Motor control device

Abstract

To provide a motor control device that can perform wireless communication while appropriately suppressing noise generated in a motor.SOLUTION: A motor control device according to one aspect of an embodiment includes a controller that controls a motor. The controller acquires wireless communication information including information indicating a request state of wireless communication and drive state information including information about a drive state of the motor, predicts a scheduled communication period, which is a period in which wireless communication is expected to be performed, based on the wireless communication information, predicts a predicted motor operating state, which is an operating state of the motor during the scheduled communication period, based on the drive state information, and performs noise suppression control on the motor to suppress generation of noise by the motor during the wireless communication period, according to the predicted motor operating state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a motor control device. [Background technology]

[0002] BACKGROUND ART Various devices have been proposed in the past that control, for example, a motor mounted on a vehicle and perform wireless communication with other devices (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-336477 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the motor described above may generate noise that affects wireless communication when it is driven. Therefore, in conventional techniques, the motor is stopped during communication to suppress the generation of noise. However, the conventional techniques leave room for further improvement in terms of performing wireless communication while appropriately suppressing noise generated by the motor.

[0005] The present invention has been made in view of the above, and has an object to provide a motor control device that can perform wireless communication while appropriately suppressing noise generated in the motor. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, the present invention provides a motor control device including a controller for controlling a motor, wherein the controller acquires wireless communication information including information indicating a wireless communication request state and driving state information including information regarding the driving state of the motor, predicts a planned communication period during which wireless communication is predicted based on the wireless communication information, predicts a predicted motor operating state that is the operating state of the motor during the planned communication period based on the driving state information, and executes noise suppression control on the motor to suppress noise generation by the motor during the wireless communication period in accordance with the predicted motor operating state. [Effects of the Invention]

[0007] According to the present invention, wireless communication can be performed while appropriately suppressing noise generated in a motor. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an outline of a control method performed by a motor control device according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing an outline of a control method performed by the motor control device according to the first embodiment. [Figure 3] FIG. 3 is a block diagram showing an example of the configuration of the control device. [Figure 4] FIG. 4 is a flowchart showing a processing procedure executed by the control device. [Figure 5A] FIG. 5A is a time chart illustrating a communication processing state and a motor control processing state in the control device according to the second embodiment. [Figure 5B] FIG. 5B is a time chart illustrating a modified example of the second embodiment. [Figure 6A] FIG. 6A is a time chart illustrating a communication processing state and a motor control processing state in the control device according to the third embodiment. [Figure 6B] FIG. 6B is a time chart illustrating a first modified example of the third embodiment. [Figure 6C] FIG. 6C is a time chart illustrating a second modified example of the third embodiment. [Figure 7] FIG. 7 is a block diagram showing an example of the configuration of a control device according to the fourth embodiment. [Figure 8A] FIG. 8A is a time chart illustrating a communication processing state and a motor control processing state in the control device according to the fourth embodiment. [Figure 8B] FIG. 8B is a time chart illustrating a modified example of the fourth embodiment. [Figure 9] FIG. 9 is a block diagram showing an example of the configuration of a control system according to the fifth embodiment. [Figure 10A] FIG. 10A is a time chart illustrating a communication processing state and a motor control processing state in the control device according to the fifth embodiment. [Figure 10B] FIG. 10B is a time chart illustrating a first modified example of the fifth embodiment. [Figure 10C] FIG. 10C is a time chart illustrating a second modified example of the fifth embodiment. [Figure 10D] FIG. 10D is a time chart illustrating a third modified example of the fifth embodiment. [Figure 11] FIG. 11 is a time chart for explaining a communication processing state and a motor control processing state in the control device according to the sixth embodiment. [Figure 12] FIG. 12 is a diagram showing an example of a processing sequence executed by the control device and the like according to the seventh embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of a processing sequence executed by a control device and the like according to a modified example of the seventh embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a motor control device disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the following embodiments.

[0010] (First embodiment) <Outline of control method by motor control device> First, an overview of a control method performed by a motor control device according to a first embodiment will be described below with reference to Figures 1 and 2. Figures 1 and 2 are diagrams showing an overview of a control method performed by a motor control device according to the first embodiment. Figure 1 is also a block diagram showing an example configuration of a control system 1 according to this embodiment.

