JPH09137671A - Drive controlling device for motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely detect cycles of pulse signals. SOLUTION: In the case where rise of a pulse signal is detected, judgement is made 102 to decide whether or not 0 is set in a flag F showing the present time is in a mask time or not, and if 0 is being set, 1 is set 104 in the flag F, and cycles of the pulse signals are detected 106 with the time during rise of the pulse signal detected. A pinched detection is made 108, and judgement is made 110 to decide whether or not the mask time tn is elapsed since the step 102 is judged affirmative with the current routine executed. If the mask time tn is elapsed, 0 is set 112 in the flag F, and the current routine is completed.

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 generates a pulse signal in synchronization with rotation of a motor.

[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, in order to raise and lower the door glass,
A motor is used as shown in. Further, the power window device is provided with a pulse signal generator 38 that generates a pulse signal in synchronization with the rotation of the motor in order to detect the entrapment of the foreign matter between the door glass and the window frame.

The pulse signal generator 38 is a motor shaft 22A.
The sliding portion 46, which is provided in the vehicle and rotates in synchronization with the rotation of the motor, is contacted with two sliding contacts 46 and 48 (one of which is connected to the power supply circuit 51) on the conductor portion 42 and the non-conductor portion 44. By doing so, the pulse shown in FIG. 12A is generated. In this case, in order to detect the period of the pulse signal accurately, each time the sliding contacts 46 and 48 are in contact with the conductor portion 42 and the non-conductor portion 44 so as to be equal to the T ₁ sliding A state in which an electric current is flowing between the moving contacts 46 and 48 (hereinafter referred to as an ON state) and the sliding contact 4
The time ratio of the state where no current flows between 6 and 48 (hereinafter referred to as the OFF state) is set to 1: 1.

When a foreign object is sandwiched between the door glass and the window frame, the upward movement of the door glass is prevented and, for example, when the foreign object is sandwiched between the door glass and the window frame in the ON state. The ON time is longer than the OFF time, and the ratio of the ON time and the OFF time is 1: 1.
However, the period of the pulse signal from the pulse signal generator becomes long.

Therefore, the control circuit 50 of the power window device smooths the cycle of the eccentric pulse signal, so that the moving average value of the cycle of the pulse signal including the cycle of the latest pulse signal and the moving adjacent to this moving average value. When the difference from the average value exceeds the threshold value, it is determined that the foreign matter is caught, and the motor drive is reversed by a certain amount (the door glass is lowered) and stopped.

[0006]

However, if dirt or foreign matter adheres to the conductor portion 42, the sliding contacts 46 and 48 will bounce when in the ON state, and as shown in FIG. In the place where the signal should be detected, there occurs a place K where the pulse signal is not detected, and the ON state and O
The ratio of the time in the FF state deviates from 1: 1, the cycle of the pulse signal changes, and it is erroneously determined that the motor is rotating irregularly, and it is erroneously determined that the foreign matter is caught even though the foreign matter is not caught. That is, the motor is erroneously determined to be overloaded and the drive of the motor is reversed by a certain amount and stopped.

An object of the present invention is to solve the above problems and to provide a motor drive controller capable of accurately detecting the period of a pulse signal.

[0008]

In order to achieve the above object, the invention according to claim 1 is a pulse signal generating means for generating a pulse signal in synchronization with the rotation of a motor, and a pulse generated by the pulse signal generating means. Detection means for detecting the rising or falling edge of the signal, and a masking time shorter than the minimum period of the pulse signal after the rising or falling edge of the pulse signal is detected by the detecting means, and a mask for masking the rising or falling edge of the pulse signal Means and
Cycle calculating means for calculating the cycle of the pulse signal based on the rising or falling of the pulse signal detected by the detecting means outside the mask time, and a motor based on the cycle of the pulse signal calculated by the cycle calculating means A motor load detecting means for detecting a load, a judging means for judging whether or not the motor load detected by the load detecting means is larger than a threshold value, and a motor when the judgment result by the judging means is an affirmative judgment. Stopping means for inverting a predetermined amount of driving and stopping the driving.

