JP6405582B2 - Motor control device and reaction force output device - Google Patents

Description

  The present invention relates to a motor control device and a reaction force output device.

  An accelerator pedal device that outputs a force (reaction force) in the opposite direction to the force that depresses the accelerator pedal (stepping force) to the accelerator pedal, for example, in order to suppress unintended sudden acceleration when the vehicle starts or travels. It is known (see, for example, Patent Document 1).

  The accelerator pedal device described in Patent Document 1 includes a housing that pivotally supports the base end of a pedal arm, a return spring for returning the pedal arm to an initial position, a motor for creating a reaction force, A lever for transmitting the rotation of the motor to the pedal arm is incorporated. In this accelerator pedal device, the motor is controlled by the control device to an output corresponding to the depression state of the accelerator pedal, and the output is applied to the pedal arm through the transmission lever.

JP 2010-111379 A

  However, in the conventional motor control device, the continuous operation period of the motor is designed to protect the motor from burning, and the motor cannot be operated continuously beyond the continuous operation period. Therefore, it is difficult for the conventional motor control device to increase the degree of freedom of the motor energization pattern.

  Problem to be solved by the invention is providing the motor control apparatus and reaction force output apparatus which can raise the freedom degree of the electricity supply pattern of a motor, protecting a motor from burning.

The motor control device of the present invention employs the following configuration.
(1) A current detection unit that detects a motor current supplied to the motor, and calculates an integrated value of the motor current detected by the current detection unit within a predetermined time. Based on the calculated integrated value, A controller that estimates the amount of generated heat, determines whether the estimated amount of generated heat exceeds a predetermined integration threshold, and stops operation of the motor when it is determined that the amount of generated heat exceeds the integration threshold. .
According to such a configuration, the motor control device calculates an integrated value of the motor current within a predetermined time, estimates the generated heat amount of the motor based on the calculated integrated value, and the estimated generated heat amount is a predetermined integrated value. It is determined whether or not the threshold value has been exceeded, and when it is determined that the amount of generated heat has exceeded the integrated threshold value, the operation of the motor is stopped. Therefore, it can be determined that the motor is stopped based on the integrated value for each predetermined period. The degree of freedom of the energization pattern of the motor can be increased while protecting from burning.

(2) A temperature detection unit that detects the temperature of the motor is provided, and the control unit determines whether or not the temperature of the motor detected by the temperature detection unit exceeds a temperature threshold, and the temperature of the motor is the temperature threshold. The operation of the motor may be stopped also when it is determined that the value exceeds the value.
According to such a configuration, the motor control device can stop the operation of the motor based on the estimated amount of generated heat Q and can stop the motor based on the temperature of the motor. can do.

(3) The control unit may restart the operation of the motor in response to the elapse of the predetermined time after determining that the amount of generated heat has exceeded the integrated threshold and stopping the operation of the motor. .
According to such a configuration, the motor control device can start the operation of the motor after stopping the motor based on the estimated amount of generated heat Q, and can increase the degree of freedom of the energization pattern of the motor. .

(4) After the temperature of the motor exceeds a temperature threshold, the control unit may transition to a standby state for an input value supplied from the outside in response to the temperature of the motor reaching a predetermined temperature. Good.
According to such a configuration, the motor control device can shift to the standby state when the operation of the motor is stopped based on the motor temperature, and can further protect the motor.

The reaction force output device of the present invention employs the following configuration.
(5) By transmitting the driving force of the motor to the driving member via the gear mechanism and driving the driving member, the operating direction of the operating element is opposite to the operating direction of the operating element. The drive part which outputs force and the motor control apparatus in any one of Claims 1-4 are provided.
According to such a configuration, the reaction force output device calculates an integrated value of the motor current within a predetermined time, estimates the generated heat amount of the motor based on the calculated integrated value, and the estimated generated heat amount is a predetermined value. It is determined whether or not the integrated threshold has been exceeded, and when it is determined that the amount of generated heat has exceeded the integrated threshold, the operation of the motor is stopped. Therefore, it can be determined that the motor is stopped based on the integrated value for each predetermined period. The degree of freedom of the energization pattern of the motor can be increased while protecting from burning.

  ADVANTAGE OF THE INVENTION According to this invention, the freedom degree of the electricity supply pattern of a motor can be raised, protecting a motor from burning.

