit 22 in the disc reproducing apparatus 1 according to the embodiment (1) will be described based on the flowchart shown in FIG. This processing operation is executed when there is a command to move the stocker bottom plate 12 to the target position.

  First, it is determined whether or not the stocker bottom plate 12 is in the control start position (step S1), and if it is determined that the stocker bottom plate 12 is not in the control start position, a process of reversely driving the motor 20 is performed (step S2). ), And return the stocker bottom plate 12 to the control start position. Whether or not it is located at the control start position can be determined based on the output value of the potentiometer 15. On the other hand, if it is determined in step S1 that the stocker bottom plate 12 is in the control start position, it is determined whether or not the learning values of the driving time of the motor 20 and the moving speed of the stocker bottom plate 12 are stored in the storage unit 23. If it is determined that the learning value is not stored (step S3), the motor 20 is driven to rotate forward (step S4), and the driving time of the motor 20 is started (step S5). The bottom plate 12 is moved toward the target position.

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to a position where the motor 20 drive stop control is performed (step S6), and the stocker bottom plate 12 performs the drive stop control of the motor 20. If it is determined that it has moved to the position to be performed, a process for stopping the driving of the motor 20 via the driving unit 21 is performed (step S7), and the measurement of the driving time of the motor 20 is stopped (step S8). Thereafter, a process of calculating the moving speed of the stocker bottom plate 12 is performed from the measured driving time of the motor 20 and the distance from the control start position to the position where the driving stop control of the motor 20 is performed (step S9). The storage unit 23 stores information including the driving time of the motor 20 and the moving speed of the stocker bottom plate 12 (step S10), and then proceeds to step S22.

  On the other hand, if it is determined in step S3 that the learning value is stored in the storage unit 23, the learning value of the moving speed of the stocker bottom plate 12 and the distance from the control start position to the position where the drive stop control of the motor 20 is performed. To calculate the predicted drive time of the motor 20 (step 11), and then decelerate the motor 20 before the predicted drive time of the motor 20 elapses (that is, before the drive stop control of the motor 20 is performed). Processing for setting the motor deceleration timing is performed (step S12).

  Next, a process of driving the motor 20 in the forward direction is performed (step S13), measurement of the driving time of the motor 20 is started (step S14), and the stocker bottom plate 12 is moved toward the target position. Thereafter, it is determined whether or not the set motor deceleration timing has been reached (step S15). If it is determined that the motor deceleration timing has been reached, the process of decelerating the motor 20 (the number of revolutions thereof), that is, via the drive unit 21 is performed. Then, a process of reducing the drive voltage of the motor 20 by a predetermined amount is performed (step S16).

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to a position where the drive stop control of the motor 20 is performed (step S17), and the stocker bottom plate 12 performs the drive stop control of the motor 20. If it is determined that it has moved to the position to be performed, a process for stopping the driving of the motor 20 is performed (step S18), and the measurement of the driving time of the motor 20 is stopped (step S19).

  Thereafter, a process of calculating the moving speed of the stocker bottom plate 12 is performed from the measured driving time of the motor 20 and the distance from the control start position to the position where the driving stop control of the motor 20 is performed (step S20). The storage unit 23 stores information including the driving time of the motor 20 and the moving speed of the stocker bottom plate 12 (step S21), and then proceeds to step S22.

  In step S22, the output value of the potentiometer 15 is captured, it is determined whether or not the stop position of the stocker bottom plate 12 is within the stop target range, and the stop position of the stocker bottom plate 12 is within the stop target range. If it is determined, the process is terminated thereafter. On the other hand, if it is determined that the stop position of the stocker bottom plate 12 is not within the stop target range, that is, out of the stop target range, the process proceeds to retry control and the motor 20 is driven in reverse. Is performed (step S23).

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to the retry position (step S24). If it is determined that the stocker bottom plate 12 has moved to the retry position, the storage unit 23 The learned value of the moving speed of the stocker bottom plate 12 is read (step S25), and then the motor is determined from the learned value of the moving speed of the stocker bottom plate 12 and the distance from the retry position to the position where the drive stop control of the motor 20 is performed. A process for obtaining 20 predicted drive times is performed (step S26).

  Thereafter, a process of setting a motor deceleration timing for decelerating the motor 20 is performed before the predicted driving time of the motor 20 obtained in step S26 has elapsed (that is, before the drive stop control of the motor 20 is performed) (step S27). Then, the process returns to step S13 to repeat the process. Note that the motor deceleration timing set in step S27 is set to be before the timing set in step S12.

  According to the disk reproducing apparatus 1 according to the above embodiment (1), information related to the driving time of the motor 20 when the stocker bottom plate 12 is moved to the target position is stored in the storage unit 23, and the storage unit 23 Since the process of predicting and updating the driving time of the motor 20 when moving the stocker bottom plate 12 to the target position is repeated based on the information stored in the learning control, learning control that repeats such updating is performed. Thus, the accuracy of the predicted driving time of the motor 20 can be increased, and the accuracy of the deceleration timing of the motor 20 can be increased. Accordingly, the stocker bottom plate 12 can be stopped at the target position without performing retry control, and the accuracy of the stop position of the stocker bottom plate 12 at the target position can be improved.

  Further, since the deceleration control of the motor 20 is performed before the predicted driving time of the motor 20 updated in the storage unit 23 elapses, before the predicted motor driving time elapses, that is, before the drive stop control of the motor 20 starts. In addition, the rotational speed of the motor 20 can be reduced, the movement distance of the stocker bottom plate 12 due to inertia after the motor 20 is stopped can be kept short, and the stocker bottom plate 12 is displaced from the target position. The amount can be reduced, the accuracy of the stop position of the stocker bottom plate 12 to the target position can be increased, the number of retries can be reduced, and the control time can be shortened.