[0011] Note that block diagrams such as Figure 2 depict only components necessary for explaining the features of the embodiments, and general components are omitted. In other words, each component illustrated in a block diagram such as Figure 1 is a functional concept, and does not necessarily have to be physically configured as illustrated. For example, the specific form of distribution and integration of each block is not limited to that illustrated, and all or part of it can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

[0012] As shown in FIG. 1, a motor control device (hereinafter sometimes referred to as a "control device") 10 according to this embodiment is mounted on, for example, a vehicle C. In addition to the control device 10, the vehicle C is also mounted with other control devices 100, a motor 20, and the like. The control device 10 and the other control devices 100 are, for example, ECUs (Electronic Control Units). Furthermore, the control device 10 is configured to be able to communicate wirelessly with the other control devices 100.

[0013] The other control device 100 may be any control device, but here it is assumed to be a higher-level control device that comprehensively controls the entire vehicle. Hereinafter, the other control device 100 may be referred to as the "higher-level control device 100." The higher-level control device 100 is an example of a communication target device.

[0014] The control device 10, the host control device 100, the motor 20, etc. constitute an in-vehicle control system 1. For example, the host control device 100 is an in-vehicle device integrated control device that performs integrated control of an air conditioning device, an audiovisual device, a navigation device, a display operation panel device installed near the front seats, etc. in the vehicle cabin, and the control device 10 is a power window control device, and these devices constitute an in-vehicle system in which the control system 1 is included. In this embodiment, an in-vehicle system in which the host control device 100 is an in-vehicle device integrated control device and the control device 10 is a power window control device will be described as a system example.

[0015] Furthermore, by using wireless communication for communication between the control device 10 and the upper control device 100, signal cables can be reduced compared to wired communication, thereby reducing the weight of the vehicle C. Note that, as a wireless communication method, for example, UWB (Ultra Wide Band) can be used, but the method is not limited to this, and other types of communication methods such as Bluetooth (registered trademark) and Wi-Fi (registered trademark) may also be used.

[0016] The control device 10 is connected to the motor 20 and controls the motor 20. The motor 20 is a drive source for the power window.

[0017] In the case of a power window, for example, when a user operates a button or the like (not shown) to issue an instruction to open or close the window, the host control device 100 outputs an open / close signal corresponding to the open / close instruction to the control device 10 via wireless communication. The control device 10 then controls the motor 20 in accordance with the open / close signal to open or close the window. Note that the in-vehicle device is not limited to the power window described above, and the present invention can be applied to other types of devices such as a power seat, an air conditioner, and wipers.

[0018] In addition to the transmission and reception of the opening and closing signals described above, various signals, such as signals to confirm whether communication is normal, are transmitted and received periodically (or irregularly) between the control device 10 and the upper control device 100 via wireless communication.

[0019] Incidentally, when the motor 20 is driven, noise (radiation noise) N that affects wireless communication may be generated. For example, the generation of noise N may result in a decrease in reception performance in wireless communication between the control device 10 and the upper control device 100. In the prior art, the generation of noise N is suppressed by stopping the motor 20 during wireless communication. However, in the prior art, control is performed to stop the supply of drive power to the motor 20 every time wireless communication is performed, which reduces the rotation speed of the motor 20 each time. For example, there is a risk that the motor 20 may not reach the rotation speed required for the intended operation, or that it may take a very long time to reach the rotation speed.

[0020] Therefore, the control device 10 according to this embodiment is configured to be able to perform wireless communication while suppressing adverse effects on the operation of the motor 20 and appropriately suppressing noise generated in the motor 20.

[0021] Specifically, the control device 10 first acquires wireless communication information relating to wireless communication with the upper control device 100 and driving state information relating to the driving state of the motor 20 (step S1).

[0022] The wireless communication information includes information indicating a request state for wireless communication with the upper control device 100. The information indicating a request state for wireless communication is information indicating a state in which execution of wireless communication is requested in the control device 10, and is, for example, information indicating the timing of execution of the requested wireless communication.

[0023] The driving state information includes information about the driving state of the motor 20, such as the output status of a power window operation instruction signal (for example, a power window opening / closing signal), the rotation speed of the motor 20, and the like.

[0024] Next, the control device 10 predicts a communication schedule period, which is a period during which wireless communication is predicted, based on the wireless communication information (step S2). Next, the control device 10 predicts a predicted motor operating state, which is an operating state of the motor 20 during the communication schedule period, based on the driving state information (step S3).