According to a second aspect of the invention, a pulse signal generating means for generating a pulse signal in synchronization with the rotation of the motor, and a detecting means for detecting the rising or falling of the pulse signal generated by the pulse signal generating means. Masking means for masking the rising or falling of the pulse signal, a masking time shorter than the minimum period of the pulse signal and longer than the maximum pulse width after the rising or falling of the pulse signal is detected by the detecting means; A cycle calculating means for calculating the cycle of the pulse signal based on the rising or falling of the pulse signal detected by the detecting means other than time, and a motor load based on the cycle of the pulse signal calculated by the cycle calculating means. The motor load detecting means for detecting and the motor load detecting means for detecting the motor load. And a stopping means for inverting and stopping the driving of the motor by a predetermined amount when the determination result by the determining means is an affirmative determination. .

According to a third aspect of the present invention, in the first or second aspect of the invention, the motor load detecting means is
It includes a first moving average value of the pulse signal period including the latest pulse signal period calculated by the period calculating means and at least a pulse signal period earlier than the pulse signal period of the first moving average value. It is characterized in that a difference from the second moving average value is detected as a motor load.

According to a fourth aspect of the present invention, in the first or second aspect of the invention, the motor load detecting means is
A difference between a cycle of the latest pulse signal calculated by the cycle calculating means and a moving average value of the cycles of past pulse signals not including the cycle of the latest pulse signal is detected as a motor load. To do.

Here, the pulse signal generating means of the invention according to claim 1 generates the pulse signal in synchronization with the rotation of the motor, and the detecting means detects the rising or falling of the pulse signal generated by the pulse signal generating means. To detect.

The mask means masks the rising or falling of the pulse signal for a mask time shorter than the minimum period of the pulse signal after the rising or falling of the pulse signal is detected by the detecting means. The mask of the rising or falling of the pulse signal of the mask time has the following modes. That is, first, the rising or falling of the pulse signal detected by the detecting means at the mask time is ignored after the rising or falling of the pulse signal is detected by the detecting means. Secondly, the rising or falling of the pulse signal detected by the detecting means during the mask time is not used for calculating the period of the pulse signal described later. Thirdly, the pulse signal is prevented from being generated by the pulse signal generating means after the masking time is detected by the detecting means when the rising or falling of the pulse signal is detected.

The cycle calculating means calculates the cycle of the pulse signal based on the latest rising or falling edge of the pulse signal detected by the detecting means other than the mask time.

The motor load detecting means detects the motor load based on the cycle of the first pulse signal calculated by the cycle calculating means.

[0016] Here, the motor load detecting means is the third aspect.
As in the invention described above, the first moving average value of the cycle of the pulse signal including the cycle of the latest pulse signal calculated by the cycle calculating means and the pulse past the cycle of the pulse signal of at least the first moving average value The difference from the second moving average value including the signal cycle may be detected as the motor load. Since the second moving average value includes at least the period of the pulse signal that is earlier than the period of the pulse signal of the first moving average value, the first moving average value is earlier than the period of the pulse signal of the first moving average value. The moving average value of only the period of the pulse signal, secondly, at least one cycle of the pulse signal of the past and the period of the pulse signal of the first moving average value before the cycle of the pulse signal of the first moving average value. It is a moving average value with the period of the included pulse signal.

Further, the motor load detecting means, as in the invention described in claim 4, of the cycle of the latest pulse signal calculated by the cycle calculating means and the past pulse signal not including the cycle of the latest pulse signal. You may make it detect the difference with the moving average value of a period as a motor load.

Then, the judging means judges whether the motor load detected by the motor load detecting means is larger than a threshold value or not, and the stopping means judges whether the motor load of the motor is positive when the judgment result by the judging means is a positive judgment. The drive is reversed by a certain amount and stopped.

In this way, since the mask time shorter than the minimum period of the pulse signal after the rising or falling of the pulse signal is detected and the rising or falling of the pulse signal is masked, the error occurs within the mask time. The rising or falling of the pulse signal can be masked, and the period of the pulse signal can be accurately detected.

The mask means may have a mask time shorter than the minimum period and longer than the maximum pulse width of the pulse signal after the rising or falling of the pulse signal is detected by the detecting means. The rising or falling of the pulse signal may be masked.

As described above, since the mask time is shorter than the minimum period of the pulse signal and longer than the maximum pulse width, the pulse signal erroneously generated from the detection of the pulse signal to the elapse of the maximum pulse width. The rising or falling of the pulse signal can be masked, and the period of the pulse signal can be accurately detected.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 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.
It is shown. Inside each door, a window regulator portion for raising and lowering the door glass 20 is arranged.

