Motor Control Device

Abstract

A map storage unit (225) stores a voltage map which shows learning values of voltage that is applied to a motor and that is necessary to cause an opening / closing body to move at a constant target speed, the learning values being associated with the position of the opening / closing body. A signal generation unit (25: S210-S320) generates a driving signal for applying an application voltage to the motor so that the opening / closing body can operate in a specified speed pattern, the application voltage being calculated using the position and the movement speed of the opening / closing body, which are detected by a state detection unit (25: S410-S440), and the voltage map. In the voltage map, a default value for the application voltage is also set for a position beyond the movable range of the opening / closing body.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This international application claims priority based on Japanese Patent Application No. 2021-139329 filed with the Japan Patent Office on August 27, 2021, and the entire contents of Japanese Patent Application No. 2021-139329 are incorporated by reference into this international application. [Technical field]

[0002] The present disclosure relates to a technique for controlling the drive of a motor. [Background technology]

[0003] The following Patent Document 1 describes that in a power window system, slow start control is performed when operation begins, slow stop control is performed when operation ends, and constant speed control is performed between the slow start control and the slow stop control.

[0004] In the slow start control, the duty of the drive signal that drives the motor is increased at a constant rate, thereby increasing the voltage applied to the motor and, in turn, the moving speed of the window glass (hereinafter, the opening / closing body) driven by the motor to a target speed at a constant rate. Similarly, in the slow stop control, the duty of the drive signal that drives the motor is decreased at a constant rate, thereby decreasing the voltage applied to the motor and, in turn, the moving speed of the opening / closing body driven by the motor at a constant rate.

[0005] In the constant speed control, the control value (i.e., the voltage applied to the motor) required to keep the moving speed of the opening / closing body constant is controlled using a voltage map that is learned in correspondence with the position of the opening / closing body. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2019-15141 A Summary of the Invention

[0007] However, as a result of detailed investigation by the inventors, it was found that there is a problem that if a deviation occurs for some reason in the correspondence between the position of the opening / closing body and the position of the voltage map, control may become impossible.

[0008] That is, the position of the opening / closing body is represented by the count value of the pulse signal output from the Hall sensor or the like each time the drive motor rotates a predetermined angle. Also, the operating range of the opening / closing body, i.e., the count value from the fully closed position to the fully open position, differs depending on the vehicle model, etc., and also differs depending on the assembly state of the opening / closing body, etc. In order to accommodate such differences in the operating range, a voltage map is prepared that is wider than the actual operating range of the opening / closing body, and a learning value is stored in an area that corresponds to the operating range of the opening / closing body.

[0009] Therefore, if there is a mismatch between the count value and the operating range of the opening and closing body, when the count value is used to refer to the voltage map, it may refer to an area where no learned value exists, resulting in inoperability. Possible causes of such a mismatch include noise causing values ​​to be corrupted in the RAM (i.e., the storage area for the count value), as well as replacement of the ECU or regulator that drives the motor.

[0010] One aspect of the present disclosure provides a technique for realizing driving of an opening / closing body even when a measured position of the opening / closing body differs from an actual position of the opening / closing body.

[0011] One aspect of the present disclosure is a motor control device including a state detection unit, a map storage unit, and a signal generation unit. The state detection unit is configured to detect the position and moving speed of the opening / closing body based on a detection signal from a sensor that detects the rotation of a motor that automatically opens and closes the opening / closing body provided in a vehicle. The map storage unit is configured to store a voltage map that indicates a learned value of an applied voltage of the motor required to operate the opening / closing body at a certain target speed in association with the position of the opening / closing body. The signal generation unit generates a drive signal for applying to the motor an applied voltage calculated using the position and moving speed of the opening / closing body detected by the state detection unit and the voltage map so that the opening / closing body operates in a specified speed pattern. In the voltage map, a default value of the applied voltage is set even at a position beyond the movable range of the opening / closing body.