[0025] The predicted motor operating state is information indicating the predicted operating state of motor 20 when requested wireless communication is performed. Information indicating the predicted operating state of motor 20 is, for example, information such as an operating state in which the rotation speed of motor 20 changes toward the desired rotation speed, an operating state in which motor 20 is driven at a rotation speed at which noise N is likely to be generated, or an operating state in which motor 20 is driven at a rotation speed at which noise N is unlikely to be generated.

[0026] In the motor 20, a change in the electric field occurs due to a change in the current when the rotation speed changes (increases or decreases), that is, noise N that affects wireless communication occurs, so the explanation will continue from this perspective.

[0027] The control device 10 may acquire some or all of the above-mentioned wireless communication information, driving status information, information on the planned communication period, and information on the predicted motor operating status from information previously stored in the memory unit 50 (see Figure 3) (if the wireless communication schedule or the driving schedule of the motor 20 has been previously stored in the memory unit 50), or may acquire it from the upper control device 100 during wireless communication with the upper control device 100 (for example, during the first wireless communication (polling, etc.)).

[0028] Then, the control device 10 executes noise suppression control on the motor 20 in accordance with the predicted motor operating state, which suppresses the generation of noise N by the motor 20 during the wireless communication period (step S4). In detail, when it is predicted that the driving of the motor 20 will have an adverse effect due to noise, the control device 10 executes noise suppression control to change the noise generation state accompanying the driving of the motor 20 (reduce adverse noise) by controlling the driving state (change state of the rotation speed) of the motor 20 when wireless communication is actually performed (wireless communication period) so that the driving state of the motor 20 will be different from the predicted driving state when the requested wireless communication is performed (a driving state that will generate noise that will adversely affect wireless communication).

[0029] The above-mentioned processing will be explained in detail with reference to Fig. 2. Fig. 2 is a time chart showing an example of state changes such as a communication state and a motor control state when control is performed by the control device 10 according to this embodiment. In Fig. 2, "communication state" indicates the timing at which wireless communication is performed between the control device 10 and the upper control device 100, which is the communication target device. Furthermore, "motor control value" indicates a control value for controlling the rotation speed of the motor 20, and in this case indicates a voltage value supplied to the motor 20. "Motor rotation speed" indicates the rotation speed of the motor 20. Using this example of state changes, an outline of the operation of the control device 10 according to this embodiment will be explained.

[0030] 2, the control device 10 performs wireless communication with the upper control device 100 from time T1 to time T2. At this time, the control device 10 receives wireless communication information including information indicating a request state for wireless communication with the upper control device 100 (e.g., information regarding the timing of periodic wireless communication), and driving state information regarding the driving state of the motor 20 (e.g., a window open / close signal).

[0031] Next, the control device 10 starts the motor 20 (applies voltage V1) at time T3 based on the received window open / close signal, and the rotation speed of the motor 20 increases toward the desired rotation speed A. Since the control device 10 controls the motor 20 itself based on the drive state information received from the upper control device 100, mainly the window open / close signal, it can grasp the control details and drive state of the motor 20 and, based on this, can predict the operating state of the motor 20 at a certain point in time (predicted motor operating state).

[0032] Next, at time T4, which is before the timing to start the next wireless communication (time T5 determined based on the received information indicating the requested wireless communication status), the control device 10 estimates the predicted operating state of the motor 20 when the requested wireless communication (here, periodic wireless communication) will be performed (times T5 to T6; communication planned period) from the received power window drive state information (e.g., window opening / closing signal). Specifically, the control device 10 estimates (predicts) the operating state of the motor 20 from times T5 to T6 (predicted motor operating state) based on the control content of the motor 20, here, the control content of the motor 20 based on the window opening / closing signal, and the elapsed time since the window opening / closing started (start time T3 of the motor 20).

[0033] Here, as shown by imaginary line B1, control device 10 estimates (predicts) from the acquired drive state information the drive state in which the rotation speed of motor 20 will change (increase) toward the desired rotation speed A. Specifically, control device 10 applies voltage V1 to motor 20 until the window is fully open, so the rotation speed of motor 20 is predicted to gradually increase up to the rotation speed determined by voltage V1 (the timing can also be estimated based on the current rotation speed and voltage V1). As described above, when the rotation speed of motor 20 changes, noise N is generated, which has a significant effect on wireless communication.

