JPH09112127A - Motor drive control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a proper judgment as to an overload of a motor by reducing the load of a motor which is considered as overload. SOLUTION: The voltage V0 equivalent to the load of a motor is input into a differentiating circuit 80 and a delay amplification circuit 90. The change rate V1 of the amplified voltage V0 is input into a comparator 45 from the differentiating circuit 80. The voltage V2 amplified to a thereshold at the voltage V0 is input into the comparator 45 with a specified time lag. The comparator 45 compares the change rate V1 with the voltage V2 amplified to the threshold at the voltage V0 respectively prior to a specified time. In the case when the change rate V1 is determined to be larger than the voltage V2, a motor stop signal is output to a control circuit 50. The control circuit 50 which has received the motor stop signal stops the drive of a motor 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive control device, and more particularly to a motor drive control device that stops driving a motor when the amount of change in the motor load is larger than a threshold value.

[0002]

2. Description of the Related Art Conventionally, a motor drive control device has been applied to, for example, a power window device. When the motor drive control device is applied to the power window device as described above, the motor is applied to raise and lower the door glass.

Here, for example, if a foreign object is sandwiched between the door glass and the window frame, the upward movement of the door glass is prevented and the motor load increases. When the amount of change in the motor load exceeds a predetermined threshold value, driving of the motor is stopped.

[0004]

By the way, pulsation is generally generated in the motor, and the motor load changes as shown in FIG. Therefore, the threshold value is set high so as not to erroneously detect that a foreign object is trapped by the amount of change in the motor load due to this pulsation, even though the foreign object is not originally trapped.

Further, the coefficient of friction of the regulator mechanism portion for moving the door glass becomes large due to variations in each power window device, changes over time, temperature, etc., and accompanying this, changes in the motor load due to the pulsation described above. The threshold value is set higher to prevent erroneous detection due to the increased amount of change in motor load.

If the threshold value is set high in this way, the motor load that can detect the entrapment of foreign matter becomes high (point C in FIG. 8). In other words, the threshold value is set high even if foreign matter is caught when the friction coefficient of the regulator mechanism is small and the motor load accompanying normal movement of the door glass is small. Even if it is, it is determined that it is not overload, and the motor load that is determined to be overload increases.

In view of the above facts, the present invention provides a motor drive control device capable of appropriately determining that the motor is overloaded by lowering the motor load that is determined to be overloaded. With the goal.

[0008]

In order to achieve the above-mentioned object, the invention according to claim 1 includes a detection means for detecting a motor load,
Setting means for setting a threshold value which changes with a delay and follow the change of the motor load, and whether the amount of change of the motor load detected by the detecting means is larger than the threshold value set by the setting means. Determination means for determining whether or not,
Stop means for stopping the drive of the motor when the result of the judgment by the judgment means is a positive judgment.

That is, the detecting means detects the motor load. The setting means sets a threshold value. This threshold value is a value that can be determined not to be overload, and changes with a delay and following a change in motor load. For example, when the motor load is not overloaded, the motor load detected by the detection unit is not greater than the threshold value, but when the motor load detected by the detection unit changes from not overloaded to overloaded. , The threshold follows this change in motor load, but changes with a delay. Therefore, the motor load detected by the detection means becomes larger than the threshold value.

Therefore, the judging means judges whether or not the amount of change in the motor load detected by the detecting means is larger than the threshold value set by the setting means, and the stopping means affirms the judgment result by the judging means. If it is a determination, the driving of the motor is stopped.

The motor load includes the motor current generated from the motor, the motor voltage applied to the motor, the motor current and the physical quantity corresponding to the motor voltage.

As described above, according to the present invention, since the threshold value which is delayed and follows the change of the motor load is set, it is judged as an overload based on the change amount of the motor load due to the pulsation as in the prior art. It is possible to properly judge whether or not there is an overload without setting the threshold to a high constant value so that it is not overloaded. Therefore, the motor load which is determined to be overload can be reduced.

