WO2019189298A1

WO2019189298A1 - Control device and fluid delivery device

Info

Publication number: WO2019189298A1
Application number: PCT/JP2019/013080
Authority: WO
Inventors: 八十八原; 清水　大介
Original assignee: 日本電産株式会社
Priority date: 2018-03-28
Filing date: 2019-03-27
Publication date: 2019-10-03

Abstract

Provided is a fluid delivery device including an impeller for causing a fluid to flow from a suction port to a delivery port, a DC motor for rotating the impeller, a housing that houses the impeller, and a control device for PWM controlling the DC motor. A delivery change member that changes the flowability of the fluid can be detachably attached to the delivery port of the housing. The control device includes a setting unit that sets a target revolution speed of the DC motor according to the flowability of the fluid, a receiving unit which receives a revolution speed signal indicating the revolution speed of the DC motor, a drive control unit that changes the revolution speed toward the target revolution speed by adjusting the PWM control value, and a calculation unit for calculating a lower threshold and an upper threshold on the basis of the PWM control value before a predetermined time and a lower limit change amount and an upper limit change amount associated with the target revolution speed. The setting unit increases the target revolution speed by one step if the PWM control value is equal to or less than the lower threshold, and decreases the target revolution speed by one step if the PWM control value is equal to or higher than the upper threshold.

Description

Control device, fluid delivery device

The present invention relates to a control device and a fluid delivery device.

2. Description of the Related Art Conventionally, an apparatus that sends an air current by driving an impeller with a motor is known. For example, Japanese Laid-Open Publication teaches a hair dryer that changes its output according to the cross-sectional area of the air outlet. In this hair dryer, when the air collector is attached to the outlet of the main body, the switch rod provided in the microswitch is pushed in according to the attachment depth of the air collector, and the circuit is switched. Thereby, the output of the hair dryer is changed.

Japanese Publication No. 2004-243049

However, in the Japanese publication, it is necessary to change the shape of the air collector, the circuit, the circuit board, and the like according to the complicated configuration as described above. Therefore, the number of parts increases and the manufacturing cost increases. In addition, there is a risk that the circuit switching may not be successful due to changes in the state of the microswitch over time. *

An object of the present invention is to control driving of a DC motor, for example, with a simple configuration.

An exemplary control device of the present invention performs PWM control on a DC motor that rotates an impeller that flows the fluid from a suction port to the delivery port in a fluid delivery device in which the fluid flow at the outlet is variable. A control unit configured to set a target rotational speed of the DC motor according to the ease of flow of the fluid; a receiving unit configured to receive a rotational speed signal indicating the rotational speed of the DC motor; and a stator of the DC motor. A drive control unit that changes the rotational speed toward the target rotational speed by adjusting a PWM control value of the drive voltage supplied to the storage, a storage unit that stores the PWM control value in time series, and the predetermined time before A calculation unit that calculates a lower threshold value and an upper threshold value based on a PWM control value and a lower limit change amount and an upper limit change amount associated with the target rotational speed set by the setting unit. The setting unit increases the target rotational speed by one step when the PWM control value is equal to or lower than the lower threshold value, and decreases the target rotational speed by one step when the PWM control value is equal to or higher than the upper threshold value. *

An exemplary fluid delivery device of the present invention includes an impeller having blades that can rotate about a central axis, a DC motor that rotates the impeller, a housing that houses the impeller, and a drive for controlling the DC motor. A control device. The housing has a delivery port through which fluid is delivered. A delivery changing member that changes the flowability of the fluid stepwise can be attached to and detached from the delivery port.

According to the exemplary control device and fluid delivery device of the present invention, the driving of the DC motor can be controlled with a simple configuration.

FIG. 1A is a schematic configuration diagram of a fluid delivery device in the present embodiment. FIG. 1B is a block diagram showing the configuration of the fluid delivery device in the present embodiment. FIG. 2 is a graph showing an example of drive characteristics of the DC motor in the present embodiment. FIG. 3 is a graph showing a change in the internal pressure of the fluid delivery device with respect to the fluid delivery rate. FIG. 4 is a graph showing changes in the rotational speed with respect to the torque of the DC motor. FIG. 5 is a flowchart for explaining an example of PWM control of the DC motor in accordance with the ease of fluid flow at the delivery port. FIG. 6 is a graph illustrating an example of drive characteristics of a DC motor according to a modification.

<1. Embodiment> Hereinafter, an exemplary embodiment of the present invention will be described with reference to the drawings. *

<1-1. Fluid Delivery Device> FIG. 1A is a schematic configuration diagram of a fluid delivery device 100 in the present embodiment. FIG. 1B is a block diagram showing a configuration of the fluid delivery device 100 in the present embodiment. *

The fluid delivery device 100 delivers the fluid F sucked from the suction port 3a from the delivery port 3b. Moreover, as will be described later, the ease of flow of the fluid F at the delivery port 3b can be changed. In the present embodiment, the fluid F is air, and the fluid delivery device 100 is a blower such as a hair dryer. However, these are not limited to the illustration of this embodiment. For example, the fluid F may be a gas other than air or a liquid. The fluid delivery device 100 may be a blower other than a hair dryer, or a pump device that performs suction and delivery of the fluid F. *

The fluid delivery device 100 includes an impeller 1, a DC motor 2, and a housing 3. *

The impeller 1 has blades (not shown) that can rotate around a central axis. The impeller 1 can rotate around the central axis, and the fluid F flows from the suction port 3a to the delivery port 3b by the rotation. *

The DC motor 2 is driven by a plurality of drive voltages and rotates the impeller 1. The DC motor 2 includes a rotor 21, a stator 22, a drive driver 23, a rotation speed detection unit 24, a power supply unit 25, and a control device 4. In other words, the fluid delivery device 100 further includes the control device 4. However, the present invention is not limited to this example, and the control device 4 may be provided outside the DC motor 2. For example, the control device 4 may be accommodated in the housing 3 together with the impeller 1 and the DC motor 2, or may be provided outside the housing 3. Moreover, the drive driver 23, the rotation speed detection part 24, and the power supply part 25 are not limited to the illustration of FIG. 1B, You may be mounted in the control apparatus 4. FIG. The control device 4 will be described later. *

The impeller 1 is attached to the rotor 21. The rotor 21 can rotate together with the impeller 1 about the central axis. Hereinafter, the rotational speed N of the rotor 21 may be referred to as the rotational speed N of the DC motor 2. *