  In the disc reproducing apparatus according to the above embodiment (1), the drive time of the motor 20 when the stocker bottom plate 12 engaged with the slide lever 16 is moved to the target position in the storage unit 23, and / or Alternatively, the moving speed of the stocker bottom plate 12 is stored every time the motor control is performed, but in another embodiment, the moving mechanism unit 10 is mounted on the temperature sensor and the stocker 13. Means for detecting the number of disks, the temperature detected by the temperature sensor when the stocker bottom plate 12 is moved to the target position in the storage unit 23, the number of disks placed on the stocker 13 (stocker bottom plate 12). Information related to the load) is further stored, and when the predicted driving time of the motor 20 is obtained, the temperature in the device and the number of disks are detected and the condition is satisfied. Based on the information, it may be configured to predict the driving time of the motor.

  According to the disk reproducing apparatus having such a configuration, it is possible to obtain the predicted driving time of the motor 20 in consideration of factors (temperature, load) that easily affect the driving of the motor 20 and the operation of the movable mechanism unit 10. Therefore, when the stocker bottom plate 12 is moved to the target position, the motor 20 deceleration control is performed before the predicted motor driving time in which factors that easily affect the driving of the motor 20 and the operation of the movable mechanism unit 10 have been taken into consideration. Even if the driving of the motor 20 or the operation of the movable mechanism unit 10 is likely to be affected, it is possible to perform the deceleration control of the motor 20 at an appropriate timing in consideration of these factors. Thus, the amount of deviation of the stocker bottom plate 12 from the target position can be reduced.

  Next, a disc reproducing apparatus according to the embodiment (2) will be described. However, the configuration of the disc playback apparatus 1A according to the embodiment (2) is substantially the same as that of the disc playback apparatus 1 shown in FIG. 1 except for the control unit 22A and the storage unit 23A. The parts 22A and the storage part 23A are given different reference numerals, and other components having the same function are given the same reference numerals, and the description thereof is omitted.

  In the disc reproducing apparatus 1A according to the embodiment (2), the storage unit 23A includes information including the amount of deviation from the target position of the stocker bottom plate 12 and the number of retries when the stocker bottom plate 12 is moved to the target position. Is stored each time control is performed, that is, the information is stored as a learning value.

  Further, the control unit 22A predicts a deviation amount from the target position of the stocker bottom plate 12 when the stocker bottom plate 12 is next moved to the target position based on the information stored in the storage unit 23A ( Misalignment amount prediction means) and the next time the stocker bottom plate 12 is moved to the target position, the motor 20 before the drive stop control of the motor 20 is performed in consideration of the predicted misalignment amount of the stocker bottom plate 12. And a function (motor deceleration control means) for performing 20 deceleration control.

Next, a method for controlling the drive of the motor 20 performed by the control unit 22A of the disc reproducing apparatus 1A according to the embodiment (2) will be described with reference to FIG.
The control unit 22A, when moving the stocker bottom plate 12 from the control start position P ₁ to the target stop position P _3, the target of the stocker bottom plate 12 from the information stored in the storage unit 23A (the learned value of the control up to the previous) A predicted value of the amount of deviation from the position (predicted positional deviation amount of the bottom plate 12 for stocker) is obtained, and the position P ₆ (motor deceleration position) where the motor 20 is decelerated in consideration of the obtained estimated positional deviation amount of the bottom plate 12 for stocker. ) after setting the, and starts driving control of the motor 20, by increasing the moving speed of the stocker bottom plate 12 to a predetermined value, it is moved toward the stocker bottom plate 12 to the target stop position P _3.

Thereafter, when the stocker bottom plate 12 moves to the set motor deceleration position P ₆ (that is, before the position P _{2 where} the motor 20 drive stop control is performed), the deceleration control of the motor 20 is started, and the stocker bottom plate Decrease the movement speed of 12. Thereafter, when the stocker bottom plate 12 moves to a position P ₂ where the drive stop control of the motor 20 is performed, the drive stop control of the motor 20 is performed and the movement of the stocker bottom plate 12 is stopped. Since the control for decelerating the motor 20 is performed before the position P _{2 where} the stop control is performed, the amount of movement due to the inertia of the stocker bottom plate 12 after the drive stop control of the motor 20 is suppressed, and the position near the stop target position P ₃ is suppressed. It is possible to stop with high accuracy.

  Next, the movement processing operation of the movable part performed by the control unit 22A in the disc reproducing apparatus 1A according to the embodiment (2) will be described based on the flowchart shown in FIG. This processing operation is executed when there is a command to move the stocker bottom plate 12 to the target position.

  First, it is determined whether or not the stocker bottom plate 12 is at the control start position (step S31), and if it is determined that the stocker bottom plate 12 is not at the control start position, a process of reversely driving the motor 20 is performed (step S32). ), And return the stocker bottom plate 12 to the control start position. On the other hand, if it is determined in step S31 that the stocker bottom plate 12 is at the control start position, the counter K for counting the number of retries is set to 0 (step S33), and the storage unit 23A learns the deviation amount from the target position. It is determined whether or not a value is stored (step S34), and if it is determined that a learning value is not stored, a process of driving the motor 20 in a normal direction is performed (step S35), and the stocker bottom plate 12 is moved to the target position. Move towards.

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to a position where the motor 20 drive stop control is performed (step S36), and the stocker bottom plate 12 performs the drive stop control of the motor 20. If it is determined that the position has been moved to the position to be performed, a process for stopping the drive of the motor 20 through the drive unit 21 is performed (step S37), and then the process proceeds to step S45.

  On the other hand, if it is determined in step S34 that the learning value is stored in the storage unit 23A, a process for obtaining the predicted positional deviation amount of the stocker bottom plate 12 is performed based on the learned value such as the deviation amount from the target position ( Step S38), and then processing for setting a position (motor deceleration position) at which the motor 20 is decelerated is performed in consideration of the predicted positional deviation amount of the stocker bottom plate 12 (step S39). In this case, the motor deceleration position is set closer to the front as the predicted positional deviation amount is larger.

  Next, a process of driving the motor 20 in the forward direction is performed (step S40), and the stocker bottom plate 12 is moved toward the target position. Thereafter, the output value of the potentiometer 15 is captured, and it is determined whether or not the stocker bottom plate 12 has moved to the set motor deceleration position (step S41), and it is determined that the stocker bottom plate 12 has moved to the motor deceleration position. Then, the process of decelerating the motor 20, that is, the process of reducing the drive voltage of the motor 20 by a predetermined amount via the drive unit 21 is performed (step S42).