As shown in FIG. 2, the window regulator section 16 on the driver's door side is of a so-called wire type, and has a rotating plate 22A attached to the drive shaft of the motor 22.
The wire is wrapped around. 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 unit 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 the 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
It is attached to the door armrest portion 12B of the driver-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). In the first embodiment, 3
Individual pieces) are arranged.

The auto / manual switch 34 can be operated in two steps in both directions, and when operating in one step, the motor 22 of the door 12 is driven only during operation (manual operation), and by operating in two steps, the switch is operated. Even if the hand is released, the motor 2 is operated until the door glass 20 reaches a predetermined position.
2 is driven (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 let it fall.

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 includes a computer, a CPU (central processing unit), a RAM, a ROM and an input / output port connected to the CPU via a system bus. The CPU is the entire power window device. The ROM is pre-stored with a program corresponding to a control routine which will be described later. Also, RAM
Functions as a CPU work area. Although FIG. 3 shows the motor 22 for raising and lowering the door glass 20 of the door 12 on the driver's side, the motor 22 for raising and lowering the door glass 20 of the other doors 14 is also the same. It is connected.

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.
A drive current for rotating the motor 22 in the forward and reverse directions is supplied according to 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 each grounded via a resistor R ₀ . In addition,
The contacts of the close relay switch 58 and the open relay switch 59 are switched by the coils 60 and 62, and the motor 22 rotates in the forward and reverse directions by exciting one of the coils 60 and 62.

The motor shaft of the motor 22 is provided with a pulse signal generator 38 for generating pulses in synchronization with the rotation of the motor. The pulse signal generator 38 has substantially the same configuration as the pulse signal generator 38 shown in FIG.
As shown in FIG. 3, the motor shaft 22A is provided with a rotating portion 38A that rotates in synchronization with the rotation of the motor shaft 22A. The rotating portion 38A has a conductor portion 42 partially on one side.
The non-conductor portion 44 inserted in the direction (X direction) intersecting the rotation direction of 8A is provided, the conductor portion 42 is provided on the other side, and the first pulse electrode terminal (sliding contact) 46 and the second pulse are provided. The difference is that the respective contact portions of the electrode terminals (sliding contacts) 48 are arranged in the X direction. Thereby, the second
The pulse electrode terminal 48 is always in contact with the conductor portion 42, and the first pulse electrode terminal 46 is in contact with the conductor portion 42 per revolution of the motor for a shorter time than the non-conductor portion 44 is. Therefore, the time in the ON state becomes shorter than the time in the OFF state. A power supply circuit 51 is connected to the first pulse electrode terminal 46, and a control circuit 50 is connected to the second pulse electrode terminal 48.

As described above, since the ON-state time is set shorter than the OFF-state time, dirt or the like is attached to the conductor portion 42 inserted on one side of the rotating portion 38A, so that when the ON state is reached, Bounds of the first pulse electrode terminal 46 and the second pulse electrode terminal 48 can be reduced, and FIG.
It is possible to reduce the occurrence of a portion K where a pulse signal is not detected in a portion where a pulse signal should be originally detected, as shown in 2 (b).

The pulse signal generator 38 shown in FIG.
Not limited to the example shown in FIG. 4A, for example, as shown in FIG. 4B, in the rotating portion 38A, a part of the conductor portion 42 is in a direction intersecting the rotating direction of the rotating portion 38A (X direction). The inserted non-conductor portion 44 is provided and the first pulse electrode terminal 4 is provided.
The contact portions of the sixth pulse electrode terminal 48 and the second pulse electrode terminal 48 are arranged in the X direction. Accordingly, the first pulse electrode terminal 46
The contact time of the second pulse electrode terminal 48 with the conductor portion 42 per one rotation of the motor is shorter than the contact time with the non-conductor portion 44. Therefore, the time in the ON state becomes shorter than the time in the OFF state.

Next, the control routine of this embodiment will be described with reference to the flowchart shown in FIG. When the first pulse electrode terminal 46 and the second pulse electrode terminal 48 contact the conductor portion 42, the voltage from the power supply circuit 51 becomes a pulse signal, and the first pulse electrode terminal 46, the conductor portion 42, and the second pulse electrode. It is input to the control circuit 50 via the terminal 48.
When the first pulse electrode terminal 46 and the second pulse electrode terminal 48 contact the conductor portion 42, the rising edge of the pulse signal is detected.

