Advance angle correction method, advance angle setting device, motor device, and in-vehicle device

Abstract

To accurately suppress the generation of operation noise and vibration of a brushless motor which rotates forward and backward.SOLUTION: An advance angle correction method of a motor device, the motor device including a stator, a rotor, a position detection sensor that detects a rotation position, a storage unit that stores advance angle correction information, a control unit, an advance angle control unit that performs advance angle control on the basis of an output signal of the position detection sensor and the advance angle correction information, a rotation shaft, and a speed reducer, the method including: The advance angle correction method includes calculating an advance angle correction amount as a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount for each rotation direction based on advance angle correction information indicating a correspondence relationship between an advance angle correction amount and a rotation speed difference between rotation speeds during forward rotation and reverse rotation, the rotation speed difference being calculated based on a correspondence relationship between an output shaft torque and a transmission efficiency in a speed reducer during each of forward rotation and reverse rotation, and storing the forward rotation advance angle correction amount and the reverse rotation advance angle correction amount in a storage unit as advance angle correction information for each motor device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an advance angle correction method, an advance angle setting device, a motor device, and an in-vehicle device. [Background technology]

[0002] In a known forward / reverse rotation motor, a motor load is calculated to control the rotation angle in order to suppress deviation of the reversal position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-131885

[0004] Brushless motors control rotation by detecting the change in magnetic poles of a sensor magnet that rotates with the rotor using Hall sensors located at regular intervals in the direction of rotation. However, manufacturing errors in the relative mounting positions of the sensor magnet and the Hall sensors can vary from motor to motor, making it difficult to properly control the rotation angle depending on the direction of rotor rotation. This difference in rotation control characteristics depending on the direction of rotor rotation can lead to problems such as increased operating noise and vibration. Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and its object is to provide an advance angle correction method, an advance angle setting device, a motor device, and an on-vehicle device that can accurately suppress the operating noise and vibration of a brushless motor that rotates forward and backward. [Means for solving the problem]

[0006] One aspect of the present invention is a method for correcting an advance angle of a motor device, the motor device including a stator having coils of multiple phases, a rotor that rotates forward and reverse due to a magnetic field generated by the coils of the multiple phases, a position detection sensor that detects the rotational position of the rotor, a memory unit that stores advance angle correction information that indicates the degree of advance angle from the rotational position detected by the position detection sensor, a control unit that controls current applied to the coils of the multiple phases for each phase, an advance angle control unit that is provided in the control unit and performs advance angle control that changes the timing of energizing the coils of the multiple phases based on an output signal of the position detection sensor and the advance angle correction information stored in the memory unit, a rotating shaft provided on the rotor, and a first reduction unit that is provided on the rotating shaft and has teeth that run along a direction intersecting an axial direction of the rotating shaft, and a gear that meshes with the first reduction unit and reduces the rotation of the rotating shaft. and a reducer having a second reduction gear unit that accelerates and transmits torque to an output shaft of the motor device, wherein the advance angle correction method acquires advance angle correction information indicating a correspondence relationship between an advance angle correction amount and a difference in rotation speed between the rotation speed of the rotor during forward rotation and the rotation speed of the rotor during reverse rotation, the correspondence relationship being calculated in advance based on a correspondence relationship between the output shaft torque during forward rotation of the rotor and transmission efficiency of the reducer, and a correspondence relationship between the output shaft torque during reverse rotation of the rotor and transmission efficiency of the reducer, calculates the advance angle correction amount as a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount for each rotation direction of the rotor based on the acquired advance angle correction information so as to reduce the rotation speed difference of the output shaft due to the difference in transmission efficiency, and stores the calculated forward rotation advance angle correction amount and the reverse rotation advance angle correction amount in the storage unit as advance angle correction information for the motor device.

[0007] One aspect of the present invention is a lead angle setting device that writes lead angle correction information to a motor device, the motor device comprising: a stator having coils for multiple phases; a rotor that rotates forward and reverse due to magnetic fields generated by the coils for multiple phases; a position detection sensor that detects the rotational position of the rotor; a memory unit that stores lead angle correction information that indicates the degree of lead angle from the rotational position detected by the position detection sensor; a control unit that controls current applied to the coils for each phase; an lead angle control unit that is provided in the control unit and performs lead angle control that changes the timing of current application to the coils for multiple phases based on an output signal of the position detection sensor and the lead angle correction information stored in the memory unit; a rotating shaft provided to the rotor; a first reduction unit that is provided on the rotating shaft and has teeth that extend in a direction intersecting an axial direction of the rotating shaft; and a reducer having a second reduction gear that reduces the speed of the rotation shaft and transmits the reduced speed to the output shaft of the motor device, wherein the lead angle setting device acquires lead angle correction information indicating the correspondence relationship between the difference in rotation speed between the rotation speed during forward rotation of the rotor and the rotation speed during reverse rotation of the rotor and the lead angle correction amount, the correspondence relationship being calculated in advance based on the correspondence relationship between the output shaft torque during forward rotation of the rotor and the transmission efficiency of the reducer, and the correspondence relationship between the output shaft torque during reverse rotation of the rotor and the transmission efficiency of the reducer, calculates the lead angle correction amount as a forward rotation lead angle correction amount and a reverse rotation lead angle correction amount for each rotation direction of the rotor based on the acquired lead angle correction information so as to reduce the rotation speed difference of the output shaft due to the difference in transmission efficiency, and stores the calculated forward rotation lead angle correction amount and reverse rotation lead angle correction amount in the storage unit as lead angle correction information for the motor device.