[0012] With this configuration, even if a discrepancy occurs between the position of the opening / closing body detected by the state detection unit and the actual position of the opening / closing body, and an area in the voltage map in which no learning value is stored is referenced, the opening / closing body can be operated, and the sense of discomfort felt by the user can be reduced. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram showing a configuration of a power window system according to an embodiment; [Diagram 2] 13 is a flowchart of a map setting process. [Diagram 3] FIG. 4 is an explanatory diagram of a learning voltage map and a set voltage map. [Figure 4] 4 is a flowchart of a driving process. [Diagram 5] FIG. 4 is an explanatory diagram showing an overview of 100% duty control and control using a voltage map. [Figure 6] FIG. 11 is an explanatory diagram of a voltage correction value used in control of a constant speed section. [Figure 7] 13 is a flowchart of a learning process. [Figure 8] 5 is an explanatory diagram showing a method of calculating a learned value of an applied voltage to be stored in a learning voltage map; FIG. [Figure 9] 11A and 11B are explanatory diagrams showing operations when there is no positional deviation and when there is a positional deviation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0015] [1. Configuration] The power window system 1 shown in FIG. 1 includes a door ECU 2, an other ECU 3, a motor 4, a rotation detection sensor 5, an operation unit 6, and a battery 7.

[0016] The motor 4 is attached to each door in order to automatically open and close the window glass of the vehicle door. Fig. 1 shows the configuration for one door.

[0017] The rotation detection sensor 5 detects the rotation of the motor 4. The rotation detection sensor 5 is configured using, for example, a magnet that rotates together with the rotor of the motor 4 and a Hall IC for magnetic detection, and generates a pulse signal for each predetermined rotation angle as a detection signal synchronized with the rotation of the rotor.

[0018] The operating unit 6 is provided at a location where it can be operated by a vehicle occupant. The operating unit 6 includes an UP switch, a DN switch, and an AUTO switch. The UP switch is a switch for operating the window glass toward the fully closed position while it is operated to the on state. The DN switch is a switch for operating the window glass toward the fully open position while it is operated to the on state. The AUTO switch is a switch for continuing to operate the window glass until it reaches the fully closed or fully open position when it is operated to the on state, even after it returns to the off state.

[0019] The battery 7 supplies power to each part of the vehicle at a DC battery voltage VB (for example, 12 V).

[0020] The other ECU 3 operates by receiving power supply from a battery 7, and has at least a function of acquiring the operation state of each switch constituting the operation unit 6 and notifying the door ECU 2 of the operation state via an in-vehicle communication network.

[0021] The door ECU 2 operates by receiving power from a battery 7, and opens and closes the window glass by driving the motor 4 in accordance with the signals from the rotation detection sensor 5 and the operation states of each switch that constitutes the operation unit 6 obtained via the other ECU 3.

[0022] [1-2.Other ECUs] The other ECU 3 includes a power supply circuit 31, a communication circuit 32, an input circuit 33, and a control unit 35.

[0023] The power supply circuit 31 steps down the battery voltage VB supplied from the battery 7 to a control voltage VC (for example, 5 V), and supplies the power to the communication circuit 32, the control unit 35, and the like that constitute the other ECU 3.

[0024] The communication circuit 32 realizes communication with other ECUs including the door ECU 2 via an in-vehicle communication network (for example, CAN). CAN is a registered trademark.

[0025] The input circuit 33 shapes the output of each switch constituting the operation unit 6 into a binary signal that represents the operational state of each switch by on / off, and inputs the binary signal to the control unit 35 .

[0026] The control unit 35 includes a microcomputer having a CPU and a semiconductor memory (hereinafter, referred to as memory) such as a ROM or a RAM. The control unit 35 at least performs an information collection process of transmitting the operation states of the switches constituting the operation unit 6 acquired via the input circuit 33 to the door ECU 2. At least a program that realizes the information collection process is stored in the memory.