The stator 22 rotates the rotor 21 based on the drive voltage supplied from the drive driver 23. In the following description, the DC motor 2 may be expressed as being driven with a driving voltage, but this expression means that the rotor 21 is driven and rotated by supplying the driving voltage to the stator 22. *

The drive driver 23 generates a drive voltage based on the drive voltage control signal output from the control device 4 and outputs the drive voltage to the stator 22. *

The rotation speed detection unit 24 detects the rotation speed N of the rotor 21 and outputs a rotation speed signal to the control device 4 based on the detection result. In the present embodiment, the rotation speed detection unit 24 detects the rotation speed N based on a back electromotive voltage generated in the DC motor 2 when the rotor 21 rotates. However, the means for detecting the rotational speed N is not limited to this example. For example, the rotation speed detection unit 24 may have a configuration having components for detecting the rotation speed N, such as a Hall IC and an encoder unit. *

The power supply unit 25 is a power supply source for the DC motor 2. The power supply unit 25 receives supply of power from the outside of the DC motor 2 and supplies power to each component of the DC motor 2, such as the drive driver 23 and the control device 4. Further, the power supply unit 25 outputs a power supply voltage signal indicating the power supply voltage supplied from the outside of the DC motor 2 to the control device 4. *

The housing 3 accommodates the impeller 1. In the present embodiment, the housing 3 further houses the DC motor 2. The housing 3 is provided with a suction port 3a through which the fluid F is sucked and a delivery port 3b through which the fluid F is delivered. In other words, the housing 3 has a suction port 3a and a delivery port 3b. When the impeller 1 is rotated by driving the DC motor 2, the fluid F is sucked from the outside of the housing 3 through the suction port 3a, and is sent out from the inside of the housing 3 through the delivery port 3b. *

A delivery changing member 31 that changes the ease of flow of the fluid F can be attached to and detached from the delivery port 3b. By attaching and detaching the delivery changing member 31, the ease of flow of the fluid F at the delivery port 3b can be changed in stages. In the present embodiment, the delivery changing member 31 is, for example, a nozzle that limits the delivery amount of the fluid F delivered from the delivery port 3b, and changes the ease of flow of the fluid F at the delivery port 3b in two stages. Therefore, when the delivery changing member 31 is attached to the delivery port 3b, the delivery amount of the fluid F delivered from the delivery port 3b is smaller than when the delivery change member 31 is not attached. When the delivery changing member 31 is removed from the delivery port 3b, the delivery amount of the fluid F delivered from the delivery port 3b increases more than when the delivery change member 31 is attached. In the present embodiment, the fluid delivery device 100 includes a delivery change member 31. However, the housing 3 may include the delivery changing member 31 without being limited to this example. That is, the delivery changing member 31 may be a part of the housing 3. Further, the delivery changing member 31 is not limited to the above example, and may be a member that increases the delivery amount of the fluid F at the delivery port 3b by attachment. *

<1-2. Control Device> Next, the control device 4 will be described. The control device 4 controls the DC motor 2 that rotates the impeller 1 that flows the fluid F from the suction port 3a to the delivery port 3b in the fluid delivery device 100 in which the flow ease of the fluid F at the delivery port 3b can be changed. Device. The control device 4 controls driving of the DC motor 2 using a program and information stored in the storage unit 44 described later. More specifically, the control device 4 outputs a PMW control signal to the drive driver 23, thereby performing PWM control of the drive voltage supplied to the stator 22 and controlling the rotational drive of the rotor 21. *

In the fluid delivery device 100 of the present embodiment, as shown in FIG. 2 to be described later, when the fluid F becomes difficult to flow at the delivery port 3b according to the attachment of the delivery change member 31, the rotational speed N of the DC motor 2 increases. To do. On the other hand, when the fluid F easily flows at the delivery port 3b according to the removal of the delivery changing member 31, the rotational speed of the DC motor 2 decreases. Accordingly, the control device 4 that changes the rotational speed N of the DC motor 2 toward the target rotational speed causes the DC motor 2 to maintain the same rotational speed N as the target rotational speed. The PWM duty ratio Td is changed according to the ease of flow of the fluid F. More specifically, the control device 4 decreases the PWM duty ratio Td such as PWM duty (ratio), for example, when the fluid F hardly flows at the outlet 3b and the rotational speed N of the DC motor 2 increases. . On the other hand, the control device 4 increases the PWM duty ratio Td when the fluid F easily flows at the outlet 3b and the rotational speed N of the DC motor 2 decreases. *

The control device 4 utilizes the fact that the PWM duty ratio Td exceeds the threshold when the ease of flow of the fluid F at the delivery port 3b greatly changes in accordance with the attachment / detachment of the delivery change member 31 in such an operation. A change in the ease of flow of the fluid F at the outlet 3b is detected, and the control device 4 increases or decreases the rotational speed N of the DC motor 2 by a change in the target rotational speed according to the change, and the fluid delivery device 100 Adjust the delivery amount of. *

<1-2-1. Configuration of Control Device> As illustrated in FIG. 1B, the control device 4 includes a drive control unit 41, a reception unit 42, a setting unit 43, a storage unit 44, a calculation unit 45, and a determination unit 46. The determination unit 46 includes a timer 461. *

The drive control unit 41 performs PWM control of the drive voltage supplied to the stator 22 of the DC motor 2 by outputting a PWM control signal to the drive driver 23. More specifically, the drive control unit 41 changes the rotation speed N toward the target rotation speed by adjusting the PWM duty ratio Td of the drive voltage supplied to the stator 22 of the DC motor 2. The PWM duty ratio Td is an example of the PWM control value of the present invention. *

The receiving unit 42 receives various signals. For example, the receiving unit 42 receives a rotation number signal from the rotation number detection unit 24 and receives a power supply voltage signal from the power supply unit 25. The rotation speed signal is a signal indicating the rotation speed N of the DC motor 2. The power supply voltage signal is a signal indicating the power supply voltage of the DC motor 2. *

The setting unit 43 sets a target rotational speed of the DC motor 2 according to the ease of flow of the fluid F. More specifically, the setting unit 43 selects and sets the target rotational speed of the DC motor 2 from among selectable multi-stage target rotational speeds according to the ease of flow of the fluid F. . For example, as will be described later, if the PWM duty ratio Td is equal to or lower than the lower threshold value TsL at the current target rotational speed, the setting unit 43 increases the target rotational speed of the DC motor 2 by one step. On the other hand, if the PWM duty ratio Td is equal to or higher than the upper threshold value TsH at the current target rotational speed, the setting unit 43 decreases the target rotational speed of the DC motor 2 by one step. The lower threshold value TsL is a threshold value of the PWM duty ratio Td when the PWM duty ratio Td is decreased, and the upper threshold value TsH is a threshold value of the PWM duty ratio Td when the PWM duty ratio Td is increased. The lower threshold value TsL and the upper threshold value TsH are set for each target rotational speed and are associated with each target rotational speed.