[0008] One aspect of the present invention is a motor device comprising: a stator having coils for multiple phases; a rotor that rotates forward and reverse due to magnetic fields generated by the coils for the multiple phases; a position detection sensor that detects the rotational position of the rotor; a memory unit that stores advance angle correction information that indicates the degree of advance angle from the rotational position detected by the position detection sensor; a control unit that controls current applied to the coils for the multiple phases for each phase; an advance angle control unit that is provided in the control unit and performs advance angle control that changes the timing of current application to the coils for the multiple phases based on an output signal of the position detection sensor and the advance angle correction information stored in the memory unit; a rotating shaft provided on the rotor; a first reduction gear unit that is provided on the rotating shaft and has teeth that extend in a direction intersecting an axial direction of the rotating shaft; and a second reduction gear unit that meshes with the first reduction gear unit and reduces the rotation of the rotating shaft before transmitting the reduced rotation to an output shaft of the motor device. and a reducer having a control unit, wherein the memory unit stores, as the advance angle correction information, a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount calculated for each rotation direction of the rotor as the advance angle correction amount so as to reduce the rotation speed difference of the output shaft due to the difference in transmission efficiency, based on advance angle correction information that indicates the correspondence between the difference in rotation speed between the rotation speed of the rotor during forward rotation and the rotation speed of the rotor during reverse rotation, and the correspondence between the difference in rotation speed of the rotor during forward rotation and the transmission efficiency of the reducer, the correspondence being calculated in advance based on the correspondence between the output shaft torque during forward rotation of the rotor and the transmission efficiency of the reducer, and the correspondence between the output shaft torque during reverse rotation of the rotor and the transmission efficiency of the reducer, and the advance angle correction information stores, as the advance angle correction information,

[0009] One aspect of the present invention is an on-vehicle device comprising the above-mentioned motor device and a driven part that is driven in the fore-and-aft direction of the vehicle by the output shaft of the motor device, and when the rotation direction of the rotor is reversed when the driven direction of the driven part is opposite to the direction of travel of the vehicle, the advance angle amount of forward rotation is greater than the advance angle amount of reverse rotation. [Effects of the Invention]

[0010] According to the present invention, it is possible to accurately suppress the generation of operating noise and vibrations of a brushless motor that rotates forward and backward. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram illustrating an example of the configuration of a motor device according to an embodiment of the present invention. [Figure 2] 10A and 10B are diagrams illustrating an example of a state of meshing between a worm and a helical gear according to the present embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of a functional configuration of the motor device according to the present embodiment. [Figure 4] FIG. 4 is a diagram showing an example of first advance angle correction information according to the present embodiment. [Figure 5] FIG. 6 is a diagram showing an example of a flow of setting an advance angle correction value according to the present embodiment. [Figure 6] FIG. 4 is a diagram showing an example of setting a first advance angle correction amount according to the present embodiment. [Figure 7] FIG. 6 is a diagram showing an example of second advance angle correction information according to the present embodiment. [Figure 8] FIG. 10 is a diagram showing an example of a flow for setting an advance angle correction value that takes into account a forward / reverse rotation difference in transmission efficiency according to the present embodiment. [Figure 9] 10 is a diagram showing an example of the correspondence relationship between rotational force, rotation speed, and drive current before advance angle correction in the motor device of the present embodiment. FIG. [Figure 10] 10 is a diagram showing an example of the correspondence relationship between rotational force, rotation speed, and drive current after advance angle correction in the motor device of the present embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. 1 is a diagram showing an example of the configuration of a motor device 1 according to this embodiment. The motor device 1 includes a motor 2, a gearbox 3, an inverter 50, and a control unit 60.

[0013] The motor device 1 is used as a drive source for a wiper device for an automobile, and reciprocates wiper blades arranged on a windshield surface (wiping surface). In this embodiment, the motor device 1 is described as being applied to a wiper device as an example, but the motor device 1 may be applied to devices other than wiper devices as long as the motor 2 rotates forward and backward. For example, the motor device 1 may be applied to an electric window (e.g., a sunroof or power window), an electric seat, an electric mirror, etc.

[0014] The motor 2 includes a stator 21 and a rotor 22 . The stator 21 has armature coils of multiple phases. The rotor 22 is provided inside the stator 21. The rotor 22 includes a rotor shaft 24 and a sensor magnet 22b attached to the rotor shaft 24.

[0015] A plurality of permanent magnets 26 are fixed to the rotor shaft 24. The rotational state of the motor 2 (for example, the rotation speed and torque) is controlled by changing the drive current flowing through the armature coil wound around the stator 21. That is, the rotor 22 rotates forward and backward due to the magnetic field generated by the multi-phase coils. A worm 31 is formed at the tip of the rotor shaft 24. A helical gear 32 rotatably supported by the gear box 3 is engaged with the worm 31. In the following description, the rotational speed reduction mechanism formed by the worm 31 and the helical gear 32 is also referred to as a reducer.

[0016] 2 is a diagram showing an example of the meshing state between the worm 31 and the helical gear 32 of this embodiment. An output shaft 33, which is rotatably supported by the gear box 3, is attached integrally to the helical gear 32. The driving force of the motor 2 is output to the output shaft 33 after being reduced in speed through the worm 31 and the helical gear 32.

[0017] A crank arm (not shown) of the wiper device is attached to the output shaft 33. When the motor 2 operates, the crank arm is driven via the output shaft 33, and the wiper arm is operated via a link mechanism connected to the crank arm. A wiper blade is attached to the wiper arm, and the wiper blade performs a reciprocating wiping action on the windshield surface as the motor 2 rotates.

[0018] [Inverter configuration example] FIG. 3 is a diagram showing an example of the functional configuration of the motor device 1 of this embodiment. The inverter 50 generates a drive current from the DC power supplied from the battery 53 based on the drive signal generated by the control unit 60, thereby driving the motor 2 to rotate. The inverter 50 includes six switching elements 51a to 51f connected in a three-phase bridge configuration and diodes 52a to 52f. The switching elements 51a to 51f are, for example, N-channel MOSFETs (Metal Oxide Semiconductor Field Effect Transistors), and form a three-phase bridge circuit. The diodes 52a to 52f are all so-called freewheeling diodes.

