WO2018168085A1

WO2018168085A1 - Motor control device and game machine

Info

Publication number: WO2018168085A1
Application number: PCT/JP2017/041875
Authority: WO
Inventors: 昌樹水谷; 啓之伊夫伎
Original assignee: オムロン株式会社
Priority date: 2017-03-15
Filing date: 2017-11-21
Publication date: 2018-09-20
Also published as: JP6699607B2; JP2018157631A

Abstract

A motor control device 1 has: a drive signal generation unit 14 that generates a drive signal in accordance with the rotational torque generated by a DC motor 2 and outputs the drive signal; a sensor interface unit 15 that receives a detection signal from a rotational angle sensor 4 for outputting the detection signal every time the DC motor 2 rotates by a predetermined rotational angle; a speed measuring unit 21 that measures the rotational speed of the DC motor 2 on the basis of the received detection signal; a brake value calculation unit 22 that calculates a brake value of the drive signal on the basis of a specified stop required time and the rotational speed, said brake value being used for stopping the DC motor 2 within a stop required time; and a stopping unit 25 that makes the drive signal generation unit 14 output the drive signal having the brake value over the stop required time.

Description

Motor control device and game machine

The present invention relates to a motor control device for controlling a DC motor and a gaming machine having such a motor control device.

In order to enhance the player's interest, game machines such as a spinning machine or a ball game machine have been devised to produce effects that appeal to the player's visual, auditory, or sensation. In particular, in order to produce an effect appealing to the player's vision, the gaming machine may be provided with a movable body, for example, a movable accessory or a rotating reel. Such moving range and moving speed of the movable body are set in advance according to the effects. Therefore, generally, the amount of rotation per step is determined, and the movable body is driven by a stepping motor that can control the amount of rotation in units of steps. The host control device (for example, a processor unit for production (hereinafter simply referred to as a production CPU) or a main control device) corresponds to the amount of movement by which the movable body moves to the designated position according to the state of the game. By transmitting a command to rotate the stepping motor by the number of steps to the control circuit of the stepping motor, the stepping motor rotates by the number of steps, and as a result, the movable body moves to the designated position. In particular, a stepping motor is used to drive a rotating reel (also referred to as a drum) of a spinning-reel game machine that requires precise control of rotation and stop (see, for example, Patent Document 1).

JP 2016-185414 A

In recent years, in order to increase the interest of the player, it has been studied to increase the rotation speed of the rotating reel. In order to increase the rotation speed of the rotating reel, it is preferable to use a DC motor that can obtain a higher torque than the stepping motor and can be rotated at a higher speed to drive the rotating reel.

However, even when the rotational speed of the rotating reel is increased using a DC motor, the rotating reel is required to stop at a specified time after it is instructed to stop. This is because if the time required to stop as the rotation speed increases, the player feels that the rotating reel is performing a slow operation, and the player's interest may be lost.

Therefore, an object of the present invention is to provide a motor control device capable of stopping a rotating DC motor in a specified required time.

As one form of the present invention, a motor control device for controlling a DC motor is provided. The motor control device generates a drive signal corresponding to the rotational torque generated by the DC motor, outputs a drive signal, and outputs a detection signal every time the DC motor rotates by a predetermined rotation angle. A sensor interface unit that receives a detection signal from the rotation angle sensor, a speed measurement unit that measures the rotational speed of the DC motor based on the received detection signal, and a stop required based on the specified stop required time and rotation speed A brake value calculation unit that calculates a brake value of a drive signal for stopping the DC motor in time, and a stop unit that outputs a drive signal having the brake value over the required stop time to the drive signal generation unit.

This motor control device calculates the braking rotation amount of the DC motor from the state where the DC motor is rotating at the rotation speed to the stop based on the measured rotation speed and brake value of the DC motor. Based on the amount calculation unit, the stop position where the movable body driven by the DC motor stops, the current position of the movable body, and the braking rotation amount, output of a drive signal having a brake value is started from the current position of the movable body It is preferable to further include a brake start position determination unit that calculates the idling rotation amount by which the DC motor rotates until this time. In this case, it is preferable that the stop unit causes the drive signal generation unit to start outputting a drive signal having a brake value when the rotation amount of the DC motor from the current position of the movable body reaches the idle rotation amount. .

Further, in this motor control device, the brake start position determination unit is closest to the position of the movable body when the DC motor is rotated by the braking rotation amount from the current position of the movable body among the plurality of candidates for the stop position of the movable body. It is preferable to set the candidate as a stop position.

Furthermore, it is preferable that the motor control device has a communication unit that receives a control command including a required stop time from the host control device.