[0027] In this embodiment, the other ECU 3 acquires the operation state of each switch constituting the operation unit 6 and transmits it to the door ECU 2, but the door ECU 2 may also be configured to acquire it directly without going through the other ECU.

[0028] [1-3. Door ECU] The door ECU 2 includes a power supply circuit 21, a communication circuit 22, a motor drive circuit 23, an amplifier 24, and a control unit 25. The power supply circuit 21 and the communication circuit 22 are similar to the power supply circuit 31 and the communication circuit 32 described in the other ECU 3, and therefore a description thereof will be omitted. However, the power supply circuit 31 also supplies power to the amplifier 24 at the control voltage VC.

[0029] The motor drive circuit 23 is, for example, configured with an H-bridge circuit, and applies a battery voltage VB of positive or reverse polarity to the motor 4 in accordance with a PWM signal, which is a drive signal supplied from the control unit 25. In other words, the rotation direction of the motor 4, and thus the movement direction of the window glass (i.e., the opening direction or closing direction), are controlled by the polarity of the battery voltage VB applied to the motor 4. In addition, the rotation speed of the motor 4, and thus the movement speed of the window glass, are controlled by the voltage applied to the motor 4, which is determined by the duty of the PWM signal. The voltage applied to the motor 4 is VB when driven by a PWM signal with a duty of 100%, and is VB / 2 when driven by a PWM signal with a duty of 50%.

[0030] The amplifier 24 amplifies and shapes the pulse signal output from the rotation detection sensor 5 and inputs it to the control unit 25 .

[0031] Like the control unit 35, the control unit 25 includes a microcomputer having a CPU 251 and a semiconductor memory such as a ROM or a RAM (hereinafter, a memory) 252. The control unit 25 executes at least a map setting process, a drive process, and a learning process.

[0032] The memory 252 stores programs and the like for implementing functions assigned to the control unit 25. The RAM constituting the memory 252 has a non-volatile area in which the stored contents are retained even when the power is turned off, and a volatile area in which the stored contents are retained only while the power is on. The non-volatile area of ​​the RAM stores a learning voltage map. The volatile area of ​​the RAM has an area (hereinafter, a map setting area) for reading out the learning voltage map from the non-volatile area and temporarily storing it.

[0033] 3, the learned voltage map is table information that stores the voltage applied to the motor 4 required to rotate the motor 4 at a target rotation speed in association with the open / closed position of the window glass driven by the motor 4 (hereinafter, window position). The window position is represented by a count value c obtained by counting the pulse signals input from the rotation detection sensor 5. The count value c representing the window position may be set so that the value increases from the fully closed position of the window glass toward the fully open position.

[0034] The map setting area is set to a range larger than the range of window positions shown in the learning voltage map (i.e., the movable range of the window glass). For example, if the learning voltage map stores applied voltages for approximately 190 window positions, the map setting area is set to a range large enough to store applied voltages for 256 window positions.

[0035] The map setting area is used as a ring buffer, and the last address and the first address are treated as if they are consecutive. The learning voltage map is set with any point in the map setting area as the first (i.e., the fully closed position). This is to flexibly accommodate the movable range of the window glass, which differs depending on the vehicle model, the individual window glass, and the installation state of the window glass in the door.

[0036] [2. Processing] [2-1. Map setting process] The map setting process executed by the control unit 25 will be described with reference to the flowchart of FIG.

[0037] The map setting process is executed as part of the initialization process executed when the control unit 25 is started up.

[0038] In S110, the control unit 25 sets default values ​​throughout the entire map setting area prepared in the volatile area of ​​the RAM constituting the memory 252, as shown in the third row of FIG.

[0039] The default value may be, for example, an average value of the applied voltage (i.e., the learned value) shown in a learning voltage map stored in the memory 252. Also, the default value may be an applied voltage (i.e., a design value) required to achieve a target rotation speed logically calculated from the characteristics of the motor 4 and the motor drive circuit 23.