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to a position where the drive stop control of the motor 20 is performed (step S43), and the stocker bottom plate 12 performs the drive stop control of the motor 20. If it is determined that it has moved to the position to be performed, a braking process for stopping the drive of the motor 20 is performed (step S44), and then the process proceeds to step S45.

  In step S45, it is determined whether or not a predetermined braking time has elapsed. If it is determined that the predetermined braking time has elapsed, processing for detecting a deviation amount of the stocker bottom plate 12 from the target position is performed (step S46). Next, it is determined whether or not the deviation amount of the stocker bottom plate 12 from the target position is within the stop target range (step S47), and the deviation amount of the movable portion from the target position is within the stop target range. If it is determined that there is information, the storage unit 23A stores information including the amount of deviation from the target position of the stocker bottom plate 12 and the number of retries (the value of the counter K) (step S48), and then the process ends.

  On the other hand, if it is determined in step S47 that the amount of deviation of the stocker bottom plate 12 from the target position is not within the stop target range, that is, out of the stop target range, the process proceeds to retry control and 1 is set to the counter K. Addition is performed (step S49), and a process of driving the motor 20 in reverse via the drive unit 21 is performed (step S50).

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to the retry position (step S51), and if it is determined that the stocker bottom plate 12 has moved to the retry position, the stocker bottom plate 12 is determined. Based on the amount of deviation from the target position, a process for obtaining the predicted amount of positional deviation of the next stocker bottom plate 12 is performed (step S52). Is performed (step S53), and the process returns to step S40 to repeat the process.

  According to the disc reproducing apparatus 1A according to the embodiment (2), information including the amount of deviation from the target position of the stocker bottom plate 12 when the stocker bottom plate 12 is moved to the target position is stored in the storage unit 23A. Based on the information stored in the storage unit 23A, the amount of deviation from the target position of the stocker bottom plate 12 when the stocker bottom plate 12 is moved to the target position is predicted, and the predicted position deviation of the stocker bottom plate 12 is predicted. A quantity is required. Then, when the stocker bottom plate 12 is moved to the target position, deceleration control of the motor 20 is performed before the drive stop control of the motor 20 in consideration of the predicted positional deviation amount of the stocker bottom plate 12 predicted in advance. Therefore, before entering the drive stop control of the motor 20, the rotational speed of the motor can be reduced in advance, and the moving distance of the stocker bottom plate 12 due to the inertia after the drive stop of the motor can be kept short. The amount of deviation from the target position can be reduced.

  Further, information including the amount of deviation of the stocker bottom plate 12 from the target position when the stocker bottom plate 12 is moved to the target position is stored in the storage unit 23A, and the stocker for moving the stocker bottom plate 12 to the target position is stored. Since the process used as information for obtaining the predicted displacement amount of the bottom plate 12 is repeated, the accuracy of the predicted displacement amount of the stocker bottom plate 12 can be increased by the learning effect of repeated storage. Therefore, the deceleration position of the motor 20 can be appropriately set, and the stocker bottom plate 12 can be stopped at the target position without performing retry control.

  Next, a disc reproducing apparatus according to Embodiment (3) will be described. However, the configuration of the disc playback apparatus 1B according to the embodiment (3) is substantially the same as that of the disc playback apparatus 1 shown in FIG. 1 except for the control unit 22B and the storage unit 23B. The parts 22B and the storage part 23B are denoted by different reference numerals, and other components having the same function are denoted by the same reference numerals, and the description thereof is omitted.

  In the disk reproducing device 1B according to the embodiment (3), the storage unit 23B includes information including the amount of deviation from the target position of the stocker bottom plate 12 and the number of retries when the stocker bottom plate 12 is moved to the target position. Is stored each time control is performed, that is, the information is stored as a learning value.

  Further, the control unit 22B predicts a deviation amount from the target position of the stocker bottom plate 12 when the stocker bottom plate 12 is next moved to the target position based on the information stored in the storage unit 23B ( (Position deviation amount prediction means) and a braking method for stopping the motor 20 in consideration of the predicted position deviation amount of the stocker bottom plate 12 when the stocker bottom plate 12 is next moved to the target position ( And a function (braking method switching control means) for performing control for switching the braking function provided in the drive unit 21.

FIG. 5 shows the height position (horizontal axis) and moving speed (vertical axis) of the stocker bottom plate 12 to be moved by the drive control of the motor 20 performed by the control unit 22B of the disc reproducing apparatus 1B according to the embodiment (3). It is the figure which showed the relationship. Incidentally, P ₁ to P ₄ in the drawing indicates the position of the same content as Fig.

In the control unit 22B, when moving the stocker bottom plate 12 from the control start position P ₁ to the target stop position P _3, the target of the stocker bottom plate 12 from the information stored in the storage unit 23B (the learned value of the control up to the previous) A predicted value of the deviation amount from the position (predicted positional deviation amount of the stocker bottom plate 12) is obtained, and the braking method during the drive stop control of the motor 20 (ie, the estimated positional deviation amount of the stocker bottom plate 12 is taken into consideration) After any one of normal braking, short-circuit braking, and reverse braking) is set, drive control of the motor 20 is started, the moving speed of the stocker bottom plate 12 is increased to a predetermined value, and the stocker bottom plate 12 is stopped. Move toward the target position P ₃ .

After that, when the stocker bottom plate 12 moves to the position P ₂ where the drive stop control of the motor 20 is performed, the drive stop control of the motor 20 is performed by the set braking method, and the movement of the stocker bottom plate 12 is stopped. Since the control for switching the braking method and stopping the driving of the motor 20 is performed according to the predicted displacement amount of the stocker bottom plate 12, even when the predicted displacement amount of the stocker bottom plate 12 is large. by braking force makes a large short-circuit braking and inversion braking, movement amount of coasting of the stocker bottom plate 12 after the drive stop control of the motor 20 is suppressed, it can be accurately stopped in the vicinity of the stop target position P ₃ It has become.