As another aspect of the present invention, a gaming machine main body, a rotating reel that is rotatably arranged in the gaming machine main body, a DC motor that drives the rotating reel, and a detection each time the DC motor rotates by a predetermined rotation angle. A gaming machine having a rotation angle sensor that outputs a signal and a motor control device that controls a DC motor is provided. In this gaming machine, the motor control device generates a drive signal corresponding to the rotational torque generated by the DC motor, outputs the drive signal, and a sensor interface unit receives the detection signal from the rotation angle sensor. , A speed measuring unit that measures the rotational speed of the DC motor based on the received detection signal, and a drive signal brake for stopping the DC motor within the required stop time based on the specified stop required time and rotational speed A brake value calculation unit that calculates a value, and a stop unit that causes the drive signal generation unit to output a drive signal having the brake value over the required stop time.

The motor control device according to the present invention has an effect that the rotating DC motor can be stopped in a specified required time.

FIG. 1 is a schematic configuration diagram of a motor control device according to one embodiment of the present invention. FIG. 2 is a circuit diagram of the motor drive circuit. FIG. 3 is a diagram illustrating an example of a table representing the relationship between the drive signal applied to each switch of the motor drive circuit and the rotation direction of the DC motor. FIG. 4 is a diagram illustrating an example of the format of the control command. FIG. 5 is a functional block diagram of the control circuit. FIG. 6 is a diagram illustrating an example of a relationship between a stop position of a rotary reel, which is an example of a movable body driven by a DC motor, a braking rotation amount, and a brake start timing. FIG. 7 is a timing chart showing an example of the relationship between the time change of the position of the movable body and the time change of the rotational speed of the DC motor and the drive signal. FIG. 8 is an operation flowchart of the motor control process. FIG. 9 is a schematic perspective view of a rotating game machine including a motor control device according to an embodiment or a modification of the present invention. FIG. 10 is a schematic internal configuration diagram of the spinning machine including the motor control device according to the embodiment or the modification of the present invention.

Hereinafter, a motor control device according to an embodiment of the present invention will be described with reference to the drawings. This motor control device is mounted on, for example, a spinning machine, and controls a DC motor that drives a rotating reel, which is an example of a movable body, included in the spinning machine. When the motor control device receives a control command for stopping the DC motor from the host control device, the motor control device stops the rotating DC motor for a specified required time.

FIG. 1 is a schematic configuration diagram of a motor control device according to one embodiment of the present invention. As shown in FIG. 1, the motor control device 1 includes a communication circuit 11, a register 12, a control circuit 13, a drive signal generation circuit 14, and a sensor interface circuit 15.
Each of these units included in the motor control device 1 may be mounted on a circuit board (not shown) as a separate circuit, or may be mounted on the circuit board as an integrated circuit in which these units are integrated. May be.

The motor control device 1 controls the DC motor 2 according to the control command received from the host control device. Specifically, the motor control device 1 rotates the DC motor 2 at the target rotational speed designated by the control command. In the present embodiment, the motor control device 1 is generated by a pulse width modulation (PWM) method, and a motor drive circuit 3 that supplies power to the DC motor 2 with a drive signal for switching on / off of power supply to the DC motor 2. To control the rotational speed of the DC motor 2. That is, the drive signal has a value (in this embodiment, a duty ratio) corresponding to the magnitude of the rotational torque generated by the DC motor 2. As the duty ratio of the drive signal increases, the power supplied to the DC motor 2 also increases, and the rotational torque generated by the DC motor 2 also increases. As a result, the rotational speed of the DC motor 2 also increases. The motor control device 1 receives from the rotary encoder 4 a detection signal indicating that the rotating shaft (not shown) of the DC motor 2 has rotated a predetermined angle every time the rotary shaft rotates. Based on the signal, the rotational speed of the DC motor 2 is calculated. When the motor control device 1 receives the control command for stopping the DC motor 2, the drive signal for stopping the DC motor 2 for a specified required time based on the rotational speed of the DC motor 2 at that time or the like. The brake value that is the value of B, the brake start position where the DC motor 2 starts to be braked, and the like are calculated, and the DC motor 2 is stopped according to the brake value and the brake start position.

FIG. 2 is a circuit diagram of the motor drive circuit 3. The motor drive circuit 3 has four switches TR1 to TR4. Each switch may be a transistor or a field effect transistor, for example. Among these, two switches TR1 and TR3 are connected in series between the power supply and the ground. Similarly, two switches TR2 and TR4 are connected in series between the power supply and ground. The positive terminal of the DC motor 2 is connected between the switches TR1 and TR3, while the negative terminal of the DC motor 2 is connected between the switches TR2 and TR4. The switch terminals of the switches TR1 to TR4 (for example, if the switches TR1 to TR4 are transistors are equivalent to base terminals, and if the switches TR1 to TR4 are field effect transistors are equivalent to gate terminals) are respectively driven. Connected to the signal generation circuit 14. The drive signal from the drive signal generation circuit 14 is input to the switch terminals of the switches TR1 to TR4.