It is a figure showing an example of the appearance composition of accelerator pedal device 1 provided with reaction force output device 10 concerning one embodiment. It is a figure showing an example of an internal structure of reaction force output device 10 concerning one embodiment. It is a figure showing an example of functional composition centering on a control circuit of reaction force output device 10 concerning one embodiment. It is a figure explaining the function of motor control operation in reaction force output device 10 concerning one embodiment. It is a figure explaining the transition of the operation mode of the motor control operation | movement in the reaction force output device 10 which concerns on one Embodiment. FIG. 6 is a flowchart illustrating a processing procedure of a motor control operation in the reaction force output device 10 according to the embodiment. FIG. 7 is a diagram illustrating a temperature transition of a coil in the motor 20 in the reaction force output device 10 according to the embodiment. FIG. 8 is a view for explaining the heat generation of the coil of the motor 20 in the reaction force output device 10 according to one embodiment. FIG. 9 is a diagram illustrating theoretical values and actual measurement values in the reaction force output device 10 according to an embodiment.

  Hereinafter, a reaction force output device shown as an embodiment of the present invention will be described with reference to the drawings. A reaction force output device according to an embodiment outputs, for example, a force (reaction force) opposite to a stepping force (stepping force) to an operator such as an accelerator pedal provided for instructing acceleration of the vehicle. Device. By using the reaction force output device, it is possible to improve the accelerator feeling, to transmit the accelerator work that saves fuel consumption, and to perform various safety controls. Safety control includes control that outputs a relatively large reaction force in order to suppress excessive acceleration before a curve, in an urban area, a school zone, or the like. In addition, when the accelerator pedal is simply operated exceeding the reference, it may be determined that the operation is erroneous and control to output a large reaction force may be performed. In addition, the operation element that is the reaction force output target in the present embodiment is not limited to the accelerator pedal, and may be a brake pedal, a steering wheel, an operation device of a game machine, or the like.

Drawing 1 is a figure showing an example of the appearance composition of accelerator pedal device 1 provided with reaction force output device 10 concerning one embodiment.
The accelerator pedal device 1 includes a pedal body unit 2 installed in front of the driver's seat and a reaction force output device 10 installed above the pedal body unit 2.

  The pedal body unit 2 is provided on a holding base 2a attached to the vehicle body, a pedal arm 4 whose base end is rotatably supported by a support shaft 2b provided on the holding base 2a, and a distal end portion of the pedal arm 4. The holding base 2a is provided with a return spring (not shown) that constantly urges the pedal arm 4 to the initial position.

  A cable (not shown) for operating the opening of a throttle valve (not shown) of the internal combustion engine (engine) is connected to the pedal arm 4 in accordance with the operation amount (rotation angle) of the pedal arm 4. However, when the internal combustion engine employs an electronically controlled throttle, a rotation sensor for detecting the rotation angle of the pedal arm 4 is provided in the pedal body unit 2, and the throttle valve is detected based on the detection signal of the rotation sensor. The opening degree may be controlled. Further, a reaction force transmission lever 8 extending in a direction substantially opposite to the extending direction of the pedal arm 4 is integrally connected to the vicinity of the base end of the pedal arm 4.

  Further, the distal end portion of the output lever 12 that is a driving member of the reaction force output device 10 and the distal end portion of the reaction force transmission lever 8 can be brought into contact with each other. The turning force of the output lever 12 that is a drive member of the reaction force output device 10 is output to the pedal arm 4 via the reaction force transmission lever 8. In this way, the reaction force output device 10 outputs a reaction force in the direction opposite to the direction of the pedaling force to the operator.

  FIG. 2 is a diagram illustrating an example of the internal structure of the reaction force output device 10 according to an embodiment. In FIG. 2, the cover of the upper surface of the housing member 14 is removed, and the internal state of the housing member 14 (reaction force output device 10) is shown. The reaction force output device 10 according to the present embodiment includes a motor 20 that is a drive source for creating a reaction force, a reaction force output shaft 16 that is pivotally supported by the housing member 14, a gear reduction mechanism 30, and the like. And a circuit board 50.