[0034] For this reason, the control device 10 according to this embodiment determines whether the predicted driving state of the motor 20 when the requested wireless communication is to be performed (the communication schedule period) is a noise-generating state that is expected to have a significant adverse effect on wireless communication, i.e., whether the rotation speed of the motor 20 is changing. If the control device 10 determines that the noise-generating state during the communication schedule period is expected to have a significant adverse effect on wireless communication, the control device 10 executes noise suppression control to control (keep constant) the rotation speed (driving state) of the motor 20 when wireless communication is actually performed (times T5 to T6, the wireless communication period) so that the driving state of the motor 20 is different from the predicted operating state (a noise-generating state that has a small adverse effect on wireless communication). Then, during the subsequent wireless communication period (times T5 to T6), wireless communication is performed, and various information is transmitted and received. Note that during this communication period (and subsequent communication periods as well), wireless communication information and driving state information of the motor-equipped device are also transmitted and received as appropriate.

[0035] Specifically, the control device 10 performs noise suppression control to suppress noise generation by controlling the rotation speed of the motor 20 to be constant when wireless communication is actually performed (times T5 to T6). Here, the control device 10 controls the motor 20 so that the voltage applied to the motor 20 is a voltage that maintains the rotation speed of the motor 20 immediately before wireless communication, thereby maintaining the rotation speed of the motor 20 constant. In the case of voltage control of the motor 20, if the rotation speed is kept constant, the voltage applied to the motor 20 (and the current flowing through the motor 20) will also be constant, so noise caused by fluctuations in the applied voltage can also be suppressed. Furthermore, the rotation speed of the motor 20 is controlled by a method depending on the drive method of the motor 20; for example, in the case of a pulse motor, it will be frequency control of the drive pulse. In addition, in the case of an AC motor or DC motor, it is also possible to apply duty control of the drive pulse, etc.

[0036] As a result, in this embodiment, when wireless communication is actually performed, the rotation speed of the motor 20 is approximately constant (in other words, there is no change or it is very small), so the generation of noise N that affects wireless communication can be appropriately suppressed, and wireless communication can be performed reliably.

[0037] 2, at time T7 after the wireless communication ends, the control device 10 applies voltage V1 to the motor 20 and controls the motor 20 so that the rotation speed of the motor 20 increases toward the desired rotation speed A. Then, at time T8, which is before the timing (time T9) at which the next wireless communication starts, the control device 10 estimates (predicts) the operating state of the motor 20 when the requested wireless communication will be performed based on the received power window drive state information. Here, the control device 10 predicts, based on the power window drive state information, that the operating state in which the rotation speed of the motor 20 will change (increase) during the next planned communication period (times T9 to T10), as shown by imaginary line B2 (predicted in the same way as imaginary line B1).

[0038] Based on the prediction result, the control device 10 executes noise suppression control to control the rotation speed of the motor 20 to be constant during the actual wireless communication period (times T9 to T10). Wireless communication is then performed during this wireless communication period (times T9 to T10), and various information is transmitted and received.

[0039] Next, at time T11 after the wireless communication ends, control device 10 controls motor 20 (applies voltage V1) so that the rotational speed of motor 20 increases toward desired rotational speed A. Then, thereafter, at time T12, it is assumed that the rotational speed of motor 20 reaches desired rotational speed A. Note that control device 10 determines that the rotational speed of motor 20 has reached desired rotational speed A based on the driving state information of the motor-equipped device during the wireless communication period (times T9 to T10), and starts control to maintain motor 20 at rotational speed A (maintains application of voltage V1).

[0040] Next, before the timing (time T13) at which the next wireless communication is to be started, the control device 10 estimates the operating state of the motor 20 in the next communication scheduled period (times T13 to T14). Here, the rotation speed of the motor 20 has already reached the desired rotation speed A, and control is being performed to maintain the motor 20 at the rotation speed A. Therefore, the control device 10 estimates that the rotation speed of the motor 20 is constant at the desired rotation speed A. When the rotation speed of the motor 20 is constant (the applied voltage is constant), noise N that affects wireless communication is unlikely to occur. Therefore, the control device 10 performs normal control to continue controlling the motor 20 to maintain the rotation speed A during the wireless communication period (times T13 to T14). Then, wireless communication is performed during that wireless communication period (times T13 to T14), and various information is transmitted and received.