According to a second aspect of the present invention, in the first aspect of the invention, the setting means obtains by sampling the motor load detected by the detecting means at a predetermined cycle and excludes the latest sampling value. Value first
The threshold value is set based on the moving average value of, and the determination means obtains the motor load detected by the detection means in a predetermined cycle and obtains the second sampling value including the latest sampling value. Whether a difference between the moving average value and at least a third moving average value including sampling values past the sampling value of the second moving average value is larger than the threshold value set by the setting means as the change amount. I'm trying to judge.

Here, the first moving average value is a moving average value of sampling values obtained by sampling the motor load detected by the detecting means in a predetermined cycle and excluding the latest sampling value. Since the latest sampling value is excluded in this way, the first moving average value changes in response to a change in the motor load, but changes following it.

The second moving average value is a moving average value of sampling values obtained by sampling the motor load detected by the detecting means in a predetermined cycle and including the latest sampling value, and the third moving average value. Is a moving average value including at least a sampling value past the sampling value of the second moving average value.

The sampling number of the second moving average value may be the same as or different from the third sampling number. The sampling value of the first moving average value is a moving average value of the sampling values excluding the latest sampling value, and may or may not include the simplification value of the second moving average value. May or may not include the sampling value of the moving average value of.

Further, since the third moving average value includes at least sampling values past the sampling value of the second moving average value, the difference between the second moving average value and the third moving average value is detected. Corresponding to the amount of change in the motor load detected by the means, the determining means determines whether this difference is greater than the threshold value set by the setting means as the amount of change in the motor load.

As described above, according to the present invention, the threshold value is set based on the first moving average value, and the difference between the second moving average value and the third moving average value is used as the change amount of the motor load. Since it is determined whether or not the load is larger than the threshold value and whether or not the load is overload, the sampling numbers of each of the first, second, and third moving average values are determined for each motor drive control device. It can be set, and it is possible to properly determine whether or not the motor drive control device is overloaded properly.

According to a third aspect of the present invention, a differentiating circuit that amplifies and outputs only a change amount of the motor load, a delay amplifying circuit that amplifies the motor load and outputs the amplified motor load with a delay of a predetermined time, A comparator that compares the output of the differentiating circuit with the output of the delay amplifier and outputs a motor stop signal when the output of the differentiating circuit is greater than the output of the delay amplifier; and a motor stop signal from the comparator. And a control circuit that stops driving the motor when

That is, from the differentiating circuit, only the amount of change in the motor load is amplified and output to the comparator, and from the delay amplifying circuit, the amplified motor load before a predetermined time is output to the comparator. The motor load amplified by the delay amplifier circuit corresponds to a threshold value (threshold value capable of appropriately determining whether or not it is overload) in the load. The comparator is
The output of the differentiating circuit and the output of the delay amplifier are compared. With this, the comparator can compare the amount of change in the motor load with the threshold value corresponding to the motor load before the predetermined time, and when the output of the differentiating circuit is larger than the output of the delay amplifier, the motor stop signal is output. Is output. When the motor stop signal is output, the control circuit stops driving the motor.

As described above, the present invention, the differentiating circuit, the delay amplifying circuit, the comparator, and the control circuit make it possible to properly and quickly determine whether or not there is an overload.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION

[First Embodiment] Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a door 12 on the driver's seat side and one door 14 on the rear seat of a vehicle to which the power window device according to the motor drive control device of the first embodiment is applied. A window regulator unit 16 for raising and lowering the door glass 20 is arranged in each door (inside of the driver seat door side 12 is shown in FIG. 2).

As shown in FIG. 2, the window regulator portion 16 is a so-called wire type in the first embodiment, and the wire is wound around the rotary plate 22A attached to the drive shaft of the motor 22. Has been. The end of this wire is connected to a holding channel 24 that supports the lower end of the door glass 20, and the holding channel 24 is attached to a main guide 26 so as to be vertically movable. As a result, when the motor 22 rotates in the forward and reverse directions, this rotational driving force is transmitted via the wire, and the door glass 20 moves up and down along the glass guide 18. The configuration of the window regulator section 16 is not limited to such a wire type, but may be an X-arm type or a so-called motor self-propelled type in which the motor itself moves along a rack.