[0019] [Motor configuration example] The motor 2 is, for example, a three-phase, four-pole brushless motor. The stator 21 is fixed to the inner periphery of the case of the motor 2. The stator 21 includes three-phase armature coils (21u, 21v, 21w). The three-phase armature coils (21u, 21v, 21w) are wound around the stator 21. These three-phase armature coils (21u, 21v, 21w) are connected by a delta connection. Although the figure shows an example in which the three-phase armature coils (21u, 21v, 21w) are connected by a delta connection, the three-phase armature coils may also be connected by a star connection.

[0020] The Hall sensor 23 detects the magnetic flux of the sensor magnet 22b, thereby detecting the rotational position of the rotor shaft 24 that rotates together with the sensor magnet 22b. In other words, the Hall sensor 23 detects the rotational position of the rotor 22. The motor device 1 includes a plurality of Hall sensors 23 (for example, three Hall sensors 23u, 23v, and 23w). A pulse signal from the Hall sensor 23 is output to the control unit 60.

[0021] [Configuration example of control unit (motor control device)] The control unit 60 is, for example, a processor including a CPU (Central Processing Unit) and controls the current applied to the coils of multiple phases for each phase. Specifically, the control unit 60 performs PWM (Pulse With Modulation) control, sets a duty ratio according to the target rotation output of the rotor 22 (e.g., the target rotation speed), and outputs a drive signal according to the set duty ratio to the inverter 50. More specifically, the control unit 60 detects the rotation speed and rotation direction of the rotor shaft 24 based on the pulse signal from the Hall sensor 23. The control unit 60 generates a drive current with a predetermined duty ratio by turning the power supply voltage ON / OFF based on the detected rotation speed of the rotor shaft 24, and supplies the generated drive current to the motor 2, thereby performing feedback control of the motor 2. The control unit 60 is also called a motor control device.

[0022] The control unit 60 includes a gate control voltage output unit 61 , a PWM control unit 62 , a lead angle control unit 63 , and a storage unit 64 .

[0023] The PWM control unit 62 generates PWM signals (drive signals) that switch the ON / OFF states of the switching elements 51a to 51f based on the outputs of the Hall sensors 23u, 23v, and 23w, and outputs the generated drive signals to the gate control voltage output unit 61. The gate control voltage output unit 61 drives the switching elements 51a to 51f by outputting gate control voltages based on the drive signals generated by the PWM control unit 62 to the gate terminals of the switching elements 51a to 51f.

[0024] The lead angle control unit 63 performs lead angle control when it is necessary to advance the drive signal generated by the PWM control unit 62. Lead angle control is control that controls the timing of current application to coils of multiple phases to advance (or delay) the phase of the drive current in order to suppress deterioration of drive noise and vibration caused by changes in rotational force due to a phase delay of the drive current (phase current) generated by the inductance of the armature coil. In one example of this embodiment, the lead angle control unit 63 controls the lead angle of the drive current by advancing (or delaying) the phase of the drive current with respect to the rotational position of the rotor 22 detected by the Hall sensor 23, based on an lead angle correction amount associated with the rotation speed of the rotor 22.

[0025] The memory unit 64 stores advance angle correction information. The advance angle correction information is information that indicates the degree of advance angle from the rotation position of the rotor 22 detected by the Hall sensor 23. That is, the memory unit 64 stores advance angle correction information that indicates the degree of advance angle from the rotation position detected by the Hall sensor 23 (position detection sensor).

[0026] When a predetermined condition for performing advance angle control (for example, a vehicle speed condition when the wipers are driven in a high vehicle speed range) is met, advance angle control unit 63 calculates an advance angle correction amount based on advance angle correction information stored in storage unit 64 and the rotation speed of rotor 22 detected by PWM control unit 62. Advance angle control unit 63 performs advance angle control based on the calculated advance angle correction amount. That is, the advance angle control unit 63 is provided in the control unit 60 and performs advance angle control to change the timing of energizing the coils of multiple phases based on the output signal of the Hall sensor 23 (position detection sensor) and advance angle correction information stored in the memory unit 64.

[0027] The lead angle correction information is set (written) in the storage unit 64 of the motor device 1 by the lead angle setting device 100 in a process (for example, an adjustment process or an inspection process) before the motor device 1 is shipped from a factory. An example of the configuration of the lead angle setting device 100 will be described.

[0028] [Example of lead angle setting device configuration] Lead angle setting device 100 includes a storage unit 110 and a processor including a CPU etc. Lead angle setting device 100 includes, as functional units of the processor, a rotation speed difference measurement unit 120, a first lead angle correction information acquisition unit 131, a second lead angle correction information acquisition unit 132, a first lead angle correction amount calculation unit 141, a second lead angle correction amount calculation unit 142, and an lead angle correction information writing unit 150.

[0029] First advance angle correction information and second advance angle correction information are stored in the storage unit 110. First, advance angle setting using the first advance angle correction information will be described.

[0030] [Lead angle setting using first lead angle correction information] 4 is a diagram showing an example of first advance angle correction information according to this embodiment. The first advance angle correction information is information indicating the correspondence between the advance angle correction amount and the difference in rotation speed between the forward rotation speed and the reverse rotation speed of the rotor 22, which is calculated in advance based on the rotation speed change rate, which is the amount of change in the rotation speed of the rotor 22 relative to the amount of change in the advance angle of the energization timing. The amount of change in rotation speed relative to the amount of change in lead angle is determined at the design stage of motor device 1. Therefore, the correspondence relationship between the difference in rotation speed between the rotation speed during forward rotation and the rotation speed during reverse rotation of rotor 22 and the amount of lead angle correction is determined at the design stage of motor device 1. In other words, the first lead angle correction information indicates the correspondence relationship between the difference in rotation speed between the rotation speed during forward rotation and the rotation speed during reverse rotation of rotor 22 and the amount of lead angle correction, which is determined at the design stage of motor device 1. It should be noted that the advance angle correction amount of the first advance angle correction information does not take into account the difference between forward and reverse rotation in the speed reduction efficiency (transmission efficiency) of the reducer.