When the rising edge of the pulse signal is detected in this way, this routine is started, and it is determined whether or not 0 is set in the flag F indicating whether or not the present time is during the mask time described later. If 0 is not set in the flag F, the present time is in the masking time. Therefore, this routine is ended. If 0 is set in the flag F, the current time is not in the masking time. , Flag F is set to 1 to mask the rising edge of the pulse signal, and in step 106 the period of the pulse signal is detected. That is, timer (soft timer)
Based on the count value of, the time from the time when this routine was executed last time and an affirmative judgment is made in step 102 to the time when this routine is executed this time and a positive judgment is made in step 102 (between the rising edges of the pulse signals). By detecting the, the period of the pulse signal is detected.

In the next step 108, a pinch detection process is executed. The details of the pinch detection processing will be described later.

In step 110, this routine is executed this time based on the count value of the timer, and step 102
It is determined whether or not the mask time t _{m has} elapsed from the time when the result of the determination is affirmative.

Here, the mask time t _m is a time shorter than the minimum period of the pulse signal and longer than the maximum pulse width. That is, when the rotation speed of the motor is the highest,
As shown in FIG. 6A, the period of the pulse signal is the minimum value T
_min . On the other hand, when the rotation speed of the motor is the slowest, as shown in FIG. 6B, the period of the pulse signal has the maximum value T _mAx and the ON state also has the maximum value t _{on max} .

Therefore, if the rising edge of the pulse signal is masked for a time larger than the maximum value t _{on max after} the rising edge of the pulse signal is detected, the conductor portion 4 is turned _on during the ON state.
There is bounding of the first pulse electrode terminal 46 and the second pulse electrode terminal 48 due to the attachment of dirt or the like to FIG.
It is possible to prevent erroneous detection that a pulse signal is not detected at a position where a pulse signal should be detected as shown in (b) and a plurality of pulses are generated even if it is originally one pulse. .

Further, the mask time t _m is set to be shorter than the minimum period T _min of the pulse signal because the rising of the pulse signal is masked for a period longer than the minimum period of the pulse signal after the rising of the pulse signal is detected. This is because it is not possible to detect the rising edge of the next pulse signal after the rising edge of the pulse signal is detected, and it is possible to mask the rising edge of the pulse signal that is erroneously generated within the mask time.

Step 1 when the mask time t _{m has} elapsed
In step 12, the flag F is set to 0 so that the mask time is not reached, and this routine ends.

Next, the trapping detection process (step 108)
Will be described with reference to FIG. In step 122, the first moving average value A is calculated. Here, the first moving average value A
Will be described. The control circuit 50 sets the number of cycles of the pulse signal detected in step 106 to n (note that in the present embodiment, 10 cycles).
(0) I remember. Then, the first moving average value A is
Cycles of a plurality of pulse signals including the cycle (101st) of the pulse signal detected this time (three (99, 1
It is a moving average value of (00, 101st pulse signal period)).

In the next step 124, the second moving average value B is calculated. The second moving average value B is at least the first
Is the moving average value of the period of the pulse signal including the period of the pulse signal that is earlier than the period of the pulse signal of the moving average value, and is the moving average value of the periods of the 89th, 90th and 91st pulse signals in this embodiment. .

At step 126, the difference C is obtained by subtracting the second moving average value B from the first moving average value A.

In step 128, it is judged whether or not the difference C is larger than the threshold value Th. If the difference C is larger than the threshold value Th, it can be judged that an overload has occurred.
At 30, the drive of the motor is reversed by a certain amount and stopped, and the routine proceeds to step 132. If the difference C is not larger than the threshold Th, the process proceeds to step 132.

In step 132, the cycle of the oldest pulse signal (the cycle of the first pulse signal, and every time this routine is executed, the cycle of the second, third, ... Pulse signals is changed. ), The cycle of the pulse signal detected this time (the cycle of the 101st pulse signal) is stored, and this routine ends.

As described above, according to the present embodiment, since the rising of the pulse signal is masked for a time larger than the maximum value in the ON state after the rising of the pulse signal is detected, the conductor is masked during the ON state. It is possible to prevent the first pulse electrode terminal and the second pulse electrode terminal from bouncing due to the attachment of dirt or the like to the portion, and thereby to prevent erroneous detection that a plurality of pulses are generated even if it is originally one pulse.