When the door glass 20 is lifted by the motor 22, the peripheral edge portion of the door glass 20 is a rubber weather strip (not shown) in the frame 12A of the door 12.
And the opening of the frame 12A is closed. Also,
When the door glass 20 is moved downward by the rotational driving of the motor 22, the opening of the frame 12A of the door 12 is opened.

The motor 22 includes the door 12 shown in FIG.
Power window master switch 3 attached to 14
0 and the door switch 32 are operated. The door switch 32 is attached to the door 14 other than the driver seat side, and the power window master switch 30 is attached to the door armrest portion 12B of the driver seat side door 12. The power window master switch 30 may be attached at any other position as long as it can be easily operated by the driver sitting in the driver's seat.

The power window master switch 30 includes an auto / manual switch 34 for operating the motor 22 of the door 12 automatically or manually and a door switch 36 (mainly for individually operating the motor 22 of each door 14). (Three in the first embodiment)
Is arranged.

As the auto / manual switch 34, for example, a switch which can be operated in two stages in both directions can be applied.
In the case of the one-step operation, the motor 22 of the door 12 is driven only during the operation (manual operation), and the two-step operation causes the motor 22 to be driven until the door glass 20 reaches a predetermined position even when the hand is released from the switch. Is performed (automatic operation).

The motor 22 is driven when the power window master switch 30 or the door switch 32 is operated to rotate the rotary plate 22A (shown in FIG. 2) in either forward or reverse directions to raise the door glass 20. Or it can be lowered.

FIG. 3 shows a control circuit 50 for controlling the driving of the motor 22 by operating the power window master switch 30 and the door switch 32. The control circuit 50 is driven by the power supply from the power supply circuit 51. The control circuit 50 is composed of a computer, and is composed of a CPU (central processing unit), a RAM, a ROM, and an input / output port connected to the CPU via a system bus. Control and
The ROM stores in advance control algorithms and the like corresponding to the flowcharts described below. The RAM is
Functions as a CPU work area. In FIG. 3,
Although the motor 22 for raising and lowering the door glass 20 of the door 12 on the driver's side is shown, the motor 22 for raising and lowering the door glass 20 of the other doors 14 is also connected in the same manner.

As shown in FIG. 3, the control circuit 50 includes a power window master switch 30 or a door switch 3.
2 is connected to the signal line 52 from each switch, and the power window master switch 30 or the door switch 3 is connected.
Drive current for forward rotation and reverse rotation is sent to the motor 22 in accordance with the operation state of No. 2.

Both ends of the motor 22 whose drive is controlled by the control circuit 50 are closed relay switches 58.
And common terminals 58A, 59A of the open relay switch 59
And the respective first contacts 58B and 59B are connected to the power supply line. Also, the second contacts 58C, 59C
Are respectively grounded via a resistor R ₀ ,
The comparison voltage R is applied to the positive input terminal 40B via the resistor R1.
It is connected to the negative input terminal 40A of the operational amplifier 40 to which EF is applied. Therefore, the voltage V ₀ according to the motor current is input to the negative input terminal 40A when the motor 22 is driven. The output side terminal 40C of the operational amplifier 40 is connected to the control circuit 50 and is also connected to the minus side input terminal 40A via the resistor R2 and the capacitor C2 which are connected in parallel. Therefore, the voltage V ₀ is amplified by the gain determined by the resistor R1 and the resistor R2, becomes the voltage V _1, and is input to the control circuit 50.

The contacts of the closed relay switch 58 and the open relay switch 59 are switched by the coils 60 and 62, and the motor 22 is normally or reversely rotated by exciting one of the coils 60 and 62. It is a configuration.