[0031] A specific procedure for setting the advance angle correction value will be described with reference to FIG. FIG. 5 is a diagram showing an example of a flow of setting the advance angle correction value in this embodiment. (Step S110) The rotation speed difference measurement unit 120 measures the rotation speed difference of the rotor 22, which is the difference between the rotation speed during forward rotation and the rotation speed during reverse rotation of the rotor 22 when a predetermined current is applied to the coils of multiple phases. Specifically, when the motor device 1 for which the lead angle is to be set is connected, the lead angle setting device 100 sequentially outputs a forward rotation command and a reverse rotation command to the control unit 60 of the motor device 1. The rotation speed difference measurement unit 120 acquires the rotation speed of the rotor 22 during forward rotation and the rotation speed of the rotor 22 during reverse rotation from the control unit 60 of the motor device 1. The rotation speed difference measurement unit 120 calculates the difference between the acquired rotation speed during forward rotation and the rotation speed during reverse rotation.

[0032] (Step S120) First advance angle correction information acquisition unit 131 acquires first advance angle correction information from storage unit 110. First advance angle correction amount calculation unit 141 calculates the first advance angle correction amount based on the first advance angle correction information acquired by first advance angle correction information acquisition unit 131 and the forward / reverse rotation speed difference of rotor 22 calculated by rotation speed difference measurement unit 120 in step S110. The first advance angle correction amount is a correction amount calculated to reduce the output shaft rotation speed difference, which is the difference between the rotation speed during forward rotation and the rotation speed during reverse rotation of the output shaft 33 of the motor device 1. The first advance angle correction amount is calculated as a first forward rotation advance angle correction amount and a first reverse rotation advance angle correction amount for each rotation direction of the rotor 22. This first advance angle correction amount is a value calculated based on the correspondence relationship between the forward / reverse rotation speed difference of the rotor 22 and the advance angle correction amount at the time of designing the motor device 1, and is a unique value that differs for each assembled motor device 1.

[0033] 6 is a diagram showing an example of setting the first advance angle correction amount in this embodiment. The figure shows an example in which the rotation speed during forward rotation acquired by rotation speed difference measurement unit 120 is 2000 (rpm) and the rotation speed during reverse rotation is 1000 (rpm). Here, the difference in rotation speed between the rotation speed of the rotor 22 when rotating forward and the rotation speed when rotating reverse is the rotation speed obtained by subtracting the rotation speed when rotating forward from the rotation speed when rotating reverse when the rotor 22 is rotating forward, and is the rotation speed obtained by subtracting the rotation speed when rotating reverse from the rotation speed when the rotor 22 is rotating reverse. In the example shown in the figure, the rotation speed difference when rotor 22 is rotating forward is 1000 rpm-2000 rpm=-1000 rpm. In this case, first advance angle correction amount calculation section 141 calculates -9 degrees as the first forward rotation advance angle correction amount. Furthermore, the rotation speed difference when rotor 22 is rotating in the reverse direction is 2000 rpm-1000 rpm=1000 rpm. In this case, first advance angle correction amount calculation section 141 calculates +9 degrees as the first reverse advance angle correction amount.

[0034] The first advance angle correction amount calculation unit 141 calculates the first advance angle correction amount so that the rotation speed difference of the output shaft 33 is smaller by setting the intermediate value between the rotation speed of the output shaft 33 during forward rotation and the rotation speed of the output shaft 33 during reverse rotation as the target value for the rotation speed of the output shaft 33 after advance angle correction.

[0035] 5, the advance angle correction information writing unit 150 determines whether the calculated first advance angle correction amount (first forward rotation advance angle correction amount and first reverse rotation advance angle correction amount) is less than the upper correction limit value. This upper correction limit value is set taking into consideration cases where the torque transmission system of the motor device 1 is damaged or where the relative position between the Hall sensor 23 and the sensor magnet 22b is greater than the allowable error. If advance angle correction information writing unit 150 determines that the calculated first advance angle correction amount is less than the upper correction limit value (step S120; YES), it proceeds to step S130. If advance angle correction information writing unit 150 determines that the calculated first advance angle correction amount is not less than the upper correction limit value (step S120; NO), it proceeds to step S140.

[0036] (Step S130) The advance angle correction information writing unit 150 stores the first advance angle correction amount (first forward rotation advance angle correction amount and first reverse rotation advance angle correction amount) in the storage unit 64 as advance angle correction information for each motor device 1. Note that a basic lead-angle setting value, which is an lead-angle setting value based on the inductance of the armature coil, etc., is determined in advance when the motor device 1 is designed. Lead-angle correction information writing unit 150 may add the first lead-angle correction amount (first forward rotation lead-angle correction amount and first reverse rotation lead-angle correction amount) calculated in step S120 to this basic lead-angle setting value, and store the result in storage unit 64.

[0037] (Step S140) If the first advance angle correction amount is equal to or greater than the upper correction limit, advance angle setting device 100 determines that an abnormality has occurred in the advance angle correction amount of motor device 1 and ends the process without writing the advance angle correction amount. In this case, advance angle setting device 100 may display a message indicating that motor device 1 is a defective product.

[0038] [Lead angle setting using second lead angle correction information] Next, the advance angle setting using the second advance angle correction information will be described. FIG. 7 is a diagram showing an example of second advance angle correction information according to this embodiment. The second advance angle correction information is information indicating an advance angle correction amount that takes into account a difference in transmission efficiency in the reducer between forward and reverse rotations. This second advance angle correction information is calculated in advance by determining the difference in transmission efficiency between the rotor 22 during forward rotation and the rotor 22 during reverse rotation when the motor 2 and the gearbox 3 are combined, through experiments, simulations, or the like, during the design stage of the motor device 1. That is, the second advance angle correction information indicates the correspondence between the difference in rotation speed between the rotor 22 during forward rotation and the rotor 22 during reverse rotation, which is calculated in advance based on the correspondence between the torque of the output shaft 33 during forward rotation of the rotor 22 and the transmission efficiency in the reducer, and the correspondence between the torque of the output shaft 33 during reverse rotation of the rotor 22 and the transmission efficiency in the reducer.