The storage unit 44 is a non-transitory storage medium that maintains storage even when there is no power supply, and stores various data. The storage unit 44 stores data indicated by various signals received by the receiving unit 42, for example. For example, the storage unit 44 has multistage target rotation speeds that can be set by the setting unit 43 for the DC motor 2 and a lower limit change amount | ΔTsL |, which will be described later, of the PWM duty ratio Td associated with each target rotation speed. And the upper limit change amount | ΔTsH |. Further, the storage unit 44 stores the PWM duty ratio Td indicated by the PWM control signal output from the drive control unit 41 to the drive driver 23 in time series. In addition, although the period in which the storage unit 44 stores the PWM duty ratio Td is not particularly limited, in the present embodiment, the PWM duty ratio Td is stored every 0.1 [sec], for example. *

The calculation unit 45 performs various calculations, and in particular, performs various calculations using data indicated by various signals received by the reception unit 42 and data stored in the storage unit 44. For example, the calculation unit 45 calculates the following based on the PWM duty ratio Td a predetermined time ago and the lower limit change amount | ΔTsL | and the upper limit change amount | ΔTsH | associated with the target rotational speed set by the setting unit 43. A side threshold value TsL and an upper threshold value TsH are calculated. The fixed time is, for example, 2 [sec] in this embodiment, but is not limited to this example. *

For example, at each target rotational speed, the lower limit change amount | ΔTsL | is a threshold value for the amount of decrease in the PWM duty ratio Td for a certain time, and the PWM duty ratio Td before the certain time when the PWM duty ratio Td decreases. Is the threshold value of the difference in PWM duty ratio Td. Further, the upper limit change amount | ΔTsH | is a threshold value of the increase amount of the PWM duty ratio Td in a certain time, and the difference between the PWM duty ratio Td and the PWM duty ratio Td before the certain time when the PWM duty ratio Td increases. Is the threshold value. In this case, the calculation unit 45 calculates the lower threshold value TsL by subtracting the lower limit change amount | ΔTsL | from the PWM duty ratio Td before a certain time. Further, the calculation unit 45 calculates the upper threshold value TsH by adding the upper limit change amount | ΔTsH | from the PWM duty ratio Td before a certain time. For example, when the lower limit change amount is preset at 5%, the upper limit change amount is preset at 8%, and the PWM duty ratio Td before a certain time is 53%, the lower threshold value is 48% (= 53% −5%), and the upper threshold value is calculated as 61% (= 53% + 8%). That is, the lower threshold value TsL is a value obtained by subtracting the lower limit change amount | ΔTsL | from the PWM duty ratio Td before a certain time. The upper threshold value TsH is a value obtained by adding the upper limit change amount | ΔTsH | to the PWM duty ratio Td before a certain time. If calculated in this way, the setting unit 43 determines that the PWM difference between the current PWM duty ratio Td and the PWM duty ratio Td of a predetermined time is a threshold (that is, the lower limit change amount | ΔTsL | and the upper limit change amount | ΔTsH | ), The target rotational speed can be changed. *

Alternatively, at each target rotational speed, the lower limit change amount | ΔTsL | is a threshold value of the ratio of the PWM duty ratio Td to the PWM duty ratio Td before a certain time when the PWM duty ratio Td decreases. Further, the upper limit change amount | ΔTsH | may be a threshold value of the ratio of the PWM duty ratio Td to the PWM duty ratio Td before a certain time when the PWM duty ratio Td increases. In this case, the calculation unit 45 calculates the lower threshold value TsL by multiplying the PWM duty ratio Td before a certain time by the lower limit change amount | ΔTsL |. In addition, the calculation unit 45 calculates the upper threshold value TsH by multiplying the PWM duty ratio Td before a certain time by the upper limit change amount | ΔTsH |. For example, when the lower limit change amount is preset at 95%, the upper limit change amount is preset at 105%, and the PWM duty ratio Td before a certain time is 64%, the lower threshold value is 60.8% (= 64% × 0.95), and the upper threshold value is calculated as 67.2% (= 64% × 1.05). That is, the lower threshold value TsL is a value obtained by multiplying the PWM duty ratio Td before a certain time by the lower limit change amount | ΔTsL |. The upper threshold value TsH is a value obtained by multiplying the PWM duty ratio Td before a certain time by the upper limit change amount | ΔTsH |. If calculated in this way, the setting unit 43 causes the PWM ratio of the current PWM duty ratio Td to the PWM duty ratio Td before a certain time to exceed a threshold (that is, a lower limit change amount | ΔTsL |, an upper limit change amount | ΔTsH |). Depending on whether or not, the target rotational speed can be changed. *

The determination unit 46 performs various determinations. The timer 461 acquires the date and time at each time point, measures the elapsed time from a predetermined time point to another predetermined time point, and the like. *

<1-2-2. Operation of Control Device> Next, the operation of the control device 4 will be described. FIG. 2 is a graph showing an example of drive characteristics of the DC motor 2 in the present embodiment. FIG. 3 is a graph showing a change in the internal pressure of the fluid delivery device with respect to the fluid delivery rate. FIG. 4 is a graph showing changes in the rotational speed with respect to the torque of the DC motor. *

FIG. 2 illustrates a graph when the ease of flow of the fluid F at the outlet 3b changes in two stages. The “ease of flow” in “two stages” here refers to the ease of flow of the fluid F at the delivery port 3b when the delivery change member 31 is attached to the delivery port 3b, and the delivery change member 31 attached to the delivery port 3b. The flow of the fluid F at the delivery port 3b in the case of not being present. In this embodiment, when the delivery changing member 31 is attached to the delivery port 3b, the fluid F is less likely to flow through the delivery port 3b than when the delivery changing member 31 is not attached to the delivery port 3b. In FIG. 2, the horizontal axis represents the PWM duty ratio indicated by the PWM control signal, and the vertical axis represents the rotational speed N of the DC motor 2. Note that the first target rotational speed of the DC motor 2 when the fluid F easily flows at the outlet 3b is the same value as the rotational speed N1. The second target rotational speed of the DC motor 2 when the fluid F hardly flows at the delivery port 3b is the same value as the rotational speed N2. In the following, the sign of the first target speed is “N1”, and the sign of the second target speed is “N2”. *