Next, the control routine of this embodiment will be described with reference to the flow chart shown in FIG. It should be noted that this routine is started when any one of the power window master switch 30 and the door switch 32 is turned on so as to move the door glass 20 upward (automatically or manually closed) and is executed at predetermined time intervals. It

In step 102, the voltage V ₁ from the operational amplifier 40 is sampled, and in step 104, the second moving average value A is calculated. Here, the second moving average value A
Will be described. This routine is executed every predetermined time as described above, and in step 102, the voltage V ₁ from the operational amplifier 40 is sampled. Step 102
The voltage V ₁ from the operational amplifier 40, which is obtained by sampling at _1. , is hereinafter referred to as a sampling value. Further, in the control circuit 50, n sampling values (in the present embodiment,
(100 pieces) are stored. Then, the second moving average value A
Is the sampling value (101
It is a moving average value of a plurality of sampling values (three (99th, 100th, 101st sampling values) in this embodiment) including the (th).

In the next step 106, the third moving average value B is calculated. The third moving average value B is at least the second
It is the moving average value of the sampling values including the sampling value of the moving average value of, and in the present embodiment, it is the moving average value of the 89th, 90th and 91st sampling values.

In step 108, the variation amount C of the sampling value is obtained by subtracting the third moving average value B from the second moving average value A.

At step 110, the threshold value Th is fetched based on the past n first moving average values. Here, the first moving average value and the threshold value Th will be described. As described above, in this embodiment, 100 sampling values (1 to
(100th sampling value) is stored, and 1 to 1 is stored.
The moving average value of the 00th sampling value is calculated as the first moving average value in step 118 described later.
Since the first moving average value does not include the sampling value (101st sampling value) captured this time,
It changes with a delay and following a change in the sampling value (corresponding to the motor load). Further, the threshold Th is
As shown in FIG. 5, the change amount exceeds the change amount (noise) caused by the pulsation in the first moving average value and can be determined not to be overload, and is stored as a map. Therefore, in this step, the threshold value Th is fetched from the map shown in FIG. 5 based on the first moving average value.

In step 112, the change amount C is the threshold value T.
It is determined whether or not the change amount C is larger than h, and the change amount C is equal to
If it is larger, it can be determined that the load is overload, and the motor is stopped in step 114 and the process proceeds to step 116. If the change amount C is not larger than the threshold value Th, the process proceeds to step 116.

At step 116, the oldest sampling value (the first sampling value, which is changed to the second, third, ... th sampling value as this routine is executed every predetermined time). Instead, the sampling value (101st sampling value) obtained by sampling this time is stored, and in step 118, the stored n values (2
The first moving average value of the sampling values of 100 is changed to 3 to 102, 4 to 103 as the routine is executed every predetermined time. After storing, this routine is finished.

As described above, according to this embodiment, the first
The moving average value of changes with a delay and following the change of the motor load, and the threshold value is incorporated based on this first moving average value. Therefore, it is appropriate to determine whether or not there is an overload without setting a high threshold value so that it is not overloaded due to the amount of change in motor load due to pulsation as in the past. Therefore, it is possible to obtain the effect that the load that is judged to be overloaded can be reduced.

Further, according to this embodiment, the threshold value is set based on the first moving average value, and the second moving average value and the third moving average value are set.
Of the first, second, and third movements is determined by determining whether or not the difference from the moving average value of No. 1 is larger than the threshold value as the amount of change in motor load. The number of samplings of each average value can be set for each power window device, and it is possible to determine whether or not there is an appropriate overload for each power window device.

As described above, in this embodiment, the first moving average value is a moving average value of 100 sampling values, but this value is not limited to 100. Further, the second and third moving average values are moving average values of three sampling values, but this value is not limited to three and may be moving average values of samplings other than three, which are different from each other. It may be a moving average value of the number of sampled values.

Further, in the present embodiment, the threshold value is stored as a map corresponding to the first moving average value, but the present invention is not limited to this, and the threshold value is not limited to this. And the first moving average value may be stored as a table, and the threshold value may be obtained from this table by a complementary method. An arithmetic expression indicating the relationship between the first moving average value and the threshold value may be stored. You may make it obtain | require a threshold value from an arithmetic expression.

[Second Embodiment] Next, a second embodiment of the present invention will be described. Since the configuration of this embodiment is substantially the same as that of the first configuration, the same reference numerals are given to the same portions, the description thereof will be omitted, and only different portions will be described.