  Next, the movement processing operation of the stocker bottom plate 12 performed by the control unit 22B in the disc reproducing apparatus 1B according to the embodiment (3) will be described based on the flowchart shown in FIG. This processing operation is a processing operation in which steps S61 to 65 are inserted instead of steps S38 to S44 in FIG. 4 and step S66 is inserted instead of step S53. The same reference numerals are given, and only differences will be described below.

  If it is determined in step S34 that a learned value such as a deviation amount from the target position is stored in the storage unit 23B, a predicted positional deviation of the stocker bottom plate 12 is determined based on a learned value such as a deviation amount from the target position. A process for obtaining the amount is performed (step S61), and then, depending on the predicted positional deviation amount of the stocker bottom plate 12, a braking method performed by the drive unit 21, that is, normal braking, short-circuit braking, and reverse braking is appropriately selected. A process for setting the braking method of the motor 20 is performed (step S62). Next, a process of driving the motor 20 in the forward direction is performed (step S63), and the stocker bottom plate 12 is moved toward the target position.

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to the position where the motor 20 drive stop control is performed (step S64), and the stocker bottom plate 12 performs the drive stop control of the motor 20. If it is determined that the position has been moved to the position to be performed, a process for stopping the driving of the motor 20 by the set braking method is performed via the drive unit 21 (step S65), and then the process proceeds to steps S45 to S52.

  Then, in step S52, a process for obtaining the predicted positional deviation amount of the stocker bottom plate 12 is performed, and then the braking method performed by the drive unit 21 according to the predicted positional deviation amount of the stocker bottom plate 12 is changed to normal braking and short circuit. Processing to set from braking and reverse braking is performed (step S66), and then the process returns to step S63 to repeat the processing.

  According to the disc reproducing apparatus 1B according to the embodiment (3), information including the amount of deviation from the target position of the stocker bottom plate 12 when the stocker bottom plate 12 is moved to the target position is stored in the storage unit 23B. Based on the information stored in the storage unit 23B, the amount of deviation of the stocker bottom plate 12 from the target position when the stocker bottom plate 12 is moved to the target position is predicted, and the predicted position deviation of the stocker bottom plate 12 is predicted. A quantity is required. Then, when the stocker bottom plate 12 is moved to the target position, control for switching the braking method for stopping the motor 20 in consideration of the predicted amount of misalignment of the predicted stocker bottom plate 12, for example, a braking effect is provided. High switching control to short-circuit braking that short-circuits the terminals of the motor 20 or reverse braking that reverses the rotation of the motor 20 is performed. Therefore, even when the predicted displacement amount of the stocker bottom plate 12 is larger than the appropriate range, the motor 20 can be switched by switching to short-circuit braking or reverse braking that provides a large braking force when driving the motor 20 is stopped. The driving stop time can be shortened, the moving distance of the stocker bottom plate 12 due to inertia can be kept short, and the amount of deviation of the stocker bottom plate 12 from the target position can be reduced.

  In the disk reproducing apparatus according to the above embodiments (2) and (3), the storage unit 23A, 23B is displaced from the target position of the stocker bottom plate 12 when the stocker bottom plate 12 is moved to the target position. In another embodiment, the movable mechanism 10 is provided with a temperature sensor and a means for detecting the number of disks mounted on the stocker 13, and the storage unit 23A and 23B further store the temperature detected by the temperature sensor when the stocker bottom plate 12 is moved to the target position, and the number of disks placed on the stocker 13 (information on the load related to the stocker bottom plate 12). When the predicted position deviation amount of the motor 20 is determined, the temperature in the device and the number of disks are detected, and the stocker bottom plate 12 is based on the information corresponding to the conditions. It may be configured to predict the amount of deviation from the target position.

  According to the disk reproducing apparatus having such a configuration, it is possible to predict the predicted displacement amount of the stocker bottom plate 12 in consideration of factors (temperature, load) that easily affect the driving of the motor 20 and the operation of the movable mechanism unit 10. it can. Accordingly, when the stocker bottom plate 12 is moved to the target position, the motor is considered in consideration of the predicted displacement amount of the stocker bottom plate 12 in consideration of factors that easily affect the driving of the motor 20 and the operation of the movable mechanism section 10. Therefore, it is possible to perform the deceleration control before the drive stop control of 20 and the switching control of the braking method when the drive of the motor 20 is stopped, so that the driving of the motor 20 and the operation of the movable mechanism unit 10 are easily affected. However, the deceleration control of the motor 20 can be performed at an appropriate timing in consideration of these factors, and the drive stop control of the motor 20 can be performed by an appropriate braking method, and the deviation amount from the target position of the stocker bottom plate 12 can be reduced. Can be small.

  FIG. 7 is a block diagram schematically showing a main part of the disc reproducing apparatus according to the embodiment (4). However, components having the same functions as those of the disc playback apparatus 1 shown in FIG.

  The disc reproducing apparatus 1C includes a movable mechanism unit 10A, a motor 20 that is a drive source of the movable mechanism unit 10A, a control unit 22C that controls driving of the motor 20 via the drive unit 21, and an operation unit 24. It is configured.

  In the present embodiment, a case where the drive control of the motor 20 performed by the control unit 22C is applied to the movement control of the slide lever 16A (movable unit) included in the movable mechanism unit 10A will be described. The movable mechanism unit 10A transmits the slide lever 16A slidably attached to the side wall of a main chassis (not shown) constituting the housing of the disc player 1C and the driving force of the motor 20 to the slide lever 16A. And a push switch 18A, 18B disposed in the moving section of the slide lever 16A. The push switches 18A, 18B are connected to the control unit 22C. The push switch 18A is used to detect the control start position of the slide lever 16A, and the push switch 18B is used to detect the control stop position of the slide lever 16A.

  FIG. 8 is a circuit configuration diagram of the push switch 18A. The push switch 18B has the same configuration. The push switch 18A includes a pushable knob (projection) 31, a resistor 32 interposed between the switch power supply terminal A and the GND terminal B, and the resistor 32 on the resistor 32 in conjunction with the pushing operation of the knob 31. , And a voltage value proportional to the amount of pressing of the knob 31 is output from the output terminal C to the control unit 22C. FIG. 9 shows the relationship between the push amount of the knob 31 of the push switches 18A and 18B and the output voltage value.