As described above, the drive control unit 41 of the control device 4 performs PWM control on the drive voltage of the DC motor 2 so that the rotation speed N of the DC motor 2 changes toward the target rotation speed set by the setting unit 43. The PWM duty ratio Td at the time is changed. On the other hand, in the fluid delivery device 100, when it becomes difficult for the fluid F to flow at the delivery port 3b, the internal pressure of the fluid delivery device 100 increases as shown in FIG. The suction amount of the fluid F at the time decreases. Therefore, the torque of the DC motor 2 that drives the fluid delivery device 100 decreases. Therefore, as shown in FIG. 4, the rotational speed N of the DC motor 2 increases as the torque decreases, compared to before the fluid F hardly flows at the fluid F outlet 3 b. *

When the rotational speed N of the DC motor 2 is the same as the first target rotational speed N1, if the fluid F becomes difficult to flow at the delivery port 3b, the amount of fluid F delivered at the delivery port 3b decreases, and the rotational speed N becomes It becomes larger than the first target rotational speed N1. The drive control unit 41 decreases the PWM duty ratio Td in order to eliminate such an increase in the rotational speed N. *

Here, when the delivery amount of the fluid F at the delivery port 3b is temporarily reduced, the increase amount of the rotation speed N to be eliminated is not so large, and therefore the decrease amount of the PWM duty ratio Td in a certain time is also not so great. It doesn't grow up. Therefore, the decreasing PWM duty ratio Td does not fall below the lower threshold value. *

On the other hand, when the delivery amount of the fluid F at the delivery port 3b decreases due to the attachment of the delivery changing member 31, the rotational speed N increases greatly and the PWM duty ratio Td that decreases decreases compared to the above temporary case. The amount of change in time (for example, the absolute value of the difference and the change ratio) also increases. Therefore, the decreasing PWM duty ratio Td is equal to or lower than the lower threshold value TsL. *

Using such an action, the control device 4 detects that the delivery changing member 31 is attached to the delivery port 3b when Td ≦ TsL. Then, the setting unit 43 changes the target rotational speed of the DC motor 2 to the second target rotational speed N2 (> N1) in order to suppress a decrease in the delivery amount of the fluid F at the delivery port 3b. Accordingly, the drive control unit 41 increases the PWM duty ratio Td so as to increase the rotational speed N of the DC motor 2 toward the second target rotational speed N2. *

Next, when the rotational speed N of the DC motor 2 is the same as the second target rotational speed N2, if the fluid F easily flows at the delivery port 3b, the amount of fluid F delivered at the delivery port 3b increases, and the rotation The number N is smaller than the second target rotational speed N2. The drive control unit 41 increases the PWM duty ratio Td in order to eliminate such a decrease in the rotational speed N. *

Here, when the delivery amount of the fluid F at the delivery port 3b is temporarily increased, the decrease amount of the rotation speed N to be eliminated is not so large, and therefore the increase amount of the PWM duty ratio Td in a certain time is not so much. It doesn't grow up. Therefore, the decreasing PWM duty ratio Td does not exceed the upper threshold value. *

On the other hand, when the delivery amount of the fluid F at the delivery port 3b increases due to the removal of the delivery change member 31, the rotational speed N is greatly reduced and the PWM duty ratio Td is increased as compared with the temporary case described above. The amount of change in time (for example, the absolute value of the difference and the change ratio) also increases. Accordingly, the increasing PWM duty ratio Td is equal to or higher than the upper threshold value TsH. *

Using such an action, the control device 4 detects that the delivery changing member 31 has been removed from the delivery port 3b when Td ≧ TsH. Then, the setting unit 43 changes the target rotational speed of the DC motor 2 to the first target rotational speed N1 (<N2) in order to suppress an increase in the amount of fluid F delivered at the delivery port 3b. Accordingly, the drive control unit 41 decreases the PWM duty ratio Td so as to decrease the rotational speed N of the DC motor 2 toward the first target rotational speed N1. *

<1-2-3. PWM control of DC motor by control device> Next, an example of PWM control of the DC motor 2 by the control device 4 in the present embodiment will be described. FIG. 5 is a flowchart for explaining an example of the open loop control of the DC motor 2 in accordance with the ease of flow of the fluid F at the delivery port 3b. *

In the PWM control described below, the drive control unit 41 causes the rotational speed N of the DC motor 2 to change toward the target rotational speed set by the setting unit 43 in parallel with the processing of FIG. PWM control for changing the PWM duty ratio Td is performed. Moreover, the process of FIG. 5 is complete | finished, for example when the power switch (not shown) of the fluid delivery apparatus 100 turns OFF. *

For example, when the power of the fluid delivery device 100 is turned on, the control device 4 starts the operation of FIG. First, the setting unit 43 sets an initial value of the target rotational speed of the DC motor 2 (S101). In the present embodiment, the initial value is set to the first target rotational speed N1. And the drive control part 41 changes the rotation speed N of the DC motor 2 toward the 1st target rotation speed N1 by the output of a PWM control signal. *

Next, the determination unit 46 determines whether or not the power supply voltage difference between the preset voltage and the power supply voltage is 0 (S102). More specifically, the receiving unit 42 receives a power supply voltage signal. The calculation unit 45 calculates a power supply voltage difference between the rated voltage of power supplied from the outside of the DC motor 2 to the power supply unit 25 and the power supply voltage of the power supply voltage signal, for example. The determination unit 46 determines whether or not the power supply voltage difference is zero. If the power supply voltage difference is 0 (YES in S102), the process proceeds to S104 described later. If the power supply voltage difference is not 0 (NO in S102), the calculation unit 45 calculates the lower limit change amount | ΔTsL | and the upper limit change amount | ΔTsH | associated with each target rotational speed based on the power supply voltage difference. Adjust (S103). At this time, the calculation unit 45 calculates the lower limit change amount | ΔTsL | associated with the first target rotational speed N1 of the PWM duty ratio Td, the upper limit change amount | ΔTsH | associated with the second target rotational speed N2, and the power source Adjustment is made based on the voltage difference and the result is stored in the storage unit 44. Then, the process proceeds to S104.