  The gear reduction mechanism 30 decelerates the rotation of the rotor of the motor 20 and increases the torque T output from the motor 20 side, and increases the torque T by deflecting from the motor rotation shaft 22 direction to the reaction force output shaft 16 direction. T is transmitted to the output lever 12. One end portion in the reaction force output shaft direction protrudes outward from the side surface of the housing member 14, and the output lever 12 is integrally connected to the protruding end portion.

  The rotation of the rotor of the motor 20 is controlled by a control circuit mounted on the circuit board 50. Connected to the circuit board 50 is a CAN (Controller Area Network) cable (not shown) for transmitting and receiving signals between a host ECU (Electronic Control Unit) described later and a control circuit. The circuit board 50 and the motor 20 are connected via a cable (not shown), and the rotation of the rotor of the motor 20 is controlled based on a control signal sent from the circuit board 50. In addition, a small hole, a slit, or the like is provided in the housing that covers the rotor of the motor 20, and a Hall IC (Integrated Circuit) is fitted into the small hole, the slit, or the like. The Hall IC detects the magnetic flux intensity that passes through a small hole, a slit, or the like, and outputs a pulsed voltage corresponding to the detected magnetic flux intensity. The magnetic flux intensity detected by the Hall IC changes according to the rotation of the rotor in the motor 20. For this reason, the reaction force output device 10 can detect the rotation amount of the rotor (for example, the rotation speed n [rpm]) based on the output voltage of the Hall IC.

  FIG. 3 is a diagram illustrating an example of a functional configuration centering on a control circuit of the reaction force output device 10 according to the embodiment. In FIG. 3, the reaction force output device 10 includes a CAN control circuit 54 that performs CAN communication between the motor 20 and the host ECU 70, a microcontroller (microcomputer) 56, a motor driver IC 58, a power FET (Field Effect Transistor). ) 60, Hall IC 64U, 64V, 64W, Hall IC 64, current detection sensor 66, and motor temperature sensor 68 (temperature detection unit). In the following description, the Hall ICs 64U, 64V, and 64W are collectively referred to as the Hall IC 64 unless otherwise distinguished.

  For example, the host ECU 70 controls the driving of the engine 72 by controlling the opening degree of the throttle valve in accordance with the operation amount of the pedal arm 4. In the engine 72, a crankshaft as an output shaft is connected to an axle, and outputs a driving force for driving the vehicle. The travel drive unit may have a configuration in which a travel motor is added to the engine 72, or may have a configuration in which the travel drive force is output only by the travel motor without the engine 72.

  The microcomputer 56 (control unit) performs CAN communication with the host ECU 70 via the CAN control circuit 54. The microcomputer 56 receives a reaction force set value P, which is a reference for the magnitude of the reaction force generated by the reaction force output device 10, from the host ECU 70. The reaction force set value P is an example of “input value”. For example, the reaction force set value P may be determined so as to increase according to the vehicle speed of the vehicle on which the reaction force output device 10 is mounted, or in order to suppress a sudden accelerator operation in order to improve fuel efficiency. It may be determined. Further, the reaction force setting value P may be determined so as to increase as the distance between the vehicle on which the reaction force output device 10 is mounted and the preceding vehicle becomes shorter. The inter-vehicle distance is acquired by, for example, a millimeter wave radar or a sound wave sensor installed at the front portion of the vehicle, a stereo camera device installed at the top of the windshield, or the like. For the application of the present invention, there is no particular limitation on the method for determining the reaction force set value P.

  The microcomputer 56 determines the current command value I as a control amount to be given to the motor driver IC 58 based on the reaction force set value P. At this time, the microcomputer 56 determines the current command value I based on a relational expression indicating the relationship between the current command value I and the reaction force set value P, for example. The motor driver IC 58 determines a pulse width, a duty ratio, and the like at the time of PWM control based on the current command value I, controls a current to be supplied to the power FET 60, and rotates the motor 20.

  The microcomputer 56 stops and restarts the operation of the motor 20 based on the temperature value of the motor 20 supplied from the motor temperature sensor 68 and the current value of the motor supplied from the current detection sensor 66. The motor temperature sensor 68 is, for example, a thermistor that detects the W-phase coil temperature of the motor 20. The operation of the microcomputer 56 as a motor control device will be described later.

  The power FET 60 includes U-phase, V-phase, and W-phase power FETs 60U, 60V, and 60W, and each power FET is connected to a coil of a corresponding phase of the motor 20, respectively. The motor driver IC 58 cyclically turns on / off each phase power FET to generate a magnetic field in each phase coil, and rotates the rotor of the motor 20.