Further, since the rising of the pulse signal is masked for a time shorter than the minimum period of the pulse signal after the rising of the pulse signal is detected, the non-conductor portion is contaminated within the mask time from the rising of the pulse signal ( Even if a conductor or the like is attached, the rising edge of the pulse signal is not detected, and erroneous detection of the pulse signal can be eliminated.

As described above, since the rising edge of the pulse signal can be accurately obtained, the period of the pulse signal can be accurately detected.

In the first embodiment described above, even if the rising edge of the pulse signal is detected within the mask time after the rising edge of the pulse signal is detected, the rising edge of the pulse signal is ignored. Although the mask time and the rising edge of the pulse signal are masked, the present invention is not limited to this, and even if the rising edge of the pulse signal is detected within the mask time after the rising edge of the pulse signal is detected. The rising of the pulse signal may not be used for calculating the period of the pulse signal, and the mask time and the rising of the pulse signal may be masked. Furthermore, after the rising edge of the pulse signal is detected, the masking time and rising edge of the pulse signal may be masked by turning off the power supply to the first pulse electrode terminal.

Further, in the above-described first embodiment, the cycle of the pulse signal is detected based on the rising edge of the pulse signal, but the present invention is not limited to this, and the pulse signal You may make it detect based on a fall.

Although the predetermined threshold value is used in the above-described first embodiment, the present invention is not limited to this, and it is delayed and follows the change of the motor load. A changing threshold may be used.

That is, a constant voltage is supplied from the power supply circuit 51 to the motor 22, and the rotation speed of the motor 22 for raising the door glass 20 corresponds to the motor load.
The rotation speed of the motor 22 corresponds to the cycle of the pulse signal generated by the pulse signal generator 38. Therefore, the cycle of the pulse signal corresponds to the motor load.

By the way, the rotation speed of the motor 22 for raising the door glass 20 is constant if there is no pulsation or the like. Therefore, the period of the pulse signal from the pulse signal generator 38 is also constant.

However, pulsation is generally generated in the motor. Therefore, the motor load due to this pulsation changes, and the cycle of the pulse signal changes. Therefore, the threshold value is set high so as not to erroneously detect that a foreign object is caught when the foreign object is not caught by the variation of the period of the pulse signal.

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

When the threshold value is set high as described above, the motor load that can detect the entrapment of foreign matter becomes high. 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.

Therefore, by using a threshold value that changes with a delay and follow the change of the motor load, the threshold value should be set to a high constant value so as not to be judged as an overload due to the change amount of the motor load due to pulsation. Even if it is not, it is possible to properly judge whether it is overload or not. It is possible to obtain the effect that the applied motor load can be reduced.

By the way, step 132 (see FIG. 7)
The cycle of the pulse signal detected this time is stored instead of the cycle of the oldest pulse signal. Therefore, the cycle of n pulse signals including the cycle of the pulse signal detected this time is stored. Therefore, after step 132, if the third moving average value of the period of the n pulse signals is calculated and stored, when the main routine is executed next, a step between step 126 and step 128 is performed. In, the threshold value shown in FIG. 8 can be fetched based on the stored third moving average value and used as the threshold value in step 110. It should be noted that this threshold value is a change amount that exceeds the change amount (noise) of the cycle of the pulse signal caused by the pulsation described above and that can be determined not to be overload. In addition, since the third moving average value for capturing the threshold does not include the cycle of the pulse signal captured this time (the cycle of the latest pulse signal), the threshold is the motor load (pulse signal It changes after the change of (cycle).

Note that, as shown in FIG. 8, the relationship between the third moving average value and the threshold value is not limited to being stored as a map, and the third moving average value and the threshold value are stored correspondingly. The threshold value may be obtained from this data table by a complementary method from the third moving average value by using the above-mentioned data table, and the relational expression showing the relationship between the third moving average value and the threshold value is stored. The threshold value may be obtained based on this relational expression and the third moving average value.

As described above, the present invention is as follows by using the threshold value that changes with delay and follow the change of the motor load.