[0040] In the next step S120, the control unit 25 reads out the learned voltage map stored in the memory 252, and overwrites the map setting area in which the default value is set, as shown in the fourth row of FIG.

[0041] In the next S130, the control unit 25 determines whether or not the reading of the learned voltage map has been successful. If the reading has been successful, the process ends, and if the reading has not been successful, the process proceeds to S140.

[0042] A failure in reading the learned voltage map may be determined when the reading simply fails, or when the data written in the map setting area does not match the data read from the memory 252. In this case, for example, data added to prevent tampering such as CRC calculation and authentication does not match. Possible causes of data mismatch include, for example, when data written by another software component is read, bit garbling occurs due to insufficient voltage when writing, or noise when reading.

[0043] In S140, the control unit 25 sets the default values ​​over the entire map setting area again, similar to S110, and ends the process. The reason for resetting the default values ​​is that if it is determined in S130 that the reading of the learning voltage map has failed, the data read from the map setting area cannot be trusted.

[0044] The learning voltage map is set so that the learning value of the applied voltage at the fully closed position in the learning voltage map is written to a preset count value Cc. The count value Cc associated with the fully closed position is arbitrary, and may be, for example, Cc=0.

[0045] By the map setting process, all map setting areas other than the learning area, which is an area in which the learning voltage map has values, are filled with default values, regardless of the width of the learning area. Hereinafter, the learning voltage map including the default values ​​set in the map setting area by the map setting process is referred to as the set voltage map.

[0046] [2-2. Drive processing] The driving process executed by the control unit 25 will be described with reference to the flowchart of FIG.

[0047] The drive process is repeatedly executed after the map setting process is executed.

[0048] In the drive process, in order to realize control according to a specified speed pattern, different controls are executed in each of the slow start section, the constant speed section, and the slow stop section. In the slow start section, control is executed to gradually increase the moving speed of the window glass until it reaches a target speed. In the constant speed section, control is executed to maintain the moving speed of the window glass at a constant target speed in accordance with a set voltage map set in a map setting area. In the slow stop section, control is executed to gradually decrease the moving speed of the window glass from the target speed until it reaches a stop position.

[0049] In the following description, as shown in FIG. 5, the count value indicating the start position of the slow start section is C0. The count value indicating the end position of the slow start section (i.e., the start position of the constant speed section) is C1. The count value indicating the start position of the slow stop section (i.e., the end position of the constant speed section) is C2. The count value indicating the end position of the slow stop section is C3. The section width WS of the slow start section and the section width WE of the slow stop section are set in advance. CO and C3 are determined by the window position of the window glass at the start of driving and its moving direction, and C1 and C2 are determined by C1=C0+WS and C2=C3-WE. FIG. 5 shows the case where the window glass moves from a fully closed state to a fully open state, or from a fully open state to a fully closed state.

[0050] 4, when the drive process is started, first in S210, the control unit 25 determines whether or not there is an operation request from the operation state of each switch constituting the operation unit 6 acquired from the other ECU 3 via the communication circuit 22. If the control unit 25 determines that there is an operation request, it shifts the process to S220, and if it determines that there is no operation request, it ends the process.

[0051] In S220, control unit 25 determines whether learning of the voltage map is complete, and if learning is complete, proceeds to S230, and if learning is not complete, proceeds to S330. The determination of whether learning is complete may be, for example, by determining that the learned voltage map has been generated if a value has been written in a storage area of ​​the learned voltage map prepared in memory 252.

[0052] In S230, the control unit 25 calculates a start change amount ΔVrt that indicates a rate at which the movement speed of the window glass is increased in the slow start section. Specifically, the control unit 25 acquires a learned value V(C1) of the applied voltage at the end position C1 of the slow start section from the set voltage map set by the map setting process. Then, the control unit 25 calculates the start change amount ΔVrt using formula (1) based on the acquired learned value V(C1), an initial voltage VS that is an applied voltage corresponding to a preset initial speed, and the section length WS (=C1-C0) of the slow start section.