[0039] As described with reference to Fig. 2, the reducer of the motor device 1 of this embodiment includes a worm 31 (first reduction gear portion) and a helical gear 32 (second reduction gear portion). The worm 31 is provided on the rotor shaft 24 (rotation shaft) and has teeth that run in a direction that intersects with the axial direction of the rotor shaft 24 (rotation shaft). The helical gear 32 (second reduction gear portion) meshes with the worm 31 (first reduction gear portion) and transmits the rotation of the rotor shaft 24 (rotation shaft) to the output shaft 33 after reducing the speed. That is, in the reducer of the motor device 1, the direction of the tooth trace of the worm 31 and the direction of the tooth trace of the helical gear 32 are not parallel. As a result, the transmission efficiency of the motor device 1 differs between when the rotor 22 rotates forward and when it rotates reversely. For example, as shown in Figure 6, when the correspondence relationship between the rotational force (output shaft torque) of the output shaft 33 of the motor device 1 and the transmission efficiency (deceleration efficiency) is plotted, a difference occurs between the transmission efficiency when the rotor 22 rotates forward and when it rotates reversely. The difference in transmission efficiency due to the difference in the rotation direction appears as a difference between the rotation speed of the rotor 22 when the rotor 22 is rotating forward and the rotation speed when the rotor 22 is rotating backward. Therefore, the lead angle setting device 100 sets the lead angle correction amount for the motor device 1, taking into account the difference between the forward and reverse rotation speeds of the motor device 1 and the second lead angle correction information described above.

[0040] A specific procedure for setting the advance angle correction value that takes into account the difference in transmission efficiency between forward and reverse rotation of the reducer will be described with reference to FIG. 8 is a diagram showing an example of the flow for setting an advance angle correction value that takes into account the forward / reverse rotation difference in transmission efficiency in this embodiment. In this example, a case will be described in which the above-described first advance angle correction amount and second advance angle correction amount are set together in the motor device 1. Note that the setting of the first advance angle correction amount is the same as the above-described procedure, and therefore a description thereof will be omitted where appropriate. (Step S210) The rotation speed difference measurement unit 120 measures the rotation speed difference of the rotor 22, which is the difference between the rotation speed during forward rotation and the rotation speed during reverse rotation of the rotor 22 when a predetermined current is applied to the coils of multiple phases. The specific procedure is the same as that of step S110 described above, and therefore will not be described again.

[0041] (Step S220) The first advance angle correction information acquisition unit 131 and the first advance angle correction amount calculation unit 141 calculate the first advance angle correction amount in the same manner as in step S120 described above. Second advance angle correction information acquisition unit 132 acquires second advance angle correction information from storage unit 110. Second advance angle correction amount calculation unit 142 calculates the second advance angle correction amount as a second forward rotation advance angle correction amount and a second reverse advance angle correction amount for each rotation direction of rotor 22, based on the acquired second advance angle correction information and the rotation speed difference of rotor 22 measured in step S210, so as to reduce the rotation speed difference of output shaft 33 due to the difference in transmission efficiency.

[0042] As an example, the rotational force (output shaft torque) of the output shaft 33 of the motor device 1 is used in a range of 0 to 10 Nm. In the example of second advance angle correction information shown in FIG. 7, the transmission efficiency during reverse rotation of the rotor 22 is greater than the transmission efficiency during forward rotation of the rotor 22, and the difference in transmission efficiency between forward and reverse rotations in the range of 0 to 10 Nm is approximately 2 to 8 points. In this case, the second advance angle correction amount calculation unit 142 increases the advance angle correction amount during forward rotation of the rotor 22 (for example, to +2 degrees) and decreases the advance angle correction amount during reverse rotation of the rotor 22 (for example, to -2 degrees) so as to reduce the difference between the rotation speed during forward rotation of the output shaft 33 and the rotation speed during reverse rotation of the output shaft 33. That is, in this example, the second advance angle correction amount calculation unit 142 calculates +2 degrees as the second forward rotation advance angle correction amount and -2 degrees as the second reverse rotation advance angle correction amount.

[0043] The second advance angle correction amount calculation unit 142 may calculate the second advance angle correction amount so that the difference between the forward and reverse rotation speeds of the output shaft 33 is smaller by setting the intermediate value between the rotation speed of the output shaft 33 during forward rotation and the rotation speed of the output shaft 33 during reverse rotation as the target value for the rotation speed of the output shaft 33 after the advance angle correction. Here, the second advance angle correction amount is calculated taking into account the difference in transmission efficiency due to the difference in the rotation direction of the rotor 22. For this reason, if the second advance angle correction amount is calculated so as to reduce the difference between the forward and reverse rotation speeds of the output shaft 33, the rotation speed of the rotor 22 during forward rotation and the rotation speed during reverse rotation will differ from each other.

[0044] The advance angle correction information writing unit 150 calculates a third forward rotation advance angle correction amount by adding the calculated first forward rotation advance angle correction amount and second forward rotation advance angle correction amount. The advance angle correction information writing unit 150 also calculates a third reverse rotation advance angle correction amount by adding the first reverse rotation advance angle correction amount and the second reverse rotation advance angle correction amount. Specifically, if the first forward rotation advance angle correction amount is −9 degrees and the second forward rotation advance angle correction amount is +2 degrees, advance angle correction information writer 150 calculates −7 degrees as the third forward rotation advance angle correction amount.If the first reverse rotation advance angle correction amount is +9 degrees and the second reverse rotation advance angle correction amount is −2 degrees, advance angle correction information writer 150 calculates +7 degrees as the third reverse rotation advance angle correction amount.