FIG. 3 is a diagram illustrating an example of a table representing the relationship between the drive signal applied to each switch and the rotation direction of the DC motor 2.
As shown in the table 300, when the DC motor 2 is rotated forward, the pulse width corresponding to the rotational speed of the DC motor 2 set according to the PWM method is set on the switch terminal of the switch TR1 and the switch terminal of the switch TR4. A drive signal including a periodic pulse is applied. On the other hand, no drive signal is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. Thus, since the power supply voltage is applied to the positive terminal only while the pulse is applied to the switch TR1 and the switch TR4, the DC motor 2 is at a speed corresponding to the pulse width. Rotate forward.
When the DC motor 2 is rotated forward, a drive signal may be applied to one of the switches TR1 and TR4 and the other is always on.

On the other hand, when the DC motor 2 is reversed, a drive signal having a periodic pulse according to the rotational speed of the DC motor 2 set according to the PWM method is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. Is done. On the other hand, no drive signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. As a result, since the power supply voltage is applied to the negative terminal only while the pulses are applied to the switch TR2 and the switch TR3, the DC motor 2 is at a speed corresponding to the pulse width. Reverse.
When the DC motor 2 is reversely rotated, a drive signal may be applied to one of the switches TR2 and TR3, and the other may be always on.

In the present embodiment, when the DC motor 2 is braked while the DC motor 2 is rotating forward, the drive signal generation circuit 14 outputs a drive signal for rotating the DC motor 2 to the motor drive circuit 3. . Conversely, when the DC motor 2 is braked when the DC motor 2 is rotating in reverse, the drive signal generation circuit 14 outputs a drive signal for causing the DC motor 2 to rotate forward to the motor drive circuit 3.

Further, when the DC motor 2 is kept stationary, the switch terminal of the switch TR3 and the switch terminal of the switch TR4 are turned on, and the switch terminal of the switch TR1 and the switch terminal of the switch TR2 are turned off.

Furthermore, when the DC motor 2 is not driven, the switch terminal of each switch is turned off.

The rotary encoder 4 is an example of a rotation angle sensor, and can be, for example, an optical rotary encoder. The rotary encoder 4 is, for example, disposed so as to be opposed to a disk attached to the rotating shaft of the DC motor 2 and having a plurality of slits along a circumferential direction around the rotating shaft. A light source and a light receiving element. Each time any slit is positioned between the light source and the light receiving element, the light from the light source reaches the light receiving element, whereby the rotary encoder 4 outputs a pulsed detection signal. Thereby, the rotary encoder 4 outputs a detection signal every time the DC motor 2 rotates by a predetermined sampling angle. For example, by providing 50 slits in the disk along the circumferential direction around the rotation axis of the DC motor 2, the rotary encoder 4 has 50 pieces while the rotation shaft of the DC motor 2 makes one rotation. The detection signal is output.

Hereinafter, each part of the motor control device 1 will be described.

For example, the communication circuit 11 connects the motor control device 1 to a host control device. The host control device is, for example, a main control circuit or an effect CPU of a gaming machine on which the motor control device 1 is mounted. The communication circuit 11 receives a control command having a plurality of bits that are serially transmitted from the host controller. Note that the communication circuit 11 may also receive a clock signal for synchronizing with each of a plurality of bits included in the control command from the host control device in order to analyze the control command.
The control command is an operation of the DC motor 2 such as an instruction to start or stop the rotation of the DC motor 2, a target rotation speed of the DC motor 2, or a time required for the DC motor 2 to stop after rotating. The operation information for specifying In the following, for the sake of convenience, in the state where the DC motor 2 is rotating, the required time from when the brake is applied to the DC motor 2 until it stops is simply referred to as the required stop time.
The clock signal can be, for example, a signal having a rectangular pulse for every predetermined number of bits in the control command.

FIG. 4 is a diagram showing an example of the format of the control command. As shown in FIG. 4, the control command 400 including the operation information includes a START flag 401, a device address 402, a rotation stop flag 403, control data 404, and an END flag 405 in order from the top. Further, the control command 400 may include a 1-bit spacer having a value of, for example, “0” between adjacent flags, addresses, and data.

The START flag 401 is a bit string indicating the head of the control command 400, and in the present embodiment, nine bits having a value of “1” are consecutive bit strings. The START flag 401 may be a bit string that does not match any other bit string in the control command 400.
The device address 402 is identification information for specifying the motor control device to be controlled by the control command 400, and is represented by a bit string having an 8-bit length in this embodiment. The device address 402 is determined by the communication circuit 11 as to whether or not it matches the identification address separately received from the host control device. If they match, it is determined that the motor control device 1 is the control target of the control command 400.

The rotation stop flag 403 is a 1-bit flag indicating whether the DC motor 2 is to be rotated or stopped. In this embodiment, if the rotation stop flag 403 is “0”, the control command instructs to rotate the DC motor 2 regardless of the current state of the DC motor 2, and the rotation stop flag 403 is “1”. If so, the control command instructs the DC motor 2 to stop.