That is, as shown in FIG. 6, the power window device 10B of this embodiment has a counter R1 and an operational amplifier 4.
Between the negative input terminal 40A of 0 and the capacitor C
1 is connected, and the differentiation circuit 8 includes the resistor R1, the capacitor C1, the operational amplifier 40, the resistor R2, and the capacitor C2.
0, and between the output side terminal 40C of the operational amplifier 40 and the control circuit 50, the output side terminal 40C of the operational amplifier 40.
Comparator 4 having a negative input terminal 45A connected to
5 is connected. In this way, since the capacitor C1 is connected between the counter R1 and the negative side input terminal 40A of the operational amplifier 40, from the differentiating circuit 80, only the voltage change amount V ₁ is the negative side input terminal of the comparator 45. 45A is input.

Further, the power window device 10 of the present embodiment
B is a closed relay switch 58 and an open relay switch 59.
A delay amplifier circuit 90 is connected between the second contacts 58C and 59C of the above and the positive side input terminal 45B of the comparator 45. The delay amplifier circuit 90 includes an operational amplifier 41 connected to the negative side input terminal 40A via the second contacts 58C and 59C and the resistor R5. A comparison voltage is applied to the positive input terminal 41B of the operational amplifier 41, and the comparison voltage is determined by the resistors R7 and R8. Further, the voltage V ₀ is input to the minus side input terminal 41A. The output side terminal 41C of the operational amplifier 41 is connected to the plus side input terminal 45B of the comparator 45, and the minus side input terminal 4 is connected via the resistor R6 and the capacitor C3 connected in parallel.
1A. Therefore, the voltage V ₀ is
And the gain determined by the resistor R6 is amplified to become the voltage V ₂ . Note that this gain corresponds to the threshold value at the voltage V ₀ . Further, in this embodiment, the capacitance of the capacitor C3 is increased, and the voltage V ₂ is output to the comparator 45 with a time delay determined by the time constant of the resistor R6 and the capacitor C3.

The control circuit 50 of this embodiment may be constituted by a computer or a sequencer.

Next, the operation of the second embodiment will be described. When the motor 22 is driven, the voltage V ₀ according to the resistance R ₀ is input to the differentiating circuit 80 and the delay amplifying circuit 90. In the differentiating circuit, the amount of change in the voltage V ₀ is amplified to become the amount of change V _1, and the minus side input terminal 45 of the comparator 45.
Input to A. On the other hand, positive input terminal 45 of comparator 45 by a predetermined time delay amplifies the delayed amplifying circuit 90, the voltage V ₀ which is input to the threshold in the voltage V ₀
Output to B.

For example, the voltage V₀However, as shown in FIG.
Sea urchin at time t₁~ T_TwoAnd V_i~ V _jChange to
You. In this case, the amount of change (V_j-V
_i) Is amplified and the change amount V is increased as shown in FIG.₁
And input to the negative input side terminal 45A of the comparator 45
Is done.

On the other hand, the voltage input to the delay amplifier circuit 90
V₀Is amplified to a threshold Th at that voltage. You
That is, the voltage V input to the delay amplification circuit 90₀Is V_i
In the case of, Th₁Amplified to
It is. Also, the voltage V₀Is V _jIf it changes to
Throttle amplifier circuit 90_TwoIs amplified to. But
However, the amplified voltage is output from the delay amplifier circuit 90 to the resistor R.
6 and the delay time T determined by the time constant of capacitor C3
Applied, so the voltage V₀Is time t₁~ T_TwoAnd V_i~ V
_jVoltage output from the delay amplifier circuit 90
V_TwoIs delayed by time T and is delayed at time t_Three~ T_FourTiming
Then, it changes from Th1 to Th2. That is, delay amplification times
Voltage V output from path 90_TwoIs the voltage V₀Against changes
It will be delayed and will follow.

As described above, since the voltage V ₂ output from the delay amplifier circuit 90 changes with a delay and following the change of the voltage V ₀ , the voltage V _{1 in the} comparator 45 changes at time t.
_{At 0} , it is judged that the voltage V ₂ has been exceeded, and a motor stop signal is output to the control circuit 50. As a result, the driving of the motor 22 is stopped.