The drive control unit 41 stores the PWM duty ratio Td indicated by the PWM control signal output to the drive driver 23 in the storage unit 44 in time series (S104). The determination unit 46 determines whether the PWM duty ratio Td before a certain time is stored in the storage unit 44 (S105). If the PWM duty ratio Td before a certain time is not stored (NO in S105), the process returns to S102. On the other hand, when the PWM duty ratio Td of a predetermined time is stored (YES in S105), the calculation unit 45 calculates the lower limit change amount | ΔTsL | and the upper limit change amount | ΔTsH | associated with each target rotational speed. The lower threshold value TsL and the upper threshold value TsH associated with each target rotational speed are respectively calculated (S106). More specifically, the calculation unit 45 calculates the lower threshold value TsL at the first target rotational speed N1 using the lower limit change amount | ΔTsL | associated with the first target rotational speed N1. Further, the calculation unit 45 calculates the upper threshold value TsH at the second target rotation speed N2 using the upper limit change amount | ΔTsH | associated with the second target rotation speed N2. *

Next, the determination unit 46 determines whether or not the target rotational speed set by the setting unit 43 is the first target rotational speed N1 (S107). If it is determined that the target rotational speed is the first target rotational speed N1 (YES in S107), the process proceeds to S111 described later. On the other hand, when it is not determined that the target rotational speed is the first target rotational speed N1 (NO in S107), the process proceeds to S121 described later. *

In S111, the determination unit 46 determines whether or not the PWM duty ratio Td is equal to or lower than the lower threshold value TsL at the first target rotation speed N1. If it is determined that Td ≦ TsL is not satisfied (NO in S111), the process returns to S102. When it is determined that Td ≦ TsL is satisfied (YES in S111), it is estimated that the fluid F is difficult to flow through the delivery port 3b by one stage because the delivery change member 31 such as a nozzle is attached to the delivery port 3b. . In this case, the setting unit 43 further determines whether or not the determination result is maintained longer than a predetermined first time (S113). In addition, although 1st time is 2.0 [sec] in this embodiment, for example, it is not limited to this illustration. If the determination result is not maintained longer than the first time (NO in S113), the process returns to S102. When the determination result is maintained longer than the first time (YES in S113), the setting unit 43 sets the second target rotation speed N2 by raising the target rotation speed by one step from the current time (S114). Then, the process returns to S102. *

On the other hand, in S121, the determination unit 46 determines whether or not the PWM duty ratio Td is equal to or higher than the upper threshold value TsH at the second target rotation speed N2. If it is determined that Td ≧ TsH is not satisfied (NO in S121), the process returns to S102. When it is determined that Td ≧ TsH is satisfied (YES in S121), it is estimated that the fluid F easily flows through the delivery port 3b by one stage because the delivery change member 31 such as the nozzle is removed from the delivery port 3b. . In this case, the setting unit 43 further determines whether or not the determination result is maintained longer than a predetermined second time (S123). In addition, although 2nd time is 1.5 [sec] in this embodiment, for example, it is not limited to this illustration. If the determination result is not maintained longer than the second time (NO in S123), the process returns to S102. When the determination result is maintained longer than the second time (YES in S123), the setting unit 43 sets the first target rotation speed N1 by lowering the target rotation speed by one step from the current time (S124). Then, the process returns to S102. *

In the PWM control described above, at least one of S102, S103, S113, and S123 may be omitted. Even in this way, the control device 4 can perform PWM control of the DC motor 2. *

In the PWM control described above, the setting unit 43 increases the target rotational speed by one step if the PWM duty ratio Td is equal to or lower than the lower threshold value TsL. If the PWM duty ratio is equal to or higher than the upper threshold value TsH, the setting unit 43 decreases the target rotational speed by one step. *

In this way, when the PWM duty ratio Td becomes equal to or lower than the lower threshold value TsL associated with the first target rotational speed N1 set by the setting unit 43, the control device 4 performs transmission according to the mounting of the transmission changing member 31 or the like. It is detected that the fluid F becomes difficult to flow at the outlet 3b. Then, the control device 4 increases the rotational speed N of the DC motor 2 toward the second target rotational speed N2 that is one step higher by increasing the target rotational speed by one stage. By this control, the control device 4 suppresses a decrease in the delivery amount of the fluid F due to the difficulty of the fluid F flowing at the delivery port 3b. Next, when the PWM duty ratio Td becomes equal to or greater than the upper threshold value TsH associated with the second target rotational speed N2 set by the setting unit 43, the control device 4 determines whether the delivery changing member 31 is removed or the like. It is detected that the fluid F easily flows. Then, the control device 4 decreases the rotational speed N of the DC motor 2 toward the first target rotational speed N1 that is one step lower by lowering the target rotational speed by one step. By this control, the control device 4 suppresses an increase in the delivery amount of the fluid F due to the fluid F easily flowing at the delivery port 3b. Therefore, the control device 4 can appropriately control the rotational speed N of the DC motor 2 without providing, for example, a control element or means for operating the element. Therefore, the control device 4 can control the driving of the DC motor 2 with a simple configuration. *

Further, the control device 4 can perform stable control with respect to the performance change of the DC motor 2 by the PWM control based on the change of the PWM duty ratio Td. Furthermore, even if there are individual differences in the impeller 1, the DC motor 2, the housing 3, and the like by the closed loop control, the number of rotations is controlled in the same manner, so there is little variation in the fluid delivery amount for each product. *

In the PWM control described above, in S102 and S103, the calculation unit 45 calculates the lower limit change amount | ΔTsL | associated with each target rotation speed and the upper limit based on the power supply voltage difference between the preset voltage and the power supply voltage. The amount of change | ΔTSH | is adjusted. If it does in this way, rotation speed N of DC motor 2 will fluctuate by change of power supply voltage. Therefore, for example, if there is a power supply voltage difference between the rated voltage and the power supply voltage that is actually supplied to the DC motor 2, a deviation due to the power supply voltage difference also occurs in the drive voltage, and the delivery amount of the fluid delivery device 100 Variations also occur. Therefore, the above-described deviation is corrected by adjusting the lower limit change amount | ΔTsL | and the upper limit change amount | ΔTSH | based on the power supply voltage difference. As a result, the drive voltage can be PWM controlled more accurately and more stably depending on whether or not the ease of flow of the fluid F at the delivery port 3b has changed. Therefore, the fluctuation | variation which arises in the delivery amount of the fluid delivery apparatus 100 can be suppressed. *