The control data 404 includes operation information of the DC motor 2 controlled by the motor control device 1. For example, when the rotation stop flag has a value indicating that the DC motor 2 is rotated, the control data 404 includes a rotation direction flag indicating the rotation direction of the DC motor 2 and speed data indicating the target rotation speed of the DC motor 2. Including. On the other hand, when the rotation stop flag has a value indicating that the DC motor 2 is to be stopped, the control data 404 includes stop required time data indicating the stop required time.

The rotation direction flag is, for example, a 1-bit flag. If the rotation direction flag is “0”, the motor control device 1 causes the DC motor 2 to rotate forward, while the rotation direction flag is “1”. For example, the motor control device 1 reversely rotates the DC motor 2.

The speed data is, for example, a 4-bit long bit string and takes any value from “0” to “15”. The value of the speed data and the target rotational speed are in a one-to-one correspondence, and the motor control device 1 refers to a reference table that represents the correspondence relationship between the value of the speed data and the rotational speed, for example. The target rotational speed corresponding to the value is determined. The motor control device 1 rotates the DC motor 2 at the target rotation speed. For example, the larger the value of the speed data, the faster the target rotation speed.

The stop required time data is, for example, a 4-bit long bit string and takes any value from '0' to '15'. The value of the required stop time data and the required stop time have a one-to-one correspondence, and the motor control device 1 refers to, for example, a reference table representing the correspondence between the value of the required stop time data and the actual required stop time. Thus, the required stop time corresponding to the value of the required stop time data is determined. Then, the motor control device 1 stops the DC motor 2 within the required stop time. For example, the longer the required stop time, the longer the required stop time. Therefore, the host control device can adjust the stop required time by changing the value of the stop required time data of the control command.

The END flag 405 is a bit string indicating the end of the control command 400. The END flag 405 may be a bit string that does not match the START flag and other bit strings included in the control command.

Note that the required stop time may be notified in advance to the motor control device 1 separately from the control command for stopping the DC motor 2. For example, the stop required time may be included in a control command including various setting information notified from the host control device to the motor control device 1. In this case, the host control device does not need to notify the required stop time each time the DC motor 2 is stopped, so that the control of the motor control device 1 and the DC motor 2 is simplified. Alternatively, the required stop time may be stored in advance in the register 12 included in the motor control device 1.

Further, when one control command stored in the register 12 is executed for the DC motor 2 controlled by the motor control device 1, the communication circuit 11 sends an instruction completion signal indicating that the control set has been executed. You may output to a high-order control apparatus. The command completion signal can be a single pulse signal, for example.

The register 12 stores control data included in the control command for the DC motor 2 written by the communication circuit 11 and various information necessary for rotating or stopping the DC motor 2. For this purpose, the register 12 includes, for example, a volatile readable / writable memory circuit and a nonvolatile read-only memory circuit.
The register 12 may erase the control data when the control data included in the control command is read by the control circuit 13.

The control circuit 13 includes, for example, a processor and a nonvolatile memory circuit. Then, the control circuit 13 refers to the control data read from the register 12 and determines the rotation direction of the DC motor 2. The control circuit 13 determines the duty ratio of the drive signal based on the control data and the detection signal from the rotary encoder 4. Then, the control circuit 13 notifies the drive signal generation circuit 14 of the rotation direction and the duty ratio.

In order to determine the duty ratio of the drive signal, the control circuit 13 refers to a speed table that represents a correspondence relationship between the value of the speed data and the duty ratio that is stored in advance in the memory circuit. The corresponding duty ratio is set as the duty ratio corresponding to the target rotation speed.

Further, when the motor control device 1 receives the control command for stopping the DC motor 2, the control circuit 13 stops the DC motor 2 for the designated stop time. Details of the process for stopping the DC motor 2 will be described later.

The drive signal generation circuit 14 includes, for example, a variable pulse generation circuit that can change the width of an output pulse, and a periodic pulse signal that is a drive signal generated by the variable pulse generation circuit. And a switch circuit for switching whether to output to the switch. Then, the drive signal generation circuit 14 generates a drive signal for driving the DC motor 2 according to the PWM method in accordance with the duty ratio notified from the control circuit 13, and sends the drive signal to any switch of the motor drive circuit 3. Output. Note that the length of one cycle of the drive signal is, for example, 50 μsec. For example, when the rotation direction notified from the control circuit 13 is normal rotation, the drive signal generation circuit 14 outputs periodic pulse signals to the switches TR1 and TR4 of the motor drive circuit 3. On the other hand, when the rotation direction notified from the control circuit 13 is reverse, the drive signal generation circuit 14 outputs periodic pulse signals to the switches TR2 and TR3 of the motor drive circuit 3.

The sensor interface circuit 15 has an interface circuit that receives a detection signal from the rotary encoder 4. The sensor interface circuit 15 outputs the detection signal to the control circuit 13 every time it receives the detection signal.