[0041] After the window is fully open, the motor 20 is stopped (applied voltage 0), and the control device 10 executes control to perform wireless communication as scheduled (no noise suppression control is not performed). Also, although this operation example has been described for the fully opening operation of the window, the same operation can be realized by the same control for the fully closing operation of the window or for transitioning the window to an intermediate state.

[0042] As described above, in this embodiment, the control device 10 predicts the operating state (predicted motor operating state) of the motor 20 during a scheduled period of wireless communication based on wireless communication information including information indicating the required state of wireless communication, based on drive state information of the motor-mounted device (power window). The control device 10 then executes noise suppression control of the motor 20 according to the predicted motor operating state of the motor 20 during the predicted scheduled period of wireless communication. As a result, the noise suppression control of the motor 20 is performed only during an effective period, and wireless communication can be performed by appropriately suppressing noise generated in the motor 20 during the wireless communication period while suppressing deterioration in the operating performance of the motor 20 (deterioration in the performance of the motor-mounted device) (i.e., suppressing adverse effects on the operation of the motor 20).

[0043] In other words, in this embodiment, instead of stopping the motor 20 (cutting off the drive power supply) every time wireless communication is performed as in the prior art, the rotation speed of the motor 20 is controlled to be constant (to not change), so that the decrease in the rotation speed of the motor 20 during wireless communication is suppressed, and the rotation speed of the motor 20 can be made to reach the desired rotation speed A quickly and reliably.

[0044] In the above, an example is shown in which the control device 10 is mounted on a vehicle C in which a motor-equipped device (power window) is installed, but this is not limited to this, and the control device may be mounted on another system in which a motor-equipped device is installed, and may perform wireless communication and control the motor.

[0045] <Control device configuration> Next, the configuration of the control device 10 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example configuration of the control device 10. As shown in Fig. 3, the control device 10 includes a communication unit 31, a motor drive unit 32, a control unit 40, and a storage unit 50.

[0046] The communication unit 31 is a communication interface that connects to a communication target device such as the upper control device 100 so as to be able to communicate via wireless communication, and transmits and receives various signals and data to and from the upper control device 100 and the like.

[0047] The motor driving unit 32 outputs a driving signal to the motor 20 based on a driving instruction for the motor 20 input from the control unit 40, and drives the motor 20.

[0048] The storage unit 50 is configured with a storage device such as a nonvolatile memory, a data flash, etc. The storage unit 50 stores wireless communication information 51, operating state information 52, various programs, and the like.

[0049] In actual configuration, the memory unit 50 will have a memory area for each piece of information (for example, a memory area for wireless communication information), and information corresponding to each memory area (for example, wireless communication information 51) will be stored, but for ease of explanation, the information type is represented here by its name (for example, wireless communication information 51).

[0050] As described above, the wireless communication information 51 includes information indicating the requested state of wireless communication with the upper control device 100 (e.g., information indicating the timing of wireless communication execution, etc.). The driving state information 52 includes information related to the driving state of the motor, and more specifically, information indicating information for predicting the operating state of the motor 20 when requested wireless communication is performed. For example, the driving state information 52 includes information such as the output status of an operation instruction signal (e.g., a power window opening / closing signal) of a device equipped with the motor 20, the rotation speed of the motor 20 (intended (target) rotation speed and current (latest) rotation speed), and the driving position of a driven object (e.g., the open / close position of a power window).

[0051] In addition, such driving status information 52 may be information on the rotation speed of the motor 20 detected by a sensor or the like before the requested wireless communication is performed, or may be information that is set in advance, information provided by another device via wireless communication, etc.

[0052] The control unit 40 is a so-called controller and includes an acquisition unit 41, a prediction unit 42, a communication control unit 43, and a motor control unit 44, and includes, for example, a computer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), input / output ports, etc., and various circuits.

[0053] The CPU of the computer functions as the acquisition unit 41, prediction unit 42, communication control unit 43, and motor control unit 44 of the control unit 40, for example, by reading and executing a program stored in the ROM. In addition, at least some or all of the acquisition unit 41, prediction unit 42, communication control unit 43, and motor control unit 44 of the control unit 40 can be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0054] The acquisition unit 41 of the control unit 40 acquires various types of information. For example, the acquisition unit 41 acquires wireless communication information 51 including information indicating a request state for wireless communication with the upper control device 100 from the upper control device 100 via the communication unit 31, and stores the information in the storage unit 50.