[0045] The advance angle correction information writing unit 150 determines whether the calculated third advance angle correction amount (third forward rotation advance angle correction amount and third reverse rotation advance angle correction amount) is less than a correction upper limit value. This correction upper limit value is set taking into consideration cases where the torque transmission system of the motor device 1 is damaged or where the relative position between the Hall sensor 23 and the sensor magnet 22b is greater than or equal to the allowable error. If advance angle correction information writing unit 150 determines that the calculated third advance angle correction amount is less than the upper correction limit value (step S220; YES), it proceeds to step S230. If advance angle correction information writing unit 150 determines that the calculated third advance angle correction amount is not less than the upper correction limit value (step S220; NO), it proceeds to step S240.

[0046] (Step S230) The advance angle correction information writing unit 150 stores the calculated third advance angle correction amount (third forward rotation advance angle correction amount and third reverse rotation advance angle correction amount) in the storage unit 64 as advance angle correction information for each motor device 1.

[0047] (Step S240) If the third advance angle correction amount is equal to or greater than the upper correction limit, advance angle setting device 100 determines that an abnormality has occurred in the advance angle correction amount of motor device 1 and ends the process without writing the advance angle correction amount. In this case, advance angle setting device 100 may display a message indicating that motor device 1 is a defective product.

[0048] 9 is a diagram showing an example of the correspondence relationship between rotational force, rotation speed, and drive current before advance angle correction in the motor device 1 of this embodiment. Before advance angle correction, there is a difference between the correspondence relationship between rotational force and drive current and the correspondence relationship between rotational force and drive current during forward rotation and reverse rotation. 10 is a diagram showing an example of the correspondence relationship between rotational force, rotation speed, and drive current after advance angle correction in the motor device 1 of this embodiment. After advance angle correction, the difference in the correspondence relationship between rotational force and drive current and the correspondence relationship between rotational force and drive current between forward rotation and reverse rotation is smaller than before advance angle correction.

[0049] As described above, the motor device 1 is used as a drive source for a wiper device or a sunroof device for an automobile. In this case, the wiper device or the sunroof device for an automobile can also be considered as an in-vehicle device having a driven part that is driven in the longitudinal direction of the vehicle by the output shaft 33 of the motor device 1. For example, if the driven part of the in-vehicle device is a wiper blade that wipes the vehicle window, it is an automobile wiper device, and if the driven part of the in-vehicle device is an electric window that slides open and closed in the direction of travel of the vehicle, it is a sunroof device. In this case, when the driven direction of a driven part (for example, a wiper blade or an electric window) is opposite to the traveling direction of the vehicle (i.e., when the driven part is driven against the traveling direction of the vehicle), the driven part is driven from the upwind side to the downwind side of the wind as the vehicle travels. In this case, the driven part can be driven with less rotational force than when the driven part is driven from the downwind side to the upwind side of the wind as the vehicle travels. Conversely, when the driven part is driven from the downwind side to the upwind side of the wind as the vehicle travels, it is required to drive the driven part with a greater rotational force. In this way, in the case of a device in which the driven part is driven along the direction of travel of the vehicle, when the rotation direction of the rotor 22 is reversed when the driven direction of the driven part is opposite to the direction of travel of the vehicle, the advance angle correction amount may be set so that the advance angle amount for forward rotation is larger and the advance angle amount for reverse rotation is smaller. For example, if advance angle correction information writer 150 determines that the calculated first advance angle correction amount or third advance angle correction amount is less than the upper correction limit value (step S120; YES or step S220; YES), it adds a fourth advance angle correction amount to the first advance angle correction amount or third advance angle correction amount before proceeding to step S130 or step S230. Here, the fourth advance angle correction amount is added so as to increase the advance angle amount for forward rotation and decrease the advance angle amount for reverse rotation. For example, the fourth advance angle correction amount is set so that the advance angle amount for forward rotation is within a range of positive values, and the advance angle amount for reverse rotation is within a range of negative values. The fourth advance angle correction amount may be set to a predetermined value in advance depending on the specifications of the vehicle and the on-board device (such as the size and mounting angle of the vehicle window, the structure of the wiper device link mechanism, etc.), the mounting position of the on-board device relative to the vehicle, the mounting direction of the motor device 1 relative to the on-board device, etc., and may be stored in the memory unit 110.

[0050] Furthermore, in the case of a device in which the driven part is driven in the traveling direction of the vehicle, the control unit 60 may be configured to add the fourth advance angle correction amount when the vehicle speed is equal to or greater than a threshold. In this case, the control unit 60 may acquire vehicle speed information from the vehicle, and calculate the advance angle correction amount for the motor 2 by adding the fourth advance angle correction amount based on the acquired vehicle speed information to the advance angle correction amount according to the advance angle correction amount information stored in the storage unit 64. Note that the control unit 60 may control the amount of advance angle to be different when the driven part is driven in the traveling direction of the vehicle and when it is driven against the traveling direction of the vehicle. For example, the control unit 60 may control the amount of advance angle not to be increased (or to be decreased) when the driven part is driven in the traveling direction of the vehicle, and to be increased when the driven part is driven against the traveling direction of the vehicle.

[0051] Furthermore, if vehicle speed information cannot be obtained, the control unit 60 may compare the duty ratio of the drive current during forward rotation with the duty ratio of the drive current during reverse rotation, and if the difference in the duty ratios exceeds a predetermined threshold, add a fourth advance angle correction value. That is, the control unit 60 may control the rotational force of the rotor 22 by pulse width modulating the current applied to the coils of multiple phases, and increase the advance angle amount if the difference between the duty ratio of the current applied during forward rotation and the duty ratio of the current applied during reverse rotation is equal to or greater than a predetermined threshold.

[0052] Furthermore, if vehicle speed information cannot be obtained, the control unit 60 may compare the duty ratio of the drive current during forward rotation with the duty ratio of the drive current during reverse rotation, and if the difference in the duty ratios exceeds a predetermined threshold, add the fourth advance angle correction value. That is, when controlling the rotational force of the rotor 22 by pulse-width modulating the current applied to the coils of multiple phases, the control unit 60 may increase the fourth advance angle amount if the difference between the duty ratio of the current applied during forward rotation and the duty ratio of the current applied during reverse rotation is equal to or greater than a predetermined threshold. Furthermore, when the control unit 60 controls the rotational force of the rotor 22 by pulse width modulating the current applied to the coils of multiple phases, the control unit 60 may increase the fourth advance angle amount when the duty ratio of the applied current is equal to or greater than a predetermined threshold value.