Pulse signal generating means for generating a pulse signal in synchronization with the rotation of the motor, detecting means for detecting the rising or falling of the pulse signal generated by the pulse signal generating means, and the pulse signal by the detecting means. Masking time shorter than the minimum period of the pulse signal after the rising or falling of the pulse signal is detected, masking means for masking the rising or falling of the pulse signal, and the latest pulse signal detected by the detecting means other than the masking time. Cycle calculating means for calculating the cycle of the pulse signal based on the rise or fall of the pulse, setting means for setting a threshold value that changes in delay and following the change of the motor load, and the cycle calculating means A motor load detecting means for detecting a motor load based on the cycle of the generated pulse signal; Judging means for judging whether or not the motor load detected by the motor load detecting means is larger than the threshold value set by the setting means, and driving the motor when the judgment result by the judging means is an affirmative judgment. A motor drive control device comprising: a stopping unit that reverses a certain amount and stops.

Here, the mask means has a mask time shorter than the minimum period of the pulse signal and longer than the maximum pulse width after the rise or fall of the pulse signal is detected by the detection means, and the rise or fall of the pulse signal. May be masked.

Further, the motor load detecting means includes a first moving average value of a pulse signal period including the latest pulse signal period calculated by the period calculating means and a pulse of at least the first moving average value. A difference from the second moving average value including the period of the pulse signal earlier than the period of the signal may be detected as the motor load. In this case, the setting means may set the threshold value based on the third moving average value of the pulse signal period excluding the latest pulse signal period. Since the latest pulse signal period is excluded in this way, the third moving average value changes in response to a change in the motor load, but changes following it.

In the first embodiment described above, 100 detected pulse signal periods are stored.
This value is not limited to 100. Also, the first
And the second moving average value is a moving average value of the period of three pulse signals, but this value is not limited to three, and each value may be other than three, and a different number of pulse signal periods may be moved. Average value may be used.

Next, a second embodiment of the present invention will be described. The configuration of this embodiment is the same as that of the above-described first embodiment, and the description thereof is omitted.

The operation of this embodiment is substantially the same as that of the first embodiment described above, but step 108 (see FIG. 5).
Only step 108 is different, and step 108 will be described below with reference to the flowchart shown in FIG. Step 144
Then, the moving average value P ₀ is calculated. Here, the moving average value P
₀ will be described. The control circuit 50 stores n (here, in the present embodiment, 16 and not limited to 16) cycles of pulse signals detected by executing this routine. The moving average value P ₀ is the cycle of a plurality of past pulse signals that does not include the cycle of the pulse signal P _n obtained in step 106 (in this embodiment, 16 (P _n-16 , P _n-15 ,
... P _n-1 )) is a moving average value.

At step 146, the moving average value P ₀ is subtracted from the pulse signal P _n to obtain the difference C.

In step 148, it is determined whether the difference C is larger than the threshold Th. The threshold value Th is a function stored in advance corresponding to the moving average value P ₀ as shown in FIG. 10, and is stored as a map. Therefore, in step 128, the threshold value Th is fetched from this map based on the moving average value P _0, and it is determined whether or not the difference C is larger than this threshold value Th. The present invention is not limited to the case of storing as a map, is stored in a data table may be calculated threshold Th by complementation method based on the moving average value P _0, the moving average value P ₀ and the threshold The relational expression indicating the relation with the value Th is stored,
Based on this relational expression and the moving average value P ₀ , the threshold value Th
May be requested.

When the difference C is larger than the threshold Th,
It can be determined that it is overloaded, and in step 150, the motor is reversed by a certain amount and stopped, and the flow proceeds to step 152. If the difference C is not larger than the threshold Th, the process proceeds to step 152.

In step 152, the cycle of the oldest pulse signal (P _n-16 , each time this routine is executed,
P _n-15 , P _n-14 , ...), the cycle P _n of the pulse signal detected this time is stored, and this routine ends.

In the second embodiment described above, even if the rising edge of the pulse signal is detected within the mask time after the rising edge of the pulse signal is detected, the rising edge of the pulse signal is ignored. Although the mask time and the rising edge of the pulse signal are masked, the present invention is not limited to this, and even if the rising edge of the pulse signal is detected within the mask time after the rising edge of the pulse signal is detected. The rising of the pulse signal may not be used for calculating the period of the pulse signal, and the mask time and the rising of the pulse signal may be masked. Furthermore, after the rising edge of the pulse signal is detected, the masking time and rising edge of the pulse signal may be masked by turning off the power supply to the first pulse electrode terminal.