As described above, according to the present embodiment, since the threshold value that changes in lag and follows the change in the motor load is set, the amount of change in the motor load due to pulsation is changed as in the conventional case. Even if the threshold value is not set to a high constant value so that it is not judged as overload, the threshold value that can properly judge whether it is overload changes with the delay and follow the change of the motor load. It is possible to appropriately determine whether or not it is possible to reduce the load that is determined to be overload.

Further, in this embodiment, since the power window device is composed of the differentiating circuit, the delay amplifying circuit, the comparator, and the control circuit, it is possible to properly and quickly determine whether or not there is an overload. The effect of, is obtained.

[0055]

As described above, according to the first aspect of the present invention, since the threshold value that changes in lag and follows the change of the motor load is set, the change amount of the motor load due to the pulsation is set. Even if the threshold value is not set to a high value to prevent it from being judged as overload, the threshold value that can be properly judged whether it is overload is delayed and follows the change of the motor load and changes. It is possible to properly determine whether or not to reduce the load that is determined to be overload.

According to the second aspect of the present invention, the threshold value is set based on the first moving average value, and the second moving average value and the second moving average value are set.
Since the difference between the moving average value of the first moving average value and the third moving average value adjacent to the third moving average value is greater than the threshold value as the change amount of the motor load, it is determined whether the overload is detected. , Second,
And the number of samplings of each of the third moving average values can be set for each motor drive control device, and it is possible to determine whether each motor drive control device is properly overloaded. Have.

According to the third aspect of the present invention, the differential circuit, the delay amplifier circuit, the comparator, and the control circuit constitute the invention. Therefore, it is possible to properly and quickly determine whether or not there is an overload. Have.

[Brief description of the drawings]

FIG. 1 is a diagram showing mounting positions of a power window master switch and a door switch.

FIG. 2 is an explanatory view showing a structure for raising and lowering a door glass of a power window device.

FIG. 3 is a block diagram showing a control system of a power window device to which the motor drive control device of the first embodiment is applied.

FIG. 4 is a diagram showing a relationship between a first moving average value, a motor load change amount, and a threshold value.

FIG. 5 is a flowchart showing a control routine in the first embodiment.

FIG. 6 is a block diagram showing a control system of a power window device to which the motor drive controller of the second embodiment is applied.

FIG. 7 is a diagram showing waveforms of respective voltage values when the amount of change in motor load exceeds a threshold value.

FIG. 8 is a diagram showing how the motor load changes.

[Explanation of reference numerals] 22 motor 50 control circuit 80 differentiating circuit 90 delay amplifying circuit 45 comparator

Claims (3)

[Claims] 1. A detection means for detecting a motor load, a setting means for setting a threshold value that changes with a delay and following a change in the motor load, and an amount of change in the motor load detected by the detection means. A determination unit that determines whether or not is greater than the threshold value set by the setting unit, and a stop unit that stops driving the motor when the determination result by the determination unit is a positive determination. Drive controller. 2. The threshold value is set based on a first moving average value of sampling values obtained by sampling the motor load detected by the detecting means in a predetermined cycle and excluding the latest sampling value. And the determination means obtains a motor load detected by the detection means at a predetermined cycle and obtains a second moving average value of sampling values including a latest sampling value and at least the second movement. It is determined whether or not the difference between the sampling value of the average value and the third moving average value including the past sampling value is greater than the threshold value set by the setting means as the change amount. The motor drive control device according to claim 1. 3. A differential circuit that amplifies and outputs only a variation amount of a motor load, a delay amplifier circuit that amplifies a motor load and outputs the amplified motor load with a delay of a predetermined time, an output of the differential circuit and the A comparator that compares the output of the delay amplifier and outputs a motor stop signal when the output of the differentiating circuit is greater than the output of the delay amplifier; and a motor drive when the motor stop signal is output from the comparator. A motor drive control device including a control circuit for stopping the motor.