  The microcomputer 56 is connected to a current detection sensor 66 for detecting a current supplied to the motor 20 and a motor driver IC 58. The microcomputer 56 receives a signal indicating the current detected by the current detection sensor 66. In addition to the microcomputer 56, three Hall ICs 64U, 64V, 64W are connected to the input terminal of the motor driver IC 58, and the motor driver IC 58 accepts a change in voltage output from each of the Hall ICs 64U, 64V, 64W. The motor driver IC 58 outputs a signal indicating the rotational speed n of the motor 20 to the microcomputer 56 based on the input from the Hall ICs 64U, 64V, 64W. Thereby, the microcomputer 56 detects the rotation speed n of the motor 20. The microcomputer 56 determines a current command value I to be given to the motor driver IC 58 based on the detected rotation speed n of the motor 20.

  Part or all of the host ECU 70 and the microcomputer 56 are software function units that function when a processor such as a CPU (Central Processing Unit) executes a program stored in a memory. Some or all of these functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

  Next, in the reaction force output device 10 configured as described above, a motor control operation for stopping and restarting the operation of the motor 20 based on the temperature value of the motor 20 and the current value of the motor will be described.

  FIG. 4 is a diagram illustrating the function of the motor control operation in the reaction force output device 10 according to an embodiment. FIG. 5 is a diagram for explaining the transition of the operation mode of the motor control operation in the reaction force output apparatus 10 according to the embodiment. In FIG. 5, processing executed by the reaction force output device 10 in each operation mode is described in the frame of each operation mode (M1 to M4).

The reaction force output device 10 has a fuse function for protecting the motor 20 based on the temperature of the motor 20 and an operation limiting function for protecting the motor 20 based on the current of the motor 20.
The reaction force output device 10 transitions from the motor output stop mode M1 (initial standby) to the motor output mode M2 in response to receiving an output instruction of the motor 20 from the host ECU 70 with the reaction force set value P.

  The fuse function monitors the temperature of the motor 20 in the motor output mode M2 and controls the motor 20 to be turned off when it is determined that the temperature of the motor 20 has reached the threshold value T1 (motor output stop mode M3 (temperature Stop)). Further, the fuse function initializes the operation of the motor 20 when the temperature of the motor 20 falls below T2 (motor output stop mode M1 (initial standby)).

The operation limiting function limits the generated heat quantity Q of the motor 20 so as not to exceed the threshold B every predetermined time A in the motor output stop mode M2. The operation limiting function estimates the generated heat quantity Q within a predetermined time A. The operation limiting function estimates the generated heat quantity Q by the following equation 1 based on a predetermined inter-coil resistance R, the motor current value I, and the energization time t.
Q = I ₂ Rt (Formula 1)
The operation limiting function controls energization of the motor 20 to be turned off when the amount of generated heat Q within the predetermined time A exceeds the threshold value B (motor output stop mode M4 (current integration prohibition)). Further, the operation limiting function restarts the operation of the motor 20 in response to the elapse of the predetermined time A after the energization of the motor 20 is turned off (motor output mode M2).

  In the operation limiting function, the predetermined time A may be changed based on the temperature of the motor 20. The microcomputer 56 sets the predetermined time A to be shorter in order to avoid burning of the motor 20 as the temperature of the motor 20 is higher. In the operation limiting function, the threshold value B may be changed based on the temperature of the motor 20. The microcomputer 56 sets the threshold value B smaller to avoid burning of the motor 20 as the temperature of the motor 20 is higher. Further, in the operation limiting function, the predetermined time A and the threshold value B may be set based on the temperature of the motor 20 at the initial start of the vehicle, and are dynamically changed based on the temperature of the motor 20 while the vehicle is running. May be.

  Such a function of the reaction force output device 10 has a higher priority for protecting the motor 20 than the operation limiting function. That is, the fuse function directly detects the temperature that causes a problem with the motor 20 and stops the operation of the motor 20. On the other hand, the operation limiting function indirectly estimates the temperature of the motor 20 and stops the operation of the motor 20. Therefore, when the motor 20 is stopped by the fuse function, the operation of the motor 20 cannot be resumed by the operation restriction function.