Further, in the above-described second embodiment, the cycle of the pulse signal is detected based on the rising edge of the pulse signal, but the present invention is not limited to this, and the pulse signal You may make it detect based on a fall.

In the first and second embodiments described above, the pulse signal generator having two sliding contacts is used, but the present invention is not limited to this, and a motor shaft is provided. The provided rotary encoder may be used as the pulse signal generating means.

[0077]

As described above, according to the first aspect of the invention, the mask time shorter than the minimum period of the pulse signal after the rising or falling of the pulse signal is detected, and the rising or falling of the pulse signal are masked. Therefore, it is possible to mask the rising or falling of the pulse signal that is erroneously generated within the mask time, and it is possible to accurately detect the period of the pulse signal.

According to the second aspect of the present invention, the mask time is shorter than the minimum period of the pulse signal and longer than the maximum pulse width. Therefore, it is erroneous until the maximum pulse width elapses after the pulse signal is detected. This has an effect that the rising or falling of the generated pulse signal can be masked and the period of the pulse signal can be accurately detected.

[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 details of a pulse signal generator.

FIG. 5 is a flowchart showing a main routine of this embodiment.

FIG. 6 is a diagram showing mask time.

FIG. 7 is a flowchart showing a subroutine of step 108 of the main routine.

FIG. 8 is a third moving average value according to a modified example of the present embodiment,
It is a diagram showing the relationship between the amount of change in the period of the pulse signal and the threshold value.

FIG. 9 is a flowchart showing a main routine of the second embodiment.

FIG. 10 is a map showing a relationship between a moving average value and a threshold value.

FIG. 11 is an explanatory diagram illustrating a conventional pulse signal generator.

FIG. 12 is a diagram showing a pulse signal generated by a sliding contact bouncing due to dirt or foreign matter adhering to the conductor portion in the ON state.

[Explanation of symbols]

 22 control circuit 38 pulse signal generator 42 conductor part 44 non-conductor part 46 first pulse electrode contact 48 second pulse electrode contact 51 power supply circuit

Claims (4)

[Claims] 1. A pulse signal generating means for generating a pulse signal in synchronism with rotation of a motor, a detecting means for detecting rising or falling of a pulse signal generated by the pulse signal generating means, and the detecting means. Mask time shorter than the minimum period of the pulse signal after the rise or fall of the pulse signal is detected, mask means for masking the rise or fall of the pulse signal, and the pulse signal detected by the detection means other than the mask time Cycle calculation means for calculating the cycle of the pulse signal based on the rise or fall of the pulse signal, motor load detection means for detecting the motor load based on the cycle of the pulse signal calculated by the cycle calculation means, and the motor load detection Determine whether the motor load detected by the means is greater than a threshold value Determining means and a stop means for a determination result by said determining means is stopped the driving of the motor by a predetermined amount reversed if a positive determination, the motor drive control device provided with a. 2. A pulse signal generating means for generating a pulse signal in synchronization with rotation of a motor, a detecting means for detecting rising or falling of the pulse signal generated by the pulse signal generating means, and the detecting means. A mask time that is shorter than the minimum period of the pulse signal and longer than the maximum pulse width after the rising or falling of the pulse signal is detected, mask means for masking the rising or falling of the pulse signal, and the detecting means other than the mask time. Cycle calculating means for calculating the cycle of the pulse signal based on the rising or falling edge of the pulse signal detected by, and a motor load detecting means for detecting the motor load based on the cycle of the pulse signal calculated by the cycle calculating means. And the motor load detected by the motor load detection means is a threshold value. Determining means for determining whether greater or not Ri, motor drive control device and a stopping means for stopping by a predetermined amount inversion driving of the motor when the determination result is affirmative determination by the determination unit. 3. The motor load detection means includes a first moving average value of a cycle of a pulse signal including a cycle of the latest pulse signal calculated by the cycle calculating means and a pulse of at least the first moving average value. 3. A motor load is detected as a difference from a second moving average value including a pulse signal period that is earlier than the signal period and is detected as a motor load.
The motor drive control device described. 4. The motor load detection means has a difference between a cycle of the latest pulse signal calculated by the cycle calculation means and a moving average value of cycles of past pulse signals not including the cycle of the latest pulse signal. The motor drive control device according to claim 1 or 2, wherein is detected as a motor load.