FIG. 5 is a functional block diagram of the control circuit 13 relating to the stop processing of the DC motor 2. The control circuit 13 includes a speed measurement unit 21, a duty ratio calculation unit 22, a rotation amount calculation unit 23, a brake start position determination unit 24, and a brake start determination unit 25. These units included in the control circuit 13 are mounted on the control circuit 13 as individual arithmetic circuits, for example. Alternatively, each of these units included in the control circuit 13 may be a functional module based on a program executed on the control circuit.

Based on the detection signal from the rotary encoder 4, the speed measurement unit 21 measures the rotational speed of the DC motor 2 at the start of the stop process (hereinafter referred to as a brake start speed for convenience). For example, when the stop process is started, the speed measurement unit 21 counts the number of detection signals received during a certain period, and the rotation amount obtained by multiplying the number of detection signals by the sampling angle of the rotary encoder 4. The brake start speed is calculated by dividing by a certain period.
The speed measuring unit 21 stores the calculated brake start speed in the register 12.

The duty ratio calculation unit 22 is an example of a brake value calculation unit, and calculates a duty ratio of a drive signal when the DC motor 2 is braked based on the required stop time and the brake start speed. The duty ratio corresponds to an example of a brake value, and the DC motor 2 can be stopped in a shorter time as the duty ratio is higher. Hereinafter, the duty ratio when the brake is applied, which is calculated by the duty ratio calculation unit 22, is referred to as a brake value.
In the present embodiment, the duty ratio calculation unit 22 calculates the brake value Vpwm [%] according to the following equation.

Here, Kt is a torque constant of the DC motor 2 and a movable body (for example, a rotating reel) driven by the DC motor 2, and Ke is a counter electromotive force constant of the DC motor 2. Rm is a winding resistance of the DC motor 2, and Vm is a drive voltage applied to the DC motor 2. Each value of Kt, Ke, Rm, and Vm is stored in the register 12 in advance. Tlt is the friction torque, and dθve is the reverse rotation speed when the DC motor 2 is continuously braked. The friction torque Tlt is calculated according to the following equation and stored in the register 12 when the motor control device 1 performs an initialization operation, for example.

Here, dθe is a rotational speed (final speed) that finally reaches and becomes constant when the DC motor 2 is driven at a constant duty ratio during the initialization operation, and during the initialization operation, It is measured by the speed measuring unit 21.

Also, the duty ratio calculation unit 22 calculates the reverse rotation arrival speed dθve according to the following equation.

Here, dθbs is a brake start speed. Tdn is the time required for stoppage. Τ is a time constant. τ is measured during the initialization operation as the time required for the DC motor 2 to reach a rotational speed that is 63% of the final arrival speed dθe when the final arrival speed dθe is measured in the initialization operation. And stored in the register 12.

The duty ratio calculation unit 22 notifies the calculated brake value Vpwm to the rotation amount calculation unit 23 and also notifies the brake start determination unit 25 via the rotation amount calculation unit 23 and the brake start position determination unit 24.

Based on the calculated brake value Vpwm, the rotation amount calculation unit 23 calculates the total amount of rotation angle of the DC motor 2 during the period from when the DC motor 2 starts to be braked until the DC motor 2 stops (hereinafter referred to as braking (Referred to as rotation amount). In the present embodiment, the rotation amount calculation unit 23 calculates the braking rotation amount θdn according to the following equation.

The rotation amount calculation unit 23 notifies the braking start position determination unit 24 of the braking rotation amount θdn.

The brake start position determination unit 24 determines a brake start timing, which is a timing at which braking starts on the DC motor 2, based on the braking rotation amount θdn and the current position and stop position of the movable body driven by the DC motor 2.

For example, it is assumed that the movable body driven by the DC motor 2 is a rotary reel, and the surface of the rotary reel is divided into a plurality of partial areas along the rotation direction, and one symbol is represented for each partial area. In such a case, it is required that any of a plurality of symbols displayed on the rotating reel stops at a predetermined position. Therefore, the brake start position is set so that the rotating reel stops in this way.

FIG. 6 is a diagram illustrating an example of a relationship between a stop position of a rotary reel, which is an example of a movable body driven by the DC motor 2, and a braking rotation amount θdn and a brake start position. In this example, each of the three rotary reels 601 to 603 has a plurality of symbols 611 along the direction of rotation. Each rotating reel rotates on the same rotating shaft. In FIG. 6, it is assumed that each rotary reel rotates so that the symbol 611 moves from top to bottom.