[0053] ΔVrt=(V(C1)-VS) / WS (1) In the next step S240, the control unit 25 calculates the applied voltage Vap(c) corresponding to the count value c indicating the current window position, using equation (2), in accordance with the initial voltage VS and the start gradient ΔVrt. Furthermore, the control unit 25 calculates the duty ratio DT corresponding to the calculated applied voltage Vap(c) in accordance with equation (3), and drives the motor 4 by supplying a PWM signal having the calculated duty ratio DT to the motor 4. This drive controls the movement speed of the window glass to increase at the rate of the start change amount ΔVrt.

[0054] Vap(c)=VS+ΔVrt×(c-C0) (2) DT = Vap(c) / VB (3) However, when control starts, it is driven for a short period of time with a duty of 100% (i.e., DT = 1). The reason for driving in this manner is that the static friction of the window glass when it is stationary is greater than the dynamic friction when it is moving, and so a greater torque is required when the window glass starts to move than when it is moving.

[0055] In the next S250, the control unit 25 judges whether the end position C1 of the slow start section has been reached or not, and if so, the process proceeds to S260, and if not, the process returns to S240. Specifically, the judgment of whether the end position C1 of the slow start section has been reached or not is made by judging whether the count value c representing the window position has reached the value C1 representing the end position of the slow start section or not.

[0056] In S260, the control unit 25 calculates the voltage correction value ΔVH in the constant speed section. Specifically, the control unit 25 calculates the rotation speed ω1 (i.e., the moving speed of the window glass) at the end position of the slow start section from the interval of the pulse signal input from the rotation detection sensor 5 via the amplifier 24, and calculates the voltage correction value ΔVH using the formula (4). Ω is the target rotation speed Ω of the motor 4 corresponding to the target speed of the window glass in the constant speed section. KV is the KV value. The KV value is a characteristic of the motor 4, and is the number of rotations [rpm / V] of the motor 4 per 1V of applied voltage. That is, as shown in FIG. 6, the difference between the target rotation speed Ω and the rotation speed ω1 measured at the end position of the slow start section (i.e., the start position of the constant speed section) is converted into a voltage value using the KV value, and the voltage correction value ΔVH is the voltage correction value.

[0057] ΔVH=(Ω-ω1) / KV (4) In the next step S270, the control unit 25 obtains a learned value V(c) of the applied voltage at the window position c from the set voltage map, and calculates the applied voltage Vap(c) by adding the voltage correction value ΔVH to the obtained learned value V(c) as shown in equation (5). Furthermore, the control unit 25 calculates a duty ratio DT corresponding to the calculated applied voltage Vap(c) using equation (3), and drives the motor 4 by supplying a PWM signal having the calculated duty ratio DT to the motor 4. This drive controls the moving speed of the window glass to a constant target speed.

[0058] Vap(c)=V(c)+ΔVH (5) The voltage correction value ΔVH is successively updated according to the rotation speed ω that reflects the drive at the newly calculated duty ratio DT by a value calculated using an equation in which ω1 is replaced by ω in equation (4).

[0059] In the next S280, the control unit 25 judges whether or not the start position of the slow stop section has been reached, and if so, the process proceeds to S290, and if not, the process returns to S270. Specifically, the judgment of whether or not the start position of the slow stop section has been reached is made by judging whether or not the count value c representing the window position is equal to the value C2 representing the end position of the slow stop section.

[0060] In S290, the control unit 25 calculates a stop change amount ΔVop that indicates the rate at which the speed is reduced in the slow stop section. Specifically, the control unit 25 calculates it using equation (6) based on the stop start voltage Vap(C2), the applied voltage VE corresponding to a preset end speed, and the section length WE (=C3-C2) of the slow stop section. Note that the stop start voltage Vap(C2) is the applied voltage at the start position C2 of the slow stop section calculated using equation (5).