[0053] With the motor device 1 configured as described above, the rotation speed can be measured individually for each motor device 1, and then the advance angle amount for forward rotation and the advance angle amount for reverse rotation of the rotor 22 can be set individually. Therefore, with the motor device 1 of this embodiment, even if manufacturing variations in the motor device 1 occur, the timing of supplying the drive current during both forward rotation and reverse rotation can be properly controlled. As a result, with the motor device 1 of this embodiment, it is possible to reduce operating noise and vibration caused by improper energization timing due to manufacturing variations in the motor device 1. Furthermore, with motor device 1 of this embodiment, the amount of lead angle for forward rotation and the amount of lead angle for reverse rotation of rotor 22 can be set separately, so even if the direction of rotation is reversed for each specification due to left-right and right-hand drive (for example, between right-hand drive and left-hand drive vehicles), the amount of lead angle for forward and reverse can be switched and set for each specification. Therefore, with motor device 1 of this embodiment, it is possible to prevent an increase in product variations due to left-right and right-hand drive differences.

[0054] Furthermore, with the motor device 1 of this embodiment, the advance angle correction amount that takes into account the difference in forward and reverse rotation speed of the transmission efficiency of the reducer can be set individually for each rotation direction of the rotor 22. Therefore, with the motor device 1 of this embodiment, even when a reducer whose transmission efficiency changes significantly depending on the rotation direction is used (for example, a reducer that combines a worm gear and a helical gear in which a thrust load is generated by gear meshing, or a reducer that combines arc gears with parallel axes), the difference in forward and reverse rotation speed of the output shaft of the reducer can be reduced.

[0055] Furthermore, as described above, the motor control device of this embodiment can reduce operating noise and vibration, thereby reducing the power required for driving. Therefore, the motor control device of this embodiment can contribute to achieving Goal 7 of the United Nations-led Sustainable Development Goals (SDGs), which is to "Ensure access to affordable, reliable, sustainable, and modern energy for all."

[0056] In the above-described embodiment, the control unit 60 is described as including the PWM control unit 62, the advance angle control unit 63, and the storage unit 64. However, the present invention is not limited to this. The PWM control unit 62, the advance angle control unit 63, and the storage unit 64 may be provided in other devices provided in the motor device 1 or in devices external to the motor device 1.

[0057] At least some of the functions of the control unit 60 may be implemented by hardware including circuitry such as a large-scale integration (LSI), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU). Alternatively, at least some of the functions of the motor control device 30 may be implemented by a combination of software and hardware. Furthermore, these pieces of hardware may be integrated into one piece, or may be separated into multiple pieces.

[0058] Although the embodiments of the present invention have been described above with reference to the drawings, the motor control device and motor control method are not limited to the above-described embodiments, and various modifications, substitutions, combinations, and / or design changes can be made without departing from the spirit and scope of the present invention.

[0059] Furthermore, the effects of the above-described embodiments of the present invention are described as examples. Therefore, the embodiments of the present invention may also achieve other effects that a person skilled in the art can recognize from the description of the above-described embodiments in addition to the above-described effects. [Explanation of symbols]

[0060] 1...motor device, 11...case frame, 2...motor, 21...stator, 22...rotor, 23...hall sensor, 24...rotor shaft, 26...permanent magnet, 3...gearbox, 31...worm, 32...helical gear, 33...output shaft, 50...inverter, 60...control unit, 61...gate control voltage output unit, 62...PWM control unit, 63...advance angle control unit, 64...storage unit, 100...advance angle setting device, 110...storage unit, 120...rotation speed difference measurement unit, 131...first advance angle correction information acquisition unit, 132...second advance angle correction information acquisition unit, 141...first advance angle correction amount calculation unit, 142...second advance angle correction amount calculation unit, 150...advance angle correction information writing unit

Claims

1. A method for correcting an advance angle of a motor device, comprising: The motor device a stator having coils for multiple phases; a rotor that rotates forward and backward by a magnetic field generated by the coils of the plurality of phases; a position detection sensor that detects the rotational position of the rotor; a storage unit that stores advance angle correction information indicating the degree of advance angle from the rotational position detected by the position detection sensor; a control unit that controls the current applied to the coils of the plurality of phases for each phase; an advance angle control unit provided in the control unit, which performs advance angle control to change timings of energizing the coils of the multiple phases based on an output signal of the position detection sensor and the advance angle correction information stored in the storage unit; a rotation shaft provided on the rotor; a reducer including a first reduction section provided on the rotating shaft and having teeth extending in a direction intersecting the axial direction of the rotating shaft, and a second reduction section meshing with the first reduction section to reduce the rotation of the rotating shaft and transmit the reduced rotation to an output shaft of the motor device; Equipped with The advance angle correction method includes: acquires the advance angle correction information indicating a correspondence relationship between a difference in rotation speed between the rotation speed during forward rotation of the rotor and the rotation speed during reverse rotation of the rotor, the correspondence relationship being calculated in advance based on a correspondence relationship between the output shaft torque during forward rotation of the rotor and the transmission efficiency of the reducer, and a correspondence relationship between the output shaft torque during reverse rotation of the rotor and the transmission efficiency of the reducer; calculating the advance angle correction amount as a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount for each rotation direction of the rotor based on the acquired advance angle correction information so that a difference in rotation speed of the output shaft due to the difference in transmission efficiency is reduced; the calculated forward rotation advance angle correction amount and the calculated reverse rotation advance angle correction amount are stored in the storage unit as advance angle correction information for each of the motor devices. Advance angle correction method.