  In the control unit 22C, when the voltage value proportional to the push amount of the knob 31 input from the push switches 18A and 18B becomes a voltage value corresponding to the predetermined push amount, the drive stop control of the motor 20 is performed. It has become.

  Next, the movement processing operation of the movable part performed by the control unit 22C in the disc reproducing apparatus 1C according to the embodiment (4) will be described based on the flowchart shown in FIG. This processing operation is executed when there is a command to move the slide lever 16A to the target position.

  First, it is determined whether or not the slide lever 16A is in the control start position (step S71). If it is determined that the slide lever 16A is not in the control start position, a process of driving the motor 20 in reverse is performed (step S72). Return the slide lever 16A to the control start position.

On the other hand, if it is determined in step S71 that the slide lever 16A is at the control start position, the motor 20 is driven to rotate forward (step S73), and then the voltage value V of the output terminal C of the push switch 18B is monitored. (Step S74). Then, it is determined whether or not the voltage value V is equal to or greater than a predetermined push amount of the knob 31, for example, a voltage value V ₁ (see FIG. 10) indicating a push amount of 60% (step S75). If it is determined that the voltage value is less than the voltage value V ₁ indicating the predetermined push amount, the process returns to step S74. If it is determined that the voltage value is equal to or greater than the voltage value V ₁ indicating the predetermined push amount, the driving of the motor 20 is stopped via the drive unit 21. Processing is performed (step S76), and then the processing ends.

  In the disc player 1C according to the above embodiment (4), the voltage proportional to the push amount of the knob 31 input from the push switches 18A and 18B by the control unit 22C corresponds to the push amount of N%. When the voltage value is reached, the drive stop control of the motor 20 can be executed, and the drive stop control of the motor 20 can be executed at the position of the desired push amount while monitoring the moving position of the slide lever 16A. .

  Further, according to the push switches 18A and 18B, a voltage value proportional to the pushing amount of the knob 31 can be output, and the control unit 22C can accurately grasp the moving position of the slide lever 16A from the input voltage value. In addition, it is possible to appropriately detect that the slide lever 16A has moved due to the backlash caused by the mechanical backlash, and it is possible to perform stop position control in consideration of backlash.

  Next, a disc reproducing apparatus according to Embodiment (5) will be described. However, the configuration of the disc playback apparatus 1D according to the embodiment (5) is substantially the same as that of the disc playback apparatus 1C shown in FIG. 7 except for the control unit 22D, and therefore differs from the control unit 22D having different functions. Reference numerals are assigned, and descriptions of other components having the same function are omitted.

  In the disc playback apparatus 1C according to the embodiment (4), the control unit 22C controls the drive unit 21 when the voltage value proportional to the push amount of the knob 31 input from the push switches 18A and 18B reaches a predetermined value. However, in the disc reproducing apparatus 1D according to the embodiment (5), the controller 22D controls the push amount of the knob 31 input from the push switches 18A and 18B. Control is performed to switch the braking method when driving of the motor 20 is stopped in accordance with the proportional voltage value (for example, short-circuit braking is performed with a pushing amount of 10% and reverse braking is performed with a pushing amount of 80%). Is different.

  Next, the movement processing operation of the movable part performed by the control unit 22D in the disc reproducing apparatus 1D according to the embodiment (5) will be described based on the flowchart shown in FIG. Note that the processing operations shown in FIG. 10 and the processing operations having the same contents are denoted by the same reference numerals and description thereof is omitted.

In step S74, the voltage value V of the output terminal C of the push switch 18B is monitored, and it is determined whether or not the voltage value V is equal to or higher than a voltage value V ₂ (see FIG. 10) indicating a 10% push amount of the knob 31. (step S81), the voltage value V, the process returns to step S74 if determined that the voltage value V less than ₂ showing 10% pressing amount, if it is determined that the voltage value V ₂ or more which indicates a 10% pressing amount, short A process of stopping the driving of the motor 20 by braking is performed (step S82).

Thereafter, it is determined whether or not the monitored voltage value V is equal to or higher than the voltage value V ₃ indicating the pressing amount of 80% of the protrusion (step S83), and the voltage value V indicates the pressing value of 80%. If it is determined that the value is less than ₃ , the process returns to step S83. On the other hand, if it is determined that the voltage value is equal to or greater than V ₃ indicating the pressing amount of 80%, the braking process is performed by switching from short-circuit braking to reverse braking (step S84). After the process is stopped, the process ends.

According to the disk reproducing apparatus 1D according to the above embodiment (5), when the driving of the motor 20 is stopped by the control unit 22D according to the voltage value proportional to the pushing amount of the knob 31 input from the push switches 18A and 18B. Control for switching the braking method is performed. For example, the control of starting the short-circuit braking of the motor 20 when the pushing amount of the knob 31 is N ₁ % and switching to the reverse braking of the motor 20 at the position of N ₂ (> N ₁ )% can be performed. Control can be performed to switch the braking method when driving of the motor 20 is stopped according to the movement position of the lever 16A, and the slide lever 16A can be reliably stopped at a desired position.

  FIG. 12 is a block diagram schematically showing a main part of the disc reproducing apparatus according to the embodiment (6). However, components having the same functions as those of the disc playback apparatus 1 shown in FIG.

  The disc reproducing apparatus 1E includes a movable mechanism unit 10B, a motor 20 that is a drive source of the movable mechanism unit 10B, a control unit 22E that controls driving of the motor 20 via the drive unit 21, and an operation unit 24. It is configured.

  In the present embodiment, the case where the drive control of the motor 20 performed by the control unit 22E is applied to the movement control of the slide lever 16B included in the movable mechanism unit 10B will be described. The movable mechanism section 10B includes a slit plate 40 in which a plurality of slits 41 are formed, a reverse detection slit detection sensor 42 that is slidably engaged with the slit plate 40, a slit detection sensor 42, and a connecting member. 43, and includes a slide lever 16B (movable part) that is slidably mounted in conjunction with the slit detection sensor 42, and a gear mechanism 17 for transmitting the driving force of the motor 20 to the slide lever 16B. The slit detection sensor 42 is connected to the control unit 22E, and the output of the slit detection sensor 42 is input to the control unit 22E.