[0061] ΔVop=(VE-Vap(C2)) / WE (6) In the next step S300, the control unit 25 calculates the applied voltage Vap(c) corresponding to the count value c indicating the window position, using equation (7), in accordance with the stop start voltage Vap(C2) and the stop change amount ΔVop. Furthermore, the control unit 25 calculates the duty ratio DT corresponding to the calculated applied voltage Vap(c) using equation (3), and drives the motor 4 by supplying a PWM signal having the calculated duty ratio DT to the motor 4. This drive controls the movement speed of the window glass to decrease at the rate of the stop change amount ΔVrt.

[0062] Vap(c)=Vap(C2)+ΔVop×(c-C2) (7) In the next S310, the control unit 25 determines whether or not the power supply stop position, that is, the end position C3 of the slow stop section, has been reached. If it has been reached, the process proceeds to S320. If it has not been reached, the process returns to S300.

[0063] In S320, the control unit 25 stops the power supply to the motor 4 and ends the process.

[0064] In S330, the control unit 25 executes control to drive the motor 4 with a PWM signal having a duty of 100% (that is, DT=1) for the entire period.

[0065] In the next S340, the control unit 25 determines whether the power supply stop position, that is, the end position C3 of the slow stop section, has been reached, and if so, the process proceeds to S320, and if not, the process returns to S330.

[0066] In other words, when learning of the learning voltage map is not completed, control is executed to drive all sections with a PWM signal having a duty ratio of 100%, as shown in the upper part of FIG.

[0067] When learning of the learned voltage map has been completed, different controls are executed for each section, as shown in the lower part of Figure 5. In particular, in the constant speed section, control is executed using a set voltage map that is set according to the learned voltage map.

[0068] [2-3. Learning process] The learning process that the control unit 25 executes in parallel with the drive process will be described with reference to the flowchart of FIG.

[0069] In the learning process, when 100% duty control is being executed in the drive process, learning of the learning voltage map is performed, and when control using the voltage map is being executed, values ​​of the set learning map are updated successively.

[0070] The learning process is executed every time a pulse signal is input.

[0071] When the learning process is started, in S410, the control unit 25 determines whether or not the window glass is being opened. If the control unit 25 determines that the window glass is being opened, the process proceeds to S420, and if the control unit 25 determines that the window glass is being closed, not opened, the process proceeds to S430.

[0072] In S420, the control unit 25 counts up the count value c indicating the window position, and advances the process to S440.

[0073] In S430, the control unit 25 counts down the count value c indicating the window position, and advances the process to S440.

[0074] In S440, the control unit 25 calculates the rotation speed ω(c) of the motor 4 from the time interval from when the learning process was last started to when it is started this time, that is, the interval between the pulse signals.

[0075] In the next step S450, the control unit 25 determines whether or not the 100% duty control is being executed, i.e., whether or not the learned voltage map is being learned. If the control unit 25 determines that the learned voltage map is being learned, the process proceeds to S460, and if the control unit 25 determines that the learned voltage map is not being learned, the process proceeds to S480.

[0076] In S460, the control unit 25 uses the rotation speed ω(c) calculated in S440, the target rotation speed Ω, and the KV value to calculate the learned value V(c) of the applied voltage at the window position c according to equation (8).

[0077] V(c)=VB-(ω(c)-Ω) / KV (8) That is, the learned value V(c) of the applied voltage is calculated for each window position c, and as shown in FIG. 8, is calculated by subtracting from the battery voltage VB a correction amount obtained by converting the difference between the rotation speed measured when the battery voltage VB is applied to the motor 4 and the target rotation speed Ω into a voltage using a KV value.