2. 2. The advance angle correction method according to claim 1, When calculating the advance angle correction amount, an intermediate value between the rotation speed of the output shaft during forward rotation and the rotation speed of the output shaft during reverse rotation is set as a target value for the rotation speed of the output shaft after advance angle correction, thereby calculating the advance angle correction amount so that the rotation speed difference of the output shaft becomes smaller. Advance angle correction method.

3. A lead angle setting device that writes lead angle correction information to a motor device, The motor device a stator having coils for multiple phases; a rotor that rotates forward and backward by a magnetic field generated by the coils of the plurality of phases; a position detection sensor that detects the rotational position of the rotor; a storage unit that stores advance angle correction information indicating the degree of advance angle from the rotational position detected by the position detection sensor; a control unit that controls the current applied to the coils of the plurality of phases for each phase; an advance angle control unit provided in the control unit, which performs advance angle control to change timings of energizing the coils of the multiple phases based on an output signal of the position detection sensor and the advance angle correction information stored in the storage unit; a rotation shaft provided on the rotor; a reducer including a first reduction section provided on the rotating shaft and having teeth extending in a direction intersecting the axial direction of the rotating shaft, and a second reduction section meshing with the first reduction section to reduce the rotation of the rotating shaft and transmit the reduced rotation to an output shaft of the motor device; Equipped with The advance angle setting device acquires advance angle correction information indicating a correspondence relationship between a difference in rotation speed between the rotation speed during forward rotation of the rotor and the rotation speed during reverse rotation of the rotor, the correspondence relationship being calculated in advance based on a correspondence relationship between the output shaft torque during forward rotation of the rotor and the transmission efficiency of the reducer, and a correspondence relationship between the output shaft torque during reverse rotation of the rotor and the transmission efficiency of the reducer; calculating the advance angle correction amount as a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount for each rotation direction of the rotor based on the acquired advance angle correction information so that a difference in rotation speed of the output shaft due to the difference in transmission efficiency is reduced; storing the calculated forward rotation advance angle correction amount and the calculated reverse rotation advance angle correction amount in the storage unit as advance angle correction information for each of the motor devices; Advance angle setting device.

4. 4. The advance angle setting device according to claim 3, When calculating the advance angle correction amount, an intermediate value between the rotation speed of the output shaft during forward rotation and the rotation speed of the output shaft during reverse rotation is set as a target value for the rotation speed of the output shaft after advance angle correction, thereby calculating the advance angle correction amount so that the rotation speed difference of the output shaft becomes smaller. Advance angle setting device.

5. A motor device, a stator having coils for multiple phases; a rotor that rotates forward and backward by a magnetic field generated by the coils of the plurality of phases; a position detection sensor that detects the rotational position of the rotor; a storage unit that stores advance angle correction information indicating the degree of advance angle from the rotational position detected by the position detection sensor; a control unit that controls the current applied to the coils of the plurality of phases for each phase; an advance angle control unit provided in the control unit, which performs advance angle control to change timings of energizing the coils of the multiple phases based on an output signal of the position detection sensor and the advance angle correction information stored in the storage unit; a rotation shaft provided on the rotor; a reducer including a first reduction section provided on the rotating shaft and having teeth extending in a direction intersecting the axial direction of the rotating shaft, and a second reduction section meshing with the first reduction section to reduce the rotation of the rotating shaft and transmit the reduced rotation to an output shaft of the motor device; Equipped with The storage unit includes: a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount calculated for each rotation direction of the rotor as the advance angle correction amount so as to reduce the rotation speed difference of the output shaft due to the difference in transmission efficiency, based on advance angle correction information indicating a correspondence relationship between an advance angle correction amount and a rotation speed difference between the rotation speed during forward rotation of the rotor and the rotation speed during reverse rotation of the rotor, the correspondence relationship being calculated in advance based on a correspondence relationship between an output shaft torque during forward rotation of the rotor and a transmission efficiency in the reducer, and a correspondence relationship between an output shaft torque during reverse rotation of the rotor and a transmission efficiency in the reducer, The advance angle control unit When the rotor is rotated forward, advance angle control is performed based on the forward rotation advance angle correction amount, and when the rotor is rotated backward, advance angle control is performed based on the reverse rotation advance angle correction amount. Motor device.

6. 6. The motor device according to claim 5, The advance angle correction amount is calculated so that the difference in rotation speed of the output shaft is reduced by setting the intermediate value between the rotation speed of the output shaft during forward rotation and the rotation speed of the output shaft during reverse rotation as the target value for the rotation speed of the output shaft after advance angle correction. Motor device.

7. The motor device according to claim 5 or 6, a driven part that is driven in the front-rear direction of the vehicle by the output shaft of the motor device; Equipped with When the rotation direction of the rotor is reversed when the driven direction of the driven part and the traveling direction of the vehicle are opposite to each other, the advance angle amount of the forward rotation is larger than the advance angle amount of the reverse rotation. In-vehicle device.

8. The in-vehicle device according to claim 7, The control unit When the vehicle speed is equal to or greater than a threshold value, the advance angle correction amount is added. In-vehicle device.

9. 9. The in-vehicle device according to claim 7 or 8, The control unit controlling the rotational force of the rotor by pulse width modulating the current applied to the coils of the plurality of phases; When the difference between the duty ratio of the applied current during forward rotation and the duty ratio of the applied current during reverse rotation is equal to or greater than a predetermined threshold value, the advance angle is increased. In-vehicle device.

10. 9. The in-vehicle device according to claim 7 or 8, The control unit controlling the rotational force of the rotor by pulse width modulating the current applied to the coils of the plurality of phases; When the duty ratio of the applied current is equal to or greater than a predetermined threshold, the advance angle is increased. In-vehicle device.

11. The in-vehicle device according to any one of claims 7 to 10, The driven part is a wiper blade that wipes the window of a vehicle. In-vehicle device.

12. The in-vehicle device according to any one of claims 7 to 10, The driven part is an electric window that slides open and closed in the direction of travel of the vehicle. In-vehicle device.

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