When each rotating reel stops, each rotating reel is driven so that any symbol stops at a stop position 612 common to each rotating reel. Therefore, for example, in order for the symbol 611a of the rightmost rotary reel 603 to stop at the stop position 612, a position (brake start position) preceding the stop position 612 by a rotation amount corresponding to the braking rotation amount θdn indicated by the arrow 613. The brake may be started at the timing when the symbol 611a reaches 614. However, as shown in FIG. 6, when the current position of the symbol 611 a is positioned in front of the brake start position 614, the rotary reel 603 rotates until the symbol 611 a reaches the brake start position 614. It is required to rotate while maintaining the speed (hereinafter, the rotation while maintaining the current rotation speed before the start of braking is referred to as idling). For example, in FIG. 6, the rotating reel 603 is required to run idle by the amount of rotation indicated by the arrow 615.

Therefore, the brake start position determination unit 24 calculates the difference in the current position from the stop position of the movable body driven by the DC motor 2, and sets the position obtained by subtracting the braking rotation amount from the difference as the brake start position.

Note that the current position of the movable body can also be determined by adding, for example, the total amount of rotation from the start of rotation of the DC motor 2 to the current position at the initial position of the movable body. Alternatively, the fact that the movable body has reached a predetermined position is detected by a proximity sensor (not shown) or an optical sensor that detects light reflected by a mirror provided on the movable body, and the movable body detects the predetermined position. It is determined by the total rotation amount of the DC motor 2 from when the position is reached (for example, when the movable body is a rotating reel, when a specific symbol appearing on the rotating reel reaches a predetermined position). The total rotation amount is calculated by the total number of detection signals received from the rotary encoder 4 after the reference start timing (in the above example, the rotation start timing of the DC motor 2 or the timing when the movable body reaches a predetermined position). Is done.

Further, when the movable body is a rotating reel in which a plurality of symbols are represented along the rotation direction as shown in FIG. 6, the stop position is set according to the width of the symbol in the rotation direction. That is, when any of the symbols is located at the stop position 612, the stop position is a candidate. For example, when the surface of the rotating reel is equally divided into 12 areas along the rotating direction of the rotating reel, and one symbol is represented in each area, the rotation amount (rotating angle) is 30 ° every 30 °. There are stop position candidates. Therefore, the brake start position determination unit 24 may set the stop position candidate closest to the position obtained by adding the braking rotation amount to the current position of the movable body as the actual stop position. However, it is preferable that the actual stop position is set so that the rotation amount from the current position of the movable body to the actual stop position is larger than the braking rotation amount. In addition, the brake start position determination unit 24 next to the candidate of the stop position closest to the position obtained by adding the braking rotation amount to the current position of the movable body in order to secure a margin for the time required for the calculation during the stop process, Alternatively, the next stop position candidate may be set as the actual stop position.

The brake start position determination unit 24 notifies the brake start determination unit 25 of the idling rotation amount that is the rotation amount from the current position of the movable body to the brake start position.

The brake start determination unit 25 is an example of a stop unit, determines the rotation amount of the DC motor 2 from the current position of the movable body based on the number of detection signals received from the rotary encoder 4, and determines the rotation amount as the idling rotation amount. Compare with Then, when the rotation amount reaches the idling rotation amount, the brake start determination unit 25 causes the drive signal generation circuit 14 to perform a rotation corresponding to the calculated brake value Vpwm with the rotation opposite to the current rotation direction. The output of the drive signal having the ratio is started. Then, the brake start determination unit 25 causes the drive signal generation circuit 14 to continue outputting the drive signal for the designated stop required time, thereby stopping the DC motor 2 and the movable body driven by the DC motor 2.

When the specified stop required time has elapsed and the rotational speed of the DC motor 2 becomes zero, the control circuit 13 causes the drive signal generation circuit 14 to output a drive signal for maintaining the DC motor 2 in a stationary state. Also good.

FIG. 7 is a timing chart showing an example of the relationship between the time change of the position of the movable body and the time change of the rotational speed of the DC motor 2 and the drive signal. In the top chart of FIG. 7, the horizontal axis represents the position of the movable body, and in the second and bottom charts of FIG. 7, the horizontal axis represents time. A broken line 701 represents a change over time in the rotational speed of the DC motor 2, and a broken line 702 represents a change over time in the duty ratio of the drive signal output from the drive signal generation circuit 14.

From the current position of the movable body and the corresponding time t1 to the brake start position and the corresponding time t2, as indicated by the broken line 701, the DC motor 2 rotates at a constant rotational speed (brake start speed) before starting the brake. Continue. Further, from time t1 to time t2, as indicated by the broken line 702, a drive signal having a duty ratio corresponding to the rotation speed is output.

After time t2 when the movable body reaches the brake start position, a drive signal having a duty ratio corresponding to the calculated brake value and reverse rotation is output. Therefore, after time t2, the rotational speed of the DC motor 2 decreases, and the rotational speed of the DC motor 2 becomes zero at time t3 when the required stop time has elapsed from time t2.

FIG. 8 is an operation flowchart of a stop process executed by the motor control device 1. This stop process is executed each time the motor control device 1 receives a control command for stopping the rotation of the DC motor 2 from the host control device.