[0078] In the next step S470, the control unit 25 writes the learned value V(c) calculated in S460 to an area for storing a learned voltage map provided in a non-volatile area of ​​the RAM constituting the memory 252, and ends the process.

[0079] In S480, the control section 25 determines whether or not constant speed control is being performed in the constant speed section, and if constant speed control is being performed, the process proceeds to S490, and if constant speed control is not being performed, the process ends.

[0080] In S490, the control unit 25 calculates a new applied voltage V(c) at the window position c in accordance with equation (9) based on the applied voltage Vap(c) calculated in the previous S270, the rotation speed ω(c) calculated in S440, the target rotation speed Ω, and the KV value.

[0081] V(c)=Vap(c)-(ω(c)-Ω) / KV (9) In the next S500, the control unit 25 updates the set voltage map by rewriting the set value V(c) at the window position c in the set voltage map with the applied voltage V(c) calculated in S490, and then ends the process.

[0082] [3. Operation] Consider a case where a positional deviation occurs between the count value c indicating the window position and the actual position, as shown in Fig. 9. When a positional deviation occurs, unless a default value is set, the learned value V(C1) at the end position of the slow start section obtained from the set voltage map will be 0, as indicated by symbol A in Fig. 9. For this reason, as indicated by the solid line in the fourth graph in Fig. 9, in the slow start section, the start change amount ΔVrt is set so that the speed moves from the initial speed Vs toward zero, and the movement stops.

[0083] When a positional deviation occurs, if a default value is set, the learned value V(C1) at the end position of the slow start section obtained from the set voltage map becomes the default value, as indicated by the symbol B in Fig. 9. Therefore, as indicated by the dotted line in the fourth graph in Fig. 9, the same control as when there is no positional deviation is performed.

[0084] In addition, the learning value V(c) in the constant speed section in the set voltage map is successively updated by the learning process. Therefore, even if the set voltage map has inappropriate characteristics due to a position shift, the characteristics in the constant speed section in the set voltage map are updated to appropriate characteristics every time the window map is activated.

[0085] [4. Response] In this embodiment, the control unit 25 of the door ECU 2 corresponds to the motor control device. The memory 252 corresponds to the map storage unit. The set voltage map corresponds to the voltage map. S410 to S440 correspond to the state detection unit. S210 to S320 correspond to the signal generation unit.

[0086] [5. Effects] According to the first embodiment described above in detail, the following effects are achieved.

[0087] (5a) The map setting region in which the set voltage map is stored has a wider range than the learning voltage map, and default values ​​are set outside the learning region in which the values ​​shown in the learning voltage map are set. Therefore, even if the count value c indicating the window position deviates from the actual window position and an area outside the learning region of the set voltage map is referenced in the drive process, the window glass can be operated without any problems.

[0088] (5b) Since a value close to the learned value of the applied voltage used for control in the constant speed section is used as the default value, it is possible to reduce the sense of discomfort felt by the user when the default value is referenced in the drive process.

[0089] (5c) The learned value in the constant speed section in the set voltage map is updated successively while control using the voltage map is being executed, so that even if a position deviation occurs, it is automatically corrected.

[0090] 6. Other embodiments Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and can be implemented in various modified forms.

[0091] (6a) In the present disclosure, the amounts of speed change ΔVrt, ΔVop in the slow start section and the slow stop section are calculated using values ​​in a set voltage map. However, a preset fixed value may be used.

[0092] (6b) In the present disclosure, the same voltage map is used to control the opening and closing operations of the window glass. However, different voltage maps may be used for the opening and closing operations.

[0093] (6c) In the present disclosure, the opening / closing body driven by the motor 4 is described as a window glass of a vehicle. However, the opening / closing body is not limited to the window glass and may be any object that is displaced by the driving of the motor 4.

[0094] (6d) In the present disclosure, the control using the voltage map in the constant speed section is applied to both the opening and closing of the window glass, but it may be applied to only either the opening or closing of the window glass. In this case, the side to which the control using the voltage map is not applied may use PI control that feeds back the difference between the measured speed and the target speed.