In the above-described PWM control, the drive control unit 41 changes the rotation speed N toward the minimum first target rotation speed N1 among the multi-stage target rotation speeds. At this time, in S111 and S114, the setting unit 43 increases the target rotational speed by one step from the first target rotational speed N1 if the PWM duty ratio Td is equal to or lower than the lower threshold value TsL at the first target rotational speed N1. On the other hand, if the PWM duty ratio Td is larger than the lower threshold value TsL, the setting unit 43 maintains the target rotational speed at the first target rotational speed N1. If it does in this way, the control apparatus 4 will detect mounting | wearing of the sending change member 31 in the delivery port 3b, for example, will raise the rotation speed of the DC motor 2 by raising the target rotation speed 1 step | paragraph from 1st target rotation speed N1. increase. Therefore, the control device 4 can suppress an excessive decrease in the delivery amount of the fluid F at the delivery port 3b due to the attachment of the delivery change member 31. *

In the PWM control described above, the drive control unit 41 changes the rotational speed N toward the maximum second target rotational speed N2 among the multi-stage target rotational speeds. At this time, in S121 and S124, if the PWM duty ratio Td is equal to or higher than the upper threshold value TsH at the second target rotation speed N2, the setting unit 43 decreases the target rotation speed by one step from the second target rotation speed N2. The setting unit 43 maintains the target rotational speed at the second target rotational speed N2 if the PWM duty ratio Td is smaller than the upper threshold value TsH at the second target rotational speed N2. In this way, the control device 4 detects the removal of the delivery changing member 31 at the delivery port 3b, for example, and reduces the rotational speed of the DC motor 2 by lowering the target rotational speed by one step from the second target rotational speed N2. Decrease. Therefore, the control device 4 can suppress an excessive increase in the delivery amount of the fluid F at the delivery port 3b due to the removal of the delivery change member 31. *

In the above-described PWM control, in S113, the setting unit 43 determines that the time during which the first state in which the PWM duty ratio Td is equal to or lower than the lower threshold value TsL is longer than the predetermined first time. Increases the target rotational speed by one step. In S123, the setting unit 43 sets the target rotational speed to 1 when the time during which the second state in which the PWM duty ratio Td is equal to or higher than the upper threshold value TsH is longer than the predetermined second time. Step down. In this way, the temporary change in the rotational speed N hardly affects the drive control of the DC motor 2. For example, even if the delivery port 3b of the fluid delivery device 100 is temporarily clogged, if the period during which the determination result that the fluid F is difficult to flow at the delivery port 3b is maintained is equal to or less than a predetermined time, the drive The control unit 41 does not change the drive voltage. Therefore, the DC motor 2 can be controlled more stably. *

At this time, the first time in S113 is preferably longer than the second time in S123. In this way, the time corresponding to the unexpected situation when the rotational speed is increased toward the new target rotational speed is longer than when the rotational speed is decreased toward the new target rotational speed. Therefore, it is effective, for example, when eliminating temporary clogging of the delivery port of the fluid delivery device. However, the present invention is not limited to this example, and the first time in S113 may be the same as the second time in S123, or may be shorter than the second time in S123. *

<1-3. Modification of Embodiment> In the above-described embodiment, since the ease of flow of the fluid F at the delivery port 3b changes in two stages, the target rotation speed of the DC motor 2 is the first target rotation speed N1 and the second target rotation speed. One of the rotation speeds N2 is set. However, the DC motor 2 may be set from among three or more target rotational speeds without being limited to this example. In this way, even when the ease of flow of the fluid F at the outlet 3b changes in multiple stages of 3 or more, the drive of the DC motor 2 can be PWM-controlled, and the rotational speed N of the DC motor 2 can be set to the target rotational speed. It can be changed automatically. *

Below, the modification of embodiment is demonstrated. In this modification, a configuration different from the above-described embodiment will be described. Moreover, the same code | symbol may be attached | subjected to the component similar to the above-mentioned embodiment, and the description may be abbreviate | omitted. *

FIG. 6 is a graph showing an example of drive characteristics of the DC motor 2 in the modification. In FIG. 6, the horizontal axis represents the PWM duty ratio indicated by the PWM control signal, and the vertical axis represents the rotational speed N of the DC motor 2. Note that the third target rotational speed of the DC motor 2 when the fluid F easily flows at the delivery port 3b is the same value as the rotational speed N3. Hereinafter, the third target rotation speed is assumed to be “N3”. Further, the third target speed N3 is larger than the first target speed N1 and smaller than the second target speed N2.

<1-3-1. PWM Control of DC Motor in Modified Example> In FIG. 6, when the fluid F is most likely to flow at the outlet 3b, the control device 4 sets the rotational speed N of the DC motor 2 to the minimum first target rotational speed N1. Change towards. After this, when the PWM duty ratio Td becomes equal to or lower than the lower threshold value TsL1 at the first target rotational speed N1 due to the difficulty of flowing the fluid F at the delivery port 3b, the setting unit 43 performs one step from the first target rotational speed N1. The large second target rotational speed N2 is set as the target rotational speed of the DC motor 2. Thereby, the control apparatus 4 changes the rotation speed N of the DC motor 2 toward the third target rotation speed N3 (N1 <N3 <N2). Therefore, since the delivery amount of the fluid F increases, it is possible to suppress an excessive decrease in the delivery amount due to the difficulty in flowing the fluid F at the delivery port 3b. If Td> TsL1, the setting unit 43 maintains the target rotational speed at the first target rotational speed N1. Further, the setting unit 43 may immediately reset the target rotational speed, but preferably, when the state maintaining time during which Td ≦ TsL1 is maintained is longer than a predetermined first time, the target rotational speed is set. To change. *

Further, when the control device 4 changes the rotation speed N of the DC motor 2 toward the third target rotation speed N3, the fluid F easily flows at the outlet 3b, whereby the PWM duty ratio Td becomes the third target rotation speed N3. When the value becomes equal to or greater than the upper threshold value TsH3, the setting unit 43 sets the first target rotational speed N1 that is one step smaller than the third target rotational speed N3 as the target rotational speed of the DC motor 2. Thereby, the control apparatus 4 changes the rotation speed N of the DC motor 2 toward the 1st target rotation speed N1 (<N3) smaller than the 3rd target rotation speed N3. Therefore, since the delivery amount of the fluid F decreases, it is possible to suppress an excessive increase in the delivery amount caused by the fluid F easily flowing at the delivery port 3b. If Td <TsH3, the setting unit 43 maintains the target rotational speed at the third target rotational speed N3. The setting unit 43 may change the target rotational speed immediately, but preferably the target rotational speed is set when the state maintaining time during which Td ≧ TsH3 is maintained is longer than a predetermined second time. Change. *