[0055] Furthermore, the acquisition unit 41 acquires driving state information 52 including information for predicting the operating state of the motor 20 when the requested wireless communication is performed, and stores the information in the storage unit 50. For example, the acquisition unit 41 acquires information about the number of rotations of the motor 20 detected by a sensor or the like before the requested wireless communication is performed, and stores the information in the storage unit 50.

[0056] The prediction unit 42 predicts a planned communication period, which is a period during which wireless communication is predicted to occur, based on the wireless communication information 51. Then, the prediction unit 42 predicts the future operating state (predicted motor operating state) of the motor 20 (for the next planned communication period) based on the rotation speed information of the motor 20 stored in the storage unit 50 and the control content of the motor 20 that is currently being executed or is scheduled to be executed, and stores the predicted operating state in the storage unit 50.

[0057] The communication control unit 43 performs wireless communication with the upper control device 100. For example, the communication control unit 43 receives a signal corresponding to an operation instruction for the motor 20 (for example, an open / close signal corresponding to an instruction to open or close a window) from the upper control device 100 via wireless communication (see times T1 to T2 in FIG. 2), and outputs the received signal to the motor control unit 44. The communication control unit 43 also controls wireless communication based on wireless communication information 51 including information indicating a request state for wireless communication (for example, information regarding the timing of periodic wireless communication). For example, the communication control unit 43 performs control such that wireless communication is performed at times T5 to T6, T9 to T10, and T13 to T14 as shown in FIG. 2, based on the timing information of the periodic wireless communication.

[0058] Motor control unit 44 outputs a control signal to motor drive unit 32 according to the control content of motor 20, and controls the output signal of motor drive unit 32 to control motor 20. For example, when a signal according to an operation instruction for motor 20 is input, motor control unit 44 controls motor drive unit 32 based on the signal (outputs a control signal) and causes motor drive unit 32 to drive motor 20 in a corresponding operation. As an example, motor control unit 44 causes motor drive unit 32 to drive motor 20 so that the rotation speed of motor 20 becomes the desired rotation speed A (see time T3 in FIG. 2).

[0059] Furthermore, the motor control unit 44 executes noise suppression control on the motor 20 to suppress noise generation by the motor 20 during the wireless communication period, according to the predicted motor operating state predicted by the prediction unit 42. Specifically, the motor control unit 44 determines whether the predicted motor operating state is a noise generating state that is expected to have a large adverse effect on wireless communication (for example, a state in which the rotation speed of the motor 20 changes). Then, when the motor control unit 44 determines that the predicted motor operating state is an operating state that will have an adverse effect on wireless communication (for example, a state in which the rotation speed of the motor 20 changes and noise is generated that will have a large adverse effect on wireless communication), it executes noise suppression control.

[0060] As a result, in this embodiment, it is possible to perform wireless communication while suppressing adverse effects on the operation of the motor 20 and appropriately suppressing noise generated in the motor 20.

[0061] Specifically, when the motor control unit 44 determines that the predicted motor operating state is an operating state that will adversely affect wireless communication, it executes noise suppression control to control the rotation speed of the motor 20 to a value different from the motor rotation speed in the predicted motor operating state. More specifically, when the predicted operating state of the motor 20 when the requested wireless communication is performed is an operation that will have a significant adverse effect on wireless communication, the motor control unit 44 executes noise suppression control to control the rotation speed of the motor 20 when wireless communication is performed to reduce the adverse effect on wireless communication. More specifically, the motor control unit 44 executes noise suppression control to control the rotation speed of the motor 20 to be constant when wireless communication is actually performed, thereby suppressing the generation of noise associated with driving of the motor 20 (see times T4 to T7 and T8 to T11 in FIG. 2).

[0062] As a result, in this embodiment, when wireless communication is actually performed, the rotation speed of motor 20 becomes constant and the generation of noise associated with the operation of motor 20 is suppressed, so that the generation of noise that affects wireless communication can be appropriately suppressed and wireless communication can be performed reliably.

[0063] Furthermore, when the predicted motor operating state is a state in which noise that affects wireless communication is not generated (or is small) (for example, a state in which the rotation speed of motor 20 is constant or stopped), motor control unit 44 does not execute noise suppression control but executes normal control (see times T13 to T14 in FIG. 2). This makes it possible to suppress performance degradation of the device equipped with motor 20 that accompanies noise suppression control.

[0064] <Control processing of the control device> Next, a specific processing procedure in the control device 10 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the processing procedure executed by the control device 10. This processing is repeatedly executed during operation of the control device 10 (control system 1).