[0095] (6e) In the present disclosure, the applied voltages are stored as they are in the learning voltage map and the set voltage map (hereinafter, both voltage maps), and both voltage maps are used for both the opening operation and the closing operation. However, when both voltage maps are used only for either the opening operation or the closing operation, both voltage maps may store differential values ​​with respect to the applied voltages at adjacent window positions. In this case, the size of data stored in both voltage maps can be reduced.

[0096] (6f) The count value c representing the window position may be reset to match the count value representing the fully closed position in the set voltage map every time the window glass stops in the fully closed position.

[0097] (6g) The control unit 25 and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit 25 and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit 25 and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer. The method for realizing the functions of each unit included in the control unit 25 does not necessarily need to include software, and all of the functions may be realized using one or more hardware.

[0098] (6h) Multiple functions possessed by one component in the above embodiments may be realized by multiple components, or one function possessed by one component may be realized by multiple components. Also, multiple functions possessed by multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Also, part of the configuration of the above embodiments may be omitted. Also, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments.

[0099] (6i) In addition to the motor control device realized by the control unit 25 of the door ECU 2 described above, the present disclosure can also be realized in various forms, such as a system including the motor control device as a component, a program for causing a computer to function as the motor control device, a non-transient physical recording medium such as a semiconductor memory on which the program is recorded, and a motor control method.

Claims

1. A state detection unit (25: S410 to S440) configured to detect a position and a moving speed of an opening / closing body provided in a vehicle based on a detection signal from a sensor that detects the rotation of a motor that automatically opens and closes the opening / closing body; a map storage unit (252) configured to store a voltage map indicating a learned value of an applied voltage to the motor required to operate the opening / closing body at a constant target speed in correspondence with a position of the opening / closing body; a signal generating unit (25: S210 to S320) that generates a drive signal for applying to the motor the position and moving speed of the opening / closing body detected by the state detecting unit and the applied voltage calculated using the voltage map so that the opening / closing body operates at a specified speed pattern; Equipped with In the voltage map, the default value of the applied voltage is set even at a position beyond the movable range at both ends of the movable range of the opening / closing body. Motor control device.

2. 2. The motor control device according to claim 1, The default value is a design value of the applied voltage that is logically calculated from the characteristics of the motor and a motor drive circuit that drives the motor in accordance with the drive signal. Motor control device.

3. 2. The motor control device according to claim 1, The default value is the average value of the learned values ​​of the applied voltages shown in the voltage map. Motor control device.

4. A motor control device according to any one of claims 1 to 3, the speed pattern includes a slow start section in which the moving speed of the opening / closing body is increased at a constant rate, a constant speed section in which the moving speed of the opening / closing body is maintained at the target speed, and a slow stop section in which the moving speed of the opening / closing body is decreased at a constant rate, The signal generating unit is configured to use the voltage map at least in the constant speed section. Motor control device.

5. 5. The motor control device according to claim 4, The signal generating unit is configured to set a rate at which the moving speed of the opening / closing body is changed in the slow start section so that the applied voltage becomes a learned value obtained from the voltage map at an end position of the slow start section obtained from the voltage map. Motor control device.

6. 6. The motor control device according to claim 5, The signal generating unit is configured to calculate a correction value of the applied voltage from a difference between the moving speed of the opening / closing body detected by the state detecting unit and the target speed in the constant speed section, and to generate the drive signal in the constant speed section according to the applied voltage obtained by correcting a learning value acquired from the voltage map with the correction value. Motor control device.

7. A motor control device according to any one of claims 1 to 3, The sensor outputs a pulse signal in synchronization with the rotation of the motor, The state detection unit is configured to calculate a position of the opening / closing body by counting the pulse signals, and to calculate a moving speed of the opening / closing body from an interval between the pulse signals. Motor control device.

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