  In addition, each slit 41 of the slit plate 40 is formed at an interval in consideration of the speed at which the slide lever 16B is moved to the target position. In this case, the slit 41 can be decelerated near the control start position and the stop position of the slide lever 16B. In addition, the gaps between the slits 41 are formed to be gradually reduced at both ends of the slit plate 40.

  The slit detection sensor 42 has a configuration in which, for example, a light emitter and a light receiver (not shown) are arranged to face each other, and the light from the light emitter is detected by the light receiver when passing through the slit 41. The control unit 22E controls the drive of the motor 20 via the drive unit 21 so that the passage detection signals of the slit 41 are input from the slit detection sensor 42 at predetermined time intervals. ing. A light emitting element may be provided on the slide lever 16B and a light receiving element may be provided on the slit 41 of the slit plate 40, or a light receiving element may be provided on the slide lever 16B and a light emitting element provided on the slit 41 of the slit plate 40. It is.

  Next, the movement processing operation of the movable part performed by the control unit 22E in the disc reproducing apparatus 1E according to the embodiment (6) will be described based on the flowchart shown in FIG. This processing operation is executed when there is a command to move the slide lever 16B to the control completion position.

  First, it is determined whether or not the slide lever 16B is at the control start position (step S91), and if it is determined that the slide lever 16B is not at the control start position, a process of reversely driving the motor via the drive unit 21 is performed. (Step S92), the slide lever 16B is returned to the control start position.

  On the other hand, if it is determined in step S91 that the slide lever 16B is at the control start position, then the process of setting the drive voltage to the reference value and driving the motor 20 in the forward direction is performed (step S93), and the slit detection signal is set. Is started (step S94), and the slide lever 16B is moved toward the control completion position.

  Thereafter, the signal from the slit detection sensor 42 is monitored to determine whether or not a slit detection signal has been input (step S95). If it is determined that a slit detection signal has been input, the current slit detection signal is input. It is determined whether or not the interval is longer than the previous input interval (previous value) (step S96). If it is determined that the input interval of the slit detection signal is longer than the previous value, the interval before the input interval of the slit detection signal is determined. A difference from the value is obtained (step S97), and the motor drive voltage is increased by a predetermined amount (for example, 5, 10, 15%,..., Up) according to the obtained input interval difference (step S98). Thereafter, the process proceeds to step S102.

  On the other hand, if it is determined in step S96 that the input interval of the current slit detection signal is not longer than the previous value, it is determined whether the input interval of the slit detection signal is shorter than the previous value (step S99). If it is determined that the input interval of the detection signal is shorter than the previous value, a difference from the previous value of the input interval of the slit detection signal is obtained (step S100), and the motor drive voltage is determined based on the obtained input interval difference. A process of lowering by a predetermined amount (for example, 5, 10, 15%,..., Down, etc.) is performed (step S101), and then the process proceeds to step S102. On the other hand, if it is determined in step S99 that the input interval of the slit detection signal is not shorter than the previous value, that is, the same as the previous value, the process proceeds to step S102.

  In step S102, it is determined whether or not the slide lever 16B is in the control completion position. If it is determined that the slide lever 16B is not in the control completion position, the process returns to step S95, while the slide lever 16B is in the control completion position. If it judges, the process which stops the drive of the motor 20 will be performed (step S103), and a process will be complete | finished after that.

  According to the disc reproducing apparatus 1E according to the above embodiment (6), the movable mechanism 10B has the slits 41 having a plurality of slits 41 provided at intervals considering the speed at which the slide lever 16B is moved to the target position. A plate 40 and a slit detection sensor 42 that is disposed so as to move in conjunction with the slide lever 16B along the slit plate 40 and that detects passage through the slit 41 are equipped. The controller 22E detects the slit. Since the drive control of the motor 20 is performed so that the slit detection signal is input from the sensor 42 at predetermined time intervals, complicated control is performed by the control unit 22E by the mechanism provided with the slit plate 40 and the slit detection sensor 42. Without being performed, the rotation speed of the motor 20 can be appropriately controlled. Further, by replacing the slit plate 40 provided in the movable mechanism unit 10B, that is, by using the slit plate 40 having a different interval between the slits 41, the content of drive control of the motor 20 performed by the control unit 22E, for example, a slide lever The moving speed of 16B can be easily changed or set.

  FIG. 14 is a block diagram schematically showing a main part of the disc reproducing apparatus according to the embodiment (7). However, components having the same functions as those of the disk reproducing apparatus 1 shown in FIG.

  The disc reproducing apparatus 1F includes a movable mechanism unit 10 including a CD changer mechanism 11 and the like, a motor 20 that is a drive source of the movable mechanism unit 10, a control unit 22F that controls driving of the motor 20 via the drive unit 21, and The operation unit 24 is included. Since the difference from the disk reproducing apparatus according to the embodiment (1) is in the method of driving control of the motor 20 executed by the control unit 22F, only the difference will be described below.

  The control unit 22F obtains a deviation amount between the stop position of the stocker bottom plate 12 detected by the potentiometer 15 and the target position when the stocker bottom plate 12 is moved to the target position (stop position deviation amount calculation means). And a function for determining whether or not the obtained stop position deviation amount is within the stop target range (stop position deviation amount appropriate judgment means), and if the stop position deviation amount is not within the stop target range If it is determined, it has a function (motor drive stop position determination means) for determining the drive stop position of the motor 20 in consideration of the stop position deviation amount. In the next control (retry control), the stocker bottom plate 12 is When it is detected that the motor has moved to the motor drive stop position determined in consideration of the stop position deviation amount, drive stop control of the motor 20 is performed.

FIG. 15 is a diagram for explaining a method for controlling the drive of the motor 20 performed by the control unit 22F in the disc reproducing apparatus 1F according to the embodiment (7). The vertical axis indicates the stocker detected by the potentiometer 15. The position of the bottom plate 12 is shown. In the vertical axis, Q ₁ is the lower limit position of the stop target range of the stocker bottom plate 12, Q ₂ is the stop target position of the stocker bottom plate 12, Q ₃ is the upper limit position of the stop target range of the stocker bottom plate 12, and Q ₄ is The actual stop position of the stocker 13 is shown, and here, description will be made assuming that control for raising the stocker bottom plate 12 to the stop target position is performed.