The speed measuring unit 21 measures the brake start speed based on the detection signal from the rotary encoder 4 (step S101). Further, the duty ratio calculation unit 22 calculates the brake value Vpwm based on the designated required stop time and brake start speed (step S102). Then, the rotation amount calculation unit 23 calculates the braking rotation amount dθn based on the calculated brake value Vpwm (step S103).

The brake start position determination unit 24 sets the candidate closest to the position where the DC motor 2 is rotated from the current position by the braking rotation amount dθn from the plurality of stop position candidates (step S104). Then, the brake start position determination unit 24 calculates the brake start position by subtracting the braking rotation amount dθn from the remaining rotation amount obtained by subtracting the current position from the stop position, and runs idle from the current position to the brake start position. A rotation amount is calculated (step S105).

The brake start determination unit 25 determines whether or not the rotation amount of the DC motor 2 from the current position has reached the idling rotation amount (step S106). If the rotation amount does not reach the idling rotation amount (No at Step S106), the brake start determination unit 25 updates the rotation amount based on the detection signal received from the rotary encoder 4 (Step S107). And the brake start determination part 25 repeats the process after step S106.

On the other hand, if the rotation amount has reached the idling rotation amount (step S106—Yes), the brake start determination unit 25 will send the drive signal generation circuit 14 of the DC motor 2 so far over the designated stop required time. A drive signal opposite to the rotation direction and having a duty ratio corresponding to the brake value Vpwm is output to the motor drive circuit 3 that drives the DC motor 2 (step S108). Then, the control circuit 13 ends the stop process.

As described above, this motor control device calculates a brake value for stopping the DC motor in the specified required stop time according to the rotational speed of the DC motor. For this reason, the motor control device can stop the DC motor from rotating in the designated stop required time. Therefore, this motor control device can stop the movable body driven by the DC motor within the required stop time regardless of the rotational speed of the DC motor. As a result, this motor control device can suppress the feeling of the player when the movable body performs a slow operation by increasing the time required for the DC motor and the movable body to stop.

According to the modified example, when the stop position of the movable body driven by the DC motor is not limited, the brake start determination unit 25 calculates the brake value to the drive signal generation circuit 14 when the brake value is calculated. The output of a drive signal having a duty ratio corresponding to may be started immediately. In this case, the rotation amount calculation unit 23 and the brake start position determination unit 24 may be omitted.

According to another modification, the motor driving circuit 3 may be a circuit of a system for driving the DC motor 2 by pulse height modulation. In this case, the control circuit 13 designates the pulse height to the drive signal generation circuit 14 so that a voltage having a pulse height corresponding to the target rotational speed or the brake value is applied to the DC motor 2. A drive signal may be generated.

The motor control device according to the above-described embodiment or modification may be mounted on a gaming machine such as a ball game machine or a spinning game machine.
FIG. 9 is a schematic perspective view of the spinning machine 100 including the motor control device according to the above-described embodiment or modification. FIG. 10 is a schematic internal configuration diagram of the swing game machine 100. As shown in FIG. 9, the spinning machine 100 includes a main body housing 101 that is a main body of the gaming machine, a drum unit 102, a start lever 103, and stop buttons 104a to 104c.

Further, the spinning machine 100 has a main body housing 101 with a control circuit 110 for controlling each part of the spinning machine 100 and three rotary reels 102a to 102c included in the drum unit 102. Motor control devices 111-1 to 111-3 are included. The motor control devices 111-1 to 111-3 can be the motor control devices according to the above-described embodiment or modification. Furthermore, the spinning machine 100 temporarily stores medals according to control signals from a power supply circuit (not shown) that supplies power to each part of the spinning machine 100 and the control circuit, and discharges medals. A medal storage and discharge mechanism (not shown).

An opening 105a is formed at the upper center of the front surface of the main body casing 101, and a part of the drum unit 102 is visible through the opening 105a. A medal slot 105c for inserting medals is formed on the upper surface of the lower frame 105b of the opening 105a.

The drum unit 102 has three rotating reels 102a to 102c. The rotating reels 102a to 102c are individually rotatable around a rotation axis (not shown) that is substantially parallel and substantially horizontal to the front surface of the main body housing 101, respectively. The surfaces of the rotating reels 102a to 102c are each divided into a plurality of regions having substantially the same width along the rotation direction, and various symbols are drawn for each region, and some of the symbols are opened in the openings 105a. It is visible to the player via Further, each of the rotating reels 102a to 102c incorporates a direct current motor (not shown) and a motor drive circuit (not shown), and outputs a drive signal output from the corresponding motor control device 111-1 to 111-3. Accordingly, the rotating reel is rotated by the rotation of the DC motor.

The start lever 103 is provided on the left side of the front surface of the frame 105b of the main body housing 101. Further, stop buttons 104a to 104c are provided in the approximate center of the front surface of the frame 122. The stop buttons 104a to 104c correspond to the rotating reels 102a to 102c, respectively.