On the other hand, when the control device 4 changes the rotation speed N of the DC motor 2 toward the third target rotation speed N3, the fluid F becomes more difficult to flow at the outlet 3b, so that the PWM duty ratio Td becomes the third target rotation speed. When the value is equal to or lower than the lower threshold value TsL3 in N3, the setting unit 43 sets the second target rotation speed N2 that is one step larger than the third target rotation speed N3 as the target rotation speed of the DC motor 2. Thereby, the control apparatus 4 changes the rotation speed N of the DC motor 2 toward the 2nd target rotation speed N2 (> N3) larger than the 3rd target rotation speed N3. Therefore, since the delivery amount of the fluid F increases, it is possible to suppress an excessive decrease in the delivery amount due to the difficulty in flowing the fluid F at the delivery port 3b. If Td> TsH3, the setting unit 43 maintains the target rotational speed at the third target rotational speed N3. Further, the setting unit 43 may change the target rotational speed immediately, but preferably, the target rotational speed is set when the state maintaining time in which Td ≦ TsL3 is maintained is longer than the predetermined first time. Change. *

At this time, the first time may be equal to or shorter than the second time, but is preferably longer than the second time. In this way, the higher the rotational speed N of the DC motor 2, the longer the time until the drive voltage changes, and for example, it becomes easier to obtain time corresponding to an unexpected situation. *

When the fluid F is most difficult to flow at the outlet 3b, the control device 4 changes the rotational speed N of the DC motor 2 toward the minimum first target rotational speed N1. When the PWM duty ratio Td becomes equal to or higher than the upper threshold value TsH2 at the second target rotational speed N2 due to the fluid F easily flowing at the delivery port 3b, the setting unit 43 is one step smaller than the second target rotational speed N2. The rotational speed N3 is set to the target rotational speed of the DC motor 2. Thereby, the control device 4 changes the rotational speed N of the DC motor 2 toward the third target rotational speed N3 (<N2) smaller than the second target rotational speed N2. Therefore, since the delivery amount of the fluid F decreases, it is possible to suppress an excessive increase in the delivery amount caused by the fluid F easily flowing at the delivery port 3b. If Td <TsL2, the setting unit 43 maintains the target rotational speed at the second target rotational speed N2. Further, the setting unit 43 may change the target rotational speed immediately, but preferably, the target rotational speed is set when the state maintaining time during which Td ≧ TsH2 is maintained is longer than a predetermined second time. Change. *

From the above, in FIG. 6, the delivery amount of the fluid delivery device 100 can be adjusted satisfactorily by simple control. *

The multi-stage target rotational speed includes at least one third target rotational speed N3 that is larger than the minimum target rotational speed and smaller than the maximum target rotational speed. In the above-described PWM control, when the ease of fluid flow at the delivery port is intermediate, the drive control unit 41 changes the rotation speed N toward the third target rotation speed N3. At this time, when the PWM duty ratio Td is equal to or lower than the lower threshold value TsL3 at the third target rotational speed N3, the setting unit 43 increases the target rotational speed by one step from the third target rotational speed N3. On the other hand, when the PWM duty ratio Td is equal to or higher than the upper threshold value TsH at the third target rotational speed N3, the setting unit 43 decreases the target rotational speed by one step from the third target rotational speed N3. *

If it does in this way, if the control apparatus 4 will detect that the fluid F becomes difficult to flow through the delivery port 3b by mounting | wearing with the delivery change member 31, for example, it will raise a target rotational speed one step from the 3rd target rotational speed N3. As a result, the rotational speed of the DC motor 2 is further increased. Thereby, an excessive decrease in the delivery amount of the fluid F at the delivery port 3b can be suppressed. In addition, when the control device 4 detects that the fluid F is likely to flow at the delivery port 3b by removing the delivery changing member 31, for example, the control device 4 reduces the target rotational speed by one step from the third target rotational speed N3. The number of rotations of 2 is further reduced. Thereby, the excessive increase in the sending amount of the fluid F at the delivery port 3b can be suppressed. Therefore, the control device 4 can suppress an excessive increase / decrease in the delivery amount of the fluid F at the delivery port 3b due to a change in the ease of flow of the fluid F at the delivery port 3b. *

<1-4. Summary> According to the embodiment described above and the modification thereof, the control device 4 allows the fluid F to be discharged from the suction port 3a in the fluid delivery device 100 in which the flowability of the fluid F at the delivery port 3b can be changed. The DC motor 2 that rotates the impeller 1 that flows to the delivery port 3b is PWM-controlled. The control device 4 includes a setting unit 43 that sets a target rotational speed of the DC motor 2 according to the ease of flow of the fluid F, a receiving unit 42 that receives a rotational speed signal indicating the rotational speed N of the DC motor 2, and a DC A drive control unit 41 that changes the rotational speed N toward the target rotational speed by adjusting the PWM duty ratio Td of the drive voltage supplied to the stator 22 of the motor 2, and a storage unit 44 that stores the PWM duty ratio Td in time series. And the lower threshold value TsL and the upper threshold value TsH based on the PWM duty ratio Td before a predetermined time and the lower limit change amount | ΔTsL | and the upper limit change amount | ΔTsH | associated with the target rotational speed set by the setting unit 43 And a calculation unit 45 that calculates If the PWM duty ratio Td is equal to or lower than the lower threshold value TsL, the setting unit 43 increases the target rotational speed by one step. The setting unit 43 decreases the target rotational speed by one step if the PWM duty ratio Td is equal to or greater than the upper threshold value TsH. *