First, in the first control after an instruction to move the stocker bottom plate 12 to the target position, the stocker bottom plate 12, when moved to the lower limit position Q _1, performs drive stop control of the motor 20, the stocker bottom plate 12 stops the process without moving to the upper limit position Q ₃ , but the process ends. However, if the process stops at the position Q ₄ beyond the upper limit position Q ₃ as shown in the figure, the position from the stop target position Q ₂ The shift amount α (= Q ₄ −Q ₂ ) is obtained, the process proceeds to the _second control (retry control), the stocker bottom plate 12 is reversed to the retry position Q _{5, and} then the stocker bottom plate 12 is raised again. Take control.

In the second control, the drive stop control of the motor 20 is performed when the stocker bottom plate 12 moves to a position Q _{6 that} is closer to the position Q ₆ than the lower limit position Q ₁ by a positional deviation amount α (Q ₄ -Q ₂ ). In this way, the position shift amount α (Q ₄ -Q ₂ ) is taken into account, and the drive stop control of the motor 20 is performed before the lower limit position Q ₁ , so that the stop is accurately performed near the stop target position Q ₂ . It is possible.

Further, in the second and subsequent controls, when the stocker bottom plate 12 stops beyond the upper limit position Q ₃ or stops before the lower limit position Q ₁ , the positional deviation amount α is obtained again in the same manner as described above. Thus, the drive stop control of the motor 20 is performed at the position where the positional deviation amount α is added.

  Next, the movement processing operation of the movable part performed by the control unit 22F in the disc reproducing apparatus 1F according to the embodiment (7) will be described based on the flowchart shown in FIG. This processing operation is executed when there is a command to move the stocker bottom plate 12 to the target position.

First, it is determined whether or not the offset amount (position deviation amount α) of the motor drive stop position is set (step S111). If it is determined that the offset amount of the motor drive stop position is not set, the basic position ( The lower limit position Q ₁ ) is set to the motor drive stop position (step S112). On the other hand, if it is determined that the offset amount of the motor drive stop position is set, the position where the offset amount is added to the basic position is set to the motor drive stop position. (Step S113), and thereafter, a process of driving the motor in the forward direction is performed (step S114).

  Then, the output value of the potentiometer 15 is taken in, it is determined whether or not the stocker bottom plate 12 has moved to the motor drive stop position (step S115), and if it is determined that the stocker bottom plate 12 has moved to the motor drive stop position. Then, the process of stopping the driving of the motor 20 is performed (step S116), and then it is determined whether or not a predetermined braking time has elapsed (step S117). If it is determined that the predetermined braking time has elapsed, It is determined whether or not the stocker bottom plate 12 has stopped within the stop target range (step S118), and if it is determined that the stocker bottom plate 12 has stopped within the stop target range, the processing ends.

  On the other hand, if it is determined in step S118 that the stocker bottom plate 12 is not stopped within the stop target range, a process of obtaining the shift amount α from the target position of the stocker bottom plate 12 is performed (step S119). A deviation amount α from the position is set as an offset amount (step S120), and then, in order to perform retry control, a process of driving the motor 20 in reverse via the drive unit 21 is performed (step S121).

  Thereafter, the output value of the potentiometer 15 is taken in, and it is determined whether or not the stocker bottom plate 12 has moved to the retry position (step S122). If it is determined that the stocker bottom plate 12 has moved to the retry position, the motor 20 is reversed. A process for stopping driving is performed (step S123), and then the process returns to step S111 to start retry control.

  According to the disc reproducing apparatus 1F according to the above embodiment (7), when it is determined that the positional deviation amount α is not within the stop target range, the driving stop position of the motor 20 in consideration of the positional deviation amount α is determined. Then, when it is detected in the next control (retry control) that the slide lever 16B has moved to the determined drive stop position of the motor 20, drive stop control of the motor 20 is performed. Therefore, at the second and subsequent retries, the drive stop position of the motor 20 is set to the previous position in consideration of the amount of displacement α from the target position due to the movement of the slide lever 16B due to inertia after the drive stop of the motor 20 in the previous control. Alternatively, by moving backward and performing drive stop control of the motor 20, the amount of deviation of the slide lever 16B from the target position can be reduced, and the number of retries can be reduced and the control time can be shortened. .

  FIG. 17 is a block diagram schematically showing a main part of the disc reproducing apparatus according to the embodiment (8). However, components having the same functions as those of the disc playback apparatus 1 shown in FIG.

  The disc reproducing apparatus 1G includes a movable mechanism unit 10C, a motor 20 that is a drive source of the movable mechanism unit 10C, a control unit 22G that controls driving of the motor 20 via the drive unit 21, and an operation unit 24. It is configured. In the present embodiment, the case where the drive control of the motor 20 performed by the control unit 1G is applied to the movement control of the slide lever 16C included in the movable mechanism unit 10C will be described.

  The movable mechanism portion 10C transmits the driving force of the slide lever 16C (movable portion) slidably attached to the side wall 50 of the main chassis constituting the housing of the disk reproducing device 1G and the motor 20 to the slide lever 16C. And a push switch 19A, 19B disposed at both ends of the moving section of the slide lever 16C. Note that the push switches 19A and 19B are switches in which an internal contact is turned on when the knob 31 is pushed, and an ON / OFF detection signal is input to the control unit 22G.

  A guide groove 16d indicating a moving section is formed on the side surface of the slide lever 16C, and a guide shaft 51 extending vertically from the side wall 50 of the main chassis is inserted into the guide groove 16d. . The guide groove 16d has a shape in which the central portion is horizontal and both end portions are curved slightly downward, and the sliding resistance with the guide shaft 51 at both end portions of the guide groove 16d is the guide at the central portion of the guide groove 16d. It is comprised so that it may become larger than the sliding resistance with the axis | shaft 51. FIG. Note that the shape of both ends of the guide groove 16d may be other than a curved shape as long as the sliding resistance with the guide shaft 51 is increased.