A medal discharge port 105d for discharging medals is formed at the lower part of the front surface of the main body casing 101. A medal tray 105e for preventing the discharged medal from falling is attached below the medal discharge port 105d.

When the start lever 103 is operated after the medal has been inserted into the medal insertion slot 105c, a signal indicating that the start lever 103 has been operated is transmitted to the control circuit 110. Then, the control circuit 110 transmits a control command for rotating the corresponding DC motor to the motor control devices 111-1 to 111-3. Then, the motor control devices 111-1 to 111-3 start the rotation of the rotary reels 102a to 102c.

Thereafter, when any of the stop buttons 104a to 104c provided in the front center of the frame 105b of the main body housing 101 is pressed, the control circuit 110 outputs a signal indicating that the button has been pressed. The rotation of the rotating reel corresponding to the pressed button is stopped. Alternatively, the control circuit 110 stops the rotating reels of the rotating reels 102a to 102c, for which the corresponding stop button has not been pressed until the predetermined period elapses after the rotation starts, after the predetermined period elapses. At that time, the control circuit 110 transmits a control command for stopping the DC motor that drives the rotating reel to the motor control device corresponding to the rotating reel whose rotation is stopped among the motor control devices 111-1 to 111-3. To do. Then, the motor control device that has received the control command stops the corresponding DC motor at the required stop time specified by the control command, and accordingly stops any of the symbols on the rotating reel at a predetermined stop position. .

When all the rotating reels are stopped and the same symbol is arranged in a line across all the rotating reels, the control circuit 110 discharges a predetermined number of medals corresponding to the symbol through the medal discharge port 105d.

Thus, those skilled in the art can make various changes in accordance with the embodiment to be implemented within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Motor controller 2 DC motor 3 Motor drive circuit 4 Rotary encoder 11 Communication circuit 12 Register 13 Control circuit 14 Drive signal generation circuit 15 Sensor interface circuit 21 Speed measurement part 22 Duty ratio calculation part 23 Rotation amount calculation part 24 Brake start position determination Unit 25 Brake start determining unit 100 Cylinder gaming machine 101 Main body housing 102 Drum unit 102a to 102c Rotating reel 103 Start lever 104a to 104c Stop button 110 Control circuit 111-1 to 111-3 Motor controller

Claims

A motor control device for controlling a DC motor,
A drive signal generating unit that generates a drive signal corresponding to the rotational torque generated by the DC motor and outputs the drive signal;
A sensor interface unit that receives the detection signal from a rotation angle sensor that outputs a detection signal each time the DC motor rotates by a predetermined rotation angle;
A speed measuring unit that measures the rotational speed of the DC motor based on the received detection signal;
A brake value calculation unit that calculates a brake value of the drive signal for stopping the DC motor at the stop required time based on the specified stop required time and the rotation speed;
A stop unit that causes the drive signal generation unit to output the drive signal having the brake value over the stop required time;
A motor control device.
A braking rotation amount calculation unit that calculates a braking rotation amount of the DC motor from the state in which the DC motor is rotating at the rotation speed until it stops, based on the rotation speed of the DC motor and the brake value; ,
Based on the stop position at which the movable body driven by the DC motor stops, the current position of the movable body, and the braking rotation amount, the output of the drive signal having the brake value from the current position of the movable body is output. A brake start position determination unit that calculates an idling rotation amount that the DC motor rotates before starting,
The stop unit causes the drive signal generation unit to start outputting the drive signal having the brake value when the rotation amount of the DC motor from the current position of the movable body reaches the idle rotation amount. The motor control device according to claim 1.
The brake start position determination unit is a candidate closest to the position of the movable body when the DC motor is rotated by the braking rotation amount from the current position of the movable body among a plurality of candidates of the stop position of the movable body The motor control device according to claim 2, wherein the stop position is set as the stop position.
The motor control device according to any one of claims 1 to 3, further comprising a communication unit that receives a control command including the required stop time from a host control device.
A gaming machine body,
A rotating reel rotatably disposed in the gaming machine body;
A DC motor for driving the rotating reel;
A rotation angle sensor that outputs a detection signal each time the DC motor rotates by a predetermined rotation angle;
A motor control device for controlling the DC motor;
Have
The motor control device
A drive signal generating unit that generates a drive signal corresponding to the rotational torque generated by the DC motor and outputs the drive signal;
A sensor interface unit that receives the detection signal from the rotation angle sensor;
A speed measuring unit that measures the rotational speed of the DC motor based on the received detection signal;
A brake value calculation unit that calculates a brake value of the drive signal for stopping the DC motor at the stop required time based on the specified stop required time and the rotation speed;
A stop unit that causes the drive signal generation unit to output the drive signal having the brake value over the stop required time;
A gaming machine having.