FIG. 6 is a flowchart illustrating a processing procedure of a motor control operation in the reaction force output device 10 according to the embodiment.
First, when the vehicle is started, the microcomputer 56 initializes the count value of the counter held therein (step S101) and initializes the current integrated value (step S102). After executing the initialization, the microcomputer 56 transitions to the motor output stop mode M1. In the motor output stop mode M1, the microcomputer 56 monitors the input of the reaction force set value P (step S104) and monitors the temperature of the motor 20 (step S106; motor temperature monitoring operation).

  The microcomputer 56 transitions to the motor output mode M2 in response to the input of the reaction force set value P (step S108; YES) (step S110). In this motor output mode M2, the microcomputer 56 supplies the current command value I to the motor 20 based on the input reaction force set value P to operate the motor 20 (motor output operation). At this time, the microcomputer 56 updates the integrated value of the current command value I supplied to the motor 20 (step S112; current integrating process) and updates the counter value (step S114; incrementing the counter). When the predetermined time A elapses due to the update of the counter value, the microcomputer 56 resets the integrated current value. Further, in the motor output mode M2, the microcomputer 56 continues to monitor the temperature of the motor 20 (motor temperature monitoring operation) as in the motor output stop mode M1.

  The microcomputer 56 determines whether or not the generated heat quantity Q estimated based on the current integration value exceeds B [J] as the integration threshold value by the current integration process. When the generated heat quantity Q exceeds the integrated threshold value, the operation mode is changed to the motor output stop mode M4 (step S118). In the motor output stop mode M4, the microcomputer 56 stops the power supply to the motor 20 and starts incrementing the counter value. The microcomputer 56 refers to the counter value, and when the predetermined time A has elapsed since the transition to the motor output stop mode M4 (step S120; YES), returns the processing to step S108. Thereafter, the operation mode of the microcomputer 56 shifts to the motor output mode M2.

  When the generated heat quantity Q does not exceed the integrated threshold value (step S116; NO) and the motor temperature exceeds the temperature threshold value T1 [° C.] (step S122; YES), the operation mode is shifted to the motor output stop mode M3. (Step S124). In the motor output stop mode M4, the microcomputer 56 stops the power supply to the motor 20 and continues to monitor the temperature of the motor 20. The microcomputer 56 refers to the temperature of the motor 20, and when the temperature of the motor 20 becomes lower than a predetermined value T2 [° C.] (step S126; YES), the microcomputer 56 returns the process to step S100. This T2 is set to a temperature at which no burning occurs even if the motor 20 is immediately operated. Thereafter, the operation mode of the microcomputer 56 shifts to the motor output stop mode M1.

As described above, according to the reaction force output device 10, it is determined whether the amount of generated heat Q based on the current integrated value exceeds the integrated threshold while monitoring the temperature of the motor 20. As a result, the reaction force output device 10 transitions to the motor output stop mode M4 in response to the generated heat quantity Q exceeding the integrated threshold even if the temperature of the motor 20 does not reach the temperature threshold T1, and the motor output Can be temporarily stopped. As a result, according to the reaction force output device 10, the motor 20 can be prevented from reaching the temperature threshold value T1, and the energization patterns of the motor 20 that can be handled can be increased.
Note that the microcomputer 56 described above is configured such that the temperature of the motor 20 approaches the temperature threshold T1 before the temperature of the motor 20 reaches the temperature threshold T1 or the generated heat amount Q reaches the threshold B, or the generated heat amount Q. As the value approaches the threshold value B, the output torque of the motor 20 may be lowered. Thereby, the reaction force output device 10 can suppress transition from the motor output mode M2 to the motor output stop modes M3 and M4.

Next, the process for estimating the amount of generated heat Q in the reaction force output device 10 described above will be described.
FIG. 7 is a diagram illustrating a temperature transition of a coil in the motor 20 in the reaction force output device 10 according to the embodiment. The temperature change of the coil of the motor 20 that changes in this way is expressed by the following equations 2 and 3.
The temperature rise width per predetermined time (t) of the coil of the motor 20 is expressed by Equation 2.
ΔT = R · Q · (1−e [− (t / R · C)]) (Formula 2)
In Equation 2, ΔT is the temperature rise [° C.] after t seconds, is the temperature obtained by subtracting the outside air TTambient from the coil temperature Tcoil, R is the thermal resistance [K / W], and Q is the calorific value [W Where C is the heat capacity [J / K] of the coil and is a product of the specific heat and weight of the coil, and t is the time [sec].
The temperature drop width per predetermined time (t) of the coil of the motor 20 is expressed by Equation 3.
ΔT = ΔT ₀ · e [− (t / R · C)] (Formula 2)
In Equation 3, ΔT ₀ is the temperature rise [° C.] at the initial stage of cooling.