  According to the disk reproducing device 1G according to the embodiment (8), when the guide shaft 51 is positioned at both ends of the guide groove 16d by the movement of the slide lever 16C, the sliding resistance of the guide shaft 51 with respect to the guide groove 16d. Therefore, even when the motor 20 is driven at the same voltage, the moving speed of the slide lever 16C can be automatically reduced, and the sliding resistance increases during the drive stop control of the motor 20. The rotation of the motor 20 can be stopped in a short time, the moving distance of the slide lever 16C due to inertia after the motor 20 stops driving can be kept short, and the amount of deviation of the slide lever 16C from the target position can be reduced. The control unit 20G can appropriately control the moving speed of the slide lever 16C without performing special speed control.

  In the disc reproducing apparatus 1G according to the above embodiment (8), the sliding resistance with the guide shaft 51 at both ends of the guide groove 16d is greater than the sliding resistance with the guide shaft 51 at the center of the guide groove 16d. The shape of the guide groove 16d is processed so as to be larger, and the rotational speed of the motor 20 is controlled by a load applied to the guide shaft 51. In another embodiment, the rotational axis of the motor 20 is It is good also as a structure which provides the circular center brake comprised so that the braking force which blocks | prevents rotation of a rotating shaft may act when the rotational speed of this rotating shaft falls.

  According to such a configuration, when the drive stop control of the motor 20 is performed, the braking force is applied to the rotation shaft of the motor 20 by the circular center brake, so that the rotation of the motor 20 can be stopped in a short time. The movement distance of the slide lever due to inertia after stopping the drive can be kept short, the amount of deviation of the slide lever from the target position can be reduced, and the central brake does not perform any special control in the control unit. Thus, it is possible to appropriately perform stop control of the slide lever.

  In the above embodiments (1) to (8), the case where the motor control device and the motor-equipped device according to the present invention are applied to a disc playback device having a CD changer function has been described. It can be applied to a single deck that does not have a changer function in addition to a disk playback device having a changer function. In short, a motor and a mechanism that drives the motor to move a movable part to a target position. The present invention can be applied to various motor-equipped devices configured to include a control unit that controls driving of the motor.

It is the block diagram which showed roughly the principal part of the disc reproducing | regenerating apparatus (motor mounting apparatus) concerning Embodiment (1) of this invention. FIG. 6 is a diagram showing the relationship between the height position (horizontal axis) and the moving speed (vertical axis) of a stocker bottom plate that is moved by motor drive control performed by the control unit of the disk reproducing apparatus according to the embodiment (1). is there. 6 is a flowchart showing a moving processing operation of a movable part performed by a control unit in the disc reproducing apparatus according to the embodiment (1). It is the flowchart which showed the movement processing operation | movement of the movable part which the control part in the disc reproducing | regenerating apparatus concerning Embodiment (2) performs. FIG. 6 is a diagram showing the relationship between the height position (horizontal axis) and the moving speed (vertical axis) of the stocker bottom plate that is moved by the motor drive control performed by the control unit of the disk reproducing apparatus according to the embodiment (3). is there. It is the flowchart which showed the movement processing operation | movement of the movable part which the control part in the disc reproducing | regenerating apparatus concerning Embodiment (3) performs. It is the block diagram which showed roughly the principal part of the disc reproducing | regenerating apparatus concerning Embodiment (4). It is a circuit block diagram of the push switch mounted in the disc reproducing | regenerating apparatus based on Embodiment (4). It is the figure which showed the relationship between the pushing amount of the protrusion part of a push switch, and an output voltage value. It is the flowchart which showed the movement processing operation | movement of the slide lever which the control part in the disc reproducing | regenerating apparatus concerning Embodiment (4) performs. It is the flowchart which showed the movement processing operation | movement of the slide lever which the control part in the disc reproducing | regenerating apparatus concerning Embodiment (5) performs. It is the block diagram which showed roughly the principal part of the disc reproducing | regenerating apparatus concerning Embodiment (6). It is the flowchart which showed the movement processing operation | movement of the slide lever which the control part in the disc reproducing | regenerating apparatus concerning Embodiment (6) performs. It is the block diagram which showed roughly the principal part of the disc reproducing | regenerating apparatus concerning Embodiment (7). It is a figure for demonstrating the drive control method of the motor performed by the control part of the disc reproducing | regenerating apparatus concerning Embodiment (7). It is the flowchart which showed the movement processing operation | movement of the stocker baseplate which the control part in the disc reproducing | regenerating apparatus concerning Embodiment (7) performs. It is the block diagram which showed roughly the principal part of the disc reproducing | regenerating apparatus concerning Embodiment (8).

Explanation of symbols

1, 1A, 1B, 1C, 1D, 1E, 1F, 1G Disc player 10, 10A, 10B, 10C Movable mechanism 11 Changer mechanism 12 Stocker bottom plate 13 Stocker 16, 16A, 16B, 16C Slide lever 17 Gear mechanism 20 Motor 21 Drive unit 22, 22A, 22B, 22C, 22D, 22E, 22F, 22G Control unit 23, 23A, 23B Storage unit 24 Operation unit

Claims (2)

A motor control device that performs drive control of the motor in a device having a mechanism that drives a motor to move a movable part to a target position,
Measuring means for measuring information related to the driving time of the motor when the movable part is moved to a target position;
Storage means for storing information related to the driving time of the motor measured by the measuring means;
Motor driving time prediction means for predicting information related to the driving time of the motor when moving the movable part to a target position based on the information stored in the storage means;
Updating means for updating information related to the driving time of the motor stored in the storage means to information related to the driving time of the motor predicted by the motor driving time prediction means ;
A motor control device comprising: motor deceleration control means for performing deceleration control of the motor before the estimated driving time of the motor updated by the updating means elapses . The storage means further stores information on environmental conditions in which the device is placed and / or load conditions applied to the movable part,
Claim 1, wherein the motor driving time prediction means, characterized in that it is predictive of the environmental conditions to which equipment is placed, and / or the driving time of the motor load condition is considered to be applied to the movable portion The motor control apparatus described.

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