According to this configuration, when the PWM duty ratio Td becomes equal to or lower than the lower threshold value TsL associated with the first target rotational speed N1 set by the setting unit 43, the control device 4 responds to the attachment of the transmission changing member 31 or the like. Then, it is detected that the fluid F is difficult to flow at the delivery port 3b. Then, the control device 4 increases the rotational speed N of the DC motor 2 toward the second target rotational speed N2 that is one step higher by increasing the target rotational speed by one stage. By this control, the control device 4 suppresses a decrease in the delivery amount of the fluid F due to the difficulty of the fluid F flowing at the delivery port 3b. Next, when the PWM duty ratio Td becomes equal to or greater than the upper threshold value TsH associated with the second target rotational speed N2 set by the setting unit 43, the control device 4 determines whether the delivery changing member 31 is removed or the like. It is detected that the fluid F easily flows. Then, the control device 4 decreases the rotational speed N of the DC motor 2 toward the first target rotational speed N1 that is one step lower by lowering the target rotational speed by one step. By this control, the control device 4 suppresses an increase in the delivery amount of the fluid F due to the fluid F easily flowing at the delivery port 3b. Therefore, the control device 4 can appropriately control the rotational speed N of the DC motor 2 without providing, for example, a control element or means for operating the element. Therefore, the control device 4 can control the driving of the DC motor 2 with a simple configuration. *

The fluid delivery device 100 includes the impeller 1 having blades that can rotate around the central axis, the DC motor 2 that rotates the impeller 1, the housing 3 that houses the impeller 1, and the control that controls the driving of the DC motor 2. And a device 4. The housing 3 has a delivery port 3b through which the fluid F is delivered. A delivery changing member 31 that changes the flowability of the fluid F stepwise can be attached to and detached from the delivery port 3b. *

According to this configuration, the rotational speed N of the DC motor 2 can be automatically changed according to the attachment / detachment of the delivery changing member 31. For example, since it is not necessary to provide a control element or a means for operating the element, the driving of the DC motor 2 can be controlled with a simple configuration. *

<2. Others> The embodiment of the present invention has been described above. The scope of the present invention is not limited to the above-described embodiment. The present invention can be implemented with various modifications without departing from the spirit of the invention. In addition, the items described in the above embodiments can be arbitrarily combined as long as no contradiction occurs. *

For example, in the above-described embodiment and modification, the PWM duty ratio Td is adopted as an example of the PWM control value of the present invention. However, the present invention is not limited to this example, and the PWM duty may be adopted.

INDUSTRIAL APPLICATION This invention is useful for control of the motor mounted in the fluid delivery apparatus which can attach or detach the member which changes the easiness of a fluid flow to a delivery outlet.

Claims

In the fluid delivery device in which the ease of fluid flow at the delivery port is variable, the control device performs PWM control of a DC motor that rotates an impeller that flows the fluid from the suction port to the delivery port,

A setting unit for setting a target rotational speed of the DC motor according to the ease of flow of the fluid;

A receiving unit for receiving a rotation speed signal indicating the rotation speed of the DC motor;

A drive controller that changes the rotational speed toward the target rotational speed by adjusting a PWM control value of a driving voltage supplied to the stator of the DC motor;

A storage unit for storing the PWM control values in time series;

A calculation unit that calculates a lower threshold value and an upper threshold value based on the PWM control value of a predetermined time and a lower limit change amount and an upper limit change amount associated with the target rotation speed set by the setting unit;

With

The setting unit

If the PWM control value is less than or equal to the lower threshold, the target rotational speed is increased by one step,

If the PWM control value is greater than or equal to the upper threshold value, the control device reduces the target rotational speed by one step.
The lower limit change amount is a threshold value of a decrease amount of the PWM control value in the fixed time,

The lower threshold is a value obtained by subtracting the lower limit change amount from the PWM control value before the predetermined time,

The upper limit change amount is a threshold value of an increase amount in the certain time of the PWM control value,

The control device according to claim 1, wherein the upper threshold value is a value obtained by adding the upper limit change amount to the PWM control value before the predetermined time.
The lower limit change amount is a threshold value of a ratio of the PWM control value to the PWM control value before the certain time when the PWM control value decreases,

The lower threshold is a value obtained by multiplying the PWM control value before the predetermined time by the lower limit change amount,

The upper limit change amount is a threshold value of a ratio of the PWM control value to the PWM control value before the certain time when the PWM control value increases,

The control device according to claim 1, wherein the upper threshold value is a value obtained by multiplying the PWM control value before the predetermined time by the upper limit change amount.
When the drive control unit changes the rotation speed toward a minimum first target rotation speed among the multi-stage target rotation speeds,

The setting unit

If the PWM control value is less than or equal to the lower threshold value in the first target rotational speed, the target rotational speed is increased by one step from the first target rotational speed,

The control device according to any one of claims 1 to 3, wherein if the PWM control value is larger than the lower threshold value, the target rotational speed is maintained at the first target rotational speed.
When the drive control unit changes the rotational speed toward the maximum second target rotational speed among the multi-stage target rotational speeds,

The setting unit

If the PWM control value is greater than or equal to the upper threshold value in the second target rotational speed, the target rotational speed is decreased by one step from the second target rotational speed,

The control device according to any one of claims 1 to 4, wherein if the PWM control value is smaller than the upper threshold value at the second target rotational speed, the target rotational speed is maintained at the second target rotational speed. .
The target rotational speeds in multiple stages include at least one third target rotational speed that is larger than the minimum target rotational speed and smaller than the maximum target rotational speed,

When the drive control unit changes the rotation speed toward the third target rotation speed,

The setting unit

When the PWM control value is equal to or lower than the lower threshold value in the third target rotational speed, the target rotational speed is increased by one step from the third target rotational speed,

The target rotational speed is decreased by one step from the third target rotational speed when the PWM control value is equal to or higher than the upper threshold value at the third target rotational speed. Control device.
The receiving unit further receives a power supply voltage signal indicating a power supply voltage of the DC motor,

The calculation unit adjusts the lower limit change amount and the upper limit change amount associated with each target rotational speed based on a power supply voltage difference between a preset voltage and the power supply voltage, respectively. The control device according to any one of claims 1 to 6.
The setting unit

When the time during which the first state in which the PWM control value is equal to or lower than the lower threshold is maintained is longer than a predetermined first time, the target rotational speed is increased by one step,

The target rotational speed is decreased by one step when the time during which the second state in which the PWM control value is equal to or higher than the upper threshold is maintained is longer than a predetermined second time. The control device according to any one of 7.
The control device according to claim 8, wherein the first time is longer than the second time.
An impeller having blades rotatable around a central axis;

A DC motor for rotating the impeller;

A housing that houses the impeller;

The control device according to any one of claims 1 to 9, which controls driving of the DC motor;

With

The housing has a delivery port through which fluid is delivered;

A fluid delivery device, wherein a delivery changing member that changes the flowability of the fluid stepwise can be attached to and detached from the delivery port.