Equations 2 and 3 can be expressed as shown in FIG. 8 assuming that the heat generation of the coil of the motor 20 is taken away only by heat radiation to the air atmosphere due to radiation. FIG. 8 is a view for explaining the heat generation of the coil of the motor 20 in the reaction force output device 10 according to one embodiment. In FIG. 8, R is obtained from the difference between the coil temperature T _coil and the ambient temperature T _ambient when the power P [W] is applied.

FIG. 9 is a diagram illustrating theoretical values and actual measurement values in the reaction force output device 10 according to an embodiment. The theoretical value B is a result obtained by applying the values of the generated heat quantity Q, thermal resistance, specific heat, and mass when the rated power is supplied to the motor 20 to Formula 2 and Formula 3.
According to FIG. 9, although there is a difference between the actual measurement value A and the theoretical value B, a factor other than heat radiation may be added as a factor of heat dissipation by the coil of the motor 20. For example, the amount of heat released from the coil of the motor 20 to the insulator by heat conduction may be incorporated into the theoretical formula.

  As described above, according to the reaction force output device 10 of the embodiment to which the present invention is applied, it is determined whether or not the temperature of the motor 20 exceeds the temperature threshold, and the integrated value of the motor current within a predetermined time is predetermined. Therefore, it is possible to stop the operation of the motor 20 and thus to increase the degree of freedom of the motor energization pattern while protecting the motor 20 from burning.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Accelerator pedal apparatus, 2 ... Pedal main body unit, 4 ... Pedal arm, 6 ... Pedal main body part, 10 ... Reaction force output device, 12 ... Output lever, 20 ... Motor, 30 ... Gear reduction mechanism, 50 ... Circuit board, 56 ... microcomputer, 66 ... current detection sensor, 68 ... motor temperature sensor, 70 ... host ECU, 72 ... engine

Claims (5)

A current detector for detecting a motor current supplied to the motor;
A temperature detector for detecting the temperature of the motor;
A control unit connected to the host ECU,
An integrated value of the motor current detected by the current detection unit within a predetermined time is calculated, and the generated heat amount of the motor is estimated based on the calculated integrated value. The estimated generated heat amount exceeds a predetermined integrated threshold value. In the first case where it is determined that the amount of generated heat has exceeded the integrated threshold, and the operation of the motor is stopped.
A control unit that determines whether or not the temperature of the motor detected by the temperature detection unit has exceeded a temperature threshold, and stops the operation of the motor even in a second case in which it is determined that the temperature of the motor has exceeded the temperature threshold. And comprising
The controller is
After stopping the operation of the motor in the first case, in response to the elapse of the predetermined time, the operation of the motor is restarted without depending on an instruction from the host ECU,
After stopping the operation of the motor in the second case, the operation of the motor is stopped until the temperature of the motor becomes a predetermined temperature or lower, and when the temperature of the motor becomes a predetermined temperature or lower, Waiting for an output instruction from the ECU and restarting the operation of the motor,
Motor control device. The predetermined time is set shorter as the temperature of the motor is higher,
The motor control device according to claim 1. The integrated threshold is set lower as the temperature of the motor is higher.
The motor control device according to claim 1 or 2. The controller is configured such that the temperature of the motor approaches the temperature threshold before the temperature of the motor reaches the temperature threshold, or before the amount of generated heat reaches the integration threshold, or the amount of generated heat becomes the integration threshold. The motor is controlled so that the output torque of the motor decreases as the value approaches
The motor control device according to any one of claims 1 to 3. The driving force of the motor is transmitted to the driving member via a gear mechanism, by driving the driving member, to be the operator operated by a driver, a reverse force to the operation direction of the operating element An output drive unit;
A reaction force output device comprising: the motor control device according to any one of claims 1 to 4.

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