[0065] As shown in FIG. 4, the control unit 40 of the control device 10 determines whether or not wireless communication (e.g., periodic wireless communication) with the upper control device 100 is requested based on wireless communication information, etc. (step S10).

[0066] When it is determined that the execution of wireless communication is not requested (No at step S10), the control unit 40 executes normal control of the motor 20 (step S11).

[0067] On the other hand, if the control unit 40 determines that wireless communication with the upper control device 100 is requested (step S10, Yes), it predicts the planned communication period based on the wireless communication information, and predicts (estimates) the operating state (predicted motor operating state) of the motor 20 during the planned communication period (when the requested wireless communication is performed) based on the driving state information, etc. (step S12).

[0068] Then, the control unit 40 determines whether the predicted motor operating state is an operating state that will have a negative effect on wireless communication (in other words, a state that generates noise that will have a negative effect on wireless communication (for example, a state in which the rotation speed of the motor 20 changes)) (or whether the negative effect is large or small) (step S13).

[0069] If it is determined that the state is not one in which noise that adversely affects wireless communication will occur during the expected communication period (step S13, No), the control unit 40 executes normal control of the motor 20 (step S14). On the other hand, if it is determined that the state is one in which noise that adversely affects wireless communication will occur (step S13, Yes), the control unit 40 executes noise suppression control (step S15).

[0070] Next, after the process of step S13 or step S14, the control unit 40 executes wireless communication processing with the upper control device 100 in accordance with the content (communication timing, etc.) of the wireless communication information (step S16).

[0071] As described above, the control device (motor control device) 10 according to the first embodiment includes a control unit (an example of a controller) 40 that controls the motor 20. The control unit 40 acquires wireless communication information including information indicating a wireless communication request state and driving state information including information regarding the driving state of the motor 20, predicts a planned communication period, which is a period during which wireless communication is predicted to occur, based on the wireless communication information, and predicts a predicted motor operating state, which is the operating state of the motor 20 during the planned communication period, based on the driving state information. Furthermore, the control unit 40 executes noise suppression control on the motor 20 in accordance with the predicted motor operating state, which suppresses noise generation by the motor during the wireless communication period. This allows wireless communication to be performed while appropriately suppressing noise generated by the motor 20. In other words, the motor 20 can be driven while suppressing performance degradation of motor-mounted devices while suppressing the adverse effects of noise associated with driving the motor 20 on wireless communication.

[0072] (Second embodiment) Next, a control device 10 according to a second embodiment will be described. In the following, the same components as those in the first embodiment will be denoted by the same reference numerals and the description thereof will be omitted.

[0073] In the first embodiment, an operating state in which the rotation speed of the motor 20 changes is given as an example of an operating state of the motor 20 that has an adverse effect on wireless communication, but the operating state in which noise occurs is not limited to this. For example, noise that affects wireless communication may occur only in a specific rotation speed range of the motor 20 depending on the type of motor, the installation position, the position of the communication unit 31, the frequency of signals used in communication processing such as the communication frequency, etc.

[0074] Therefore, in the control device 10 according to the second embodiment, noise suppression control is performed when the rotation speed of the motor 20 predicted when wireless communication is performed falls within a specific rotation speed range (hereinafter sometimes referred to as the "specific rotation speed range") in which noise that adversely affects wireless communication occurs.

[0075] Specifically, in the second embodiment, the wireless communication information includes frequency information of noise that adversely affects wireless communication (hereinafter referred to as specific frequency information). For simplicity, the specific frequency information may be the wireless communication frequency. In this case, the specific frequency information is estimated based on the wireless communication frequency (the same frequency as the wireless communication frequency or a frequency that is an integral multiple of the wireless communication frequency). Furthermore, a rotation speed vs. noise frequency data table in which the rotation speed of the motor 20 and the noise frequency of the generated noise are stored in association with each other is created based on experiments on each device and system, and is stored in advance in the storage unit 50 of the control device 10 (see FIG. 3).

[0076] Then, the acquisition unit 41 of the control device 10 acquires wireless communication information including specific frequency information. The prediction unit 42 refers to the rotation speed / noise frequency data table using the specific frequency information of the wireless communication information acquired by the acquisition unit 41, and calculates a rotation speed that should be avoided during wireless communication (referred to as a specific rotation speed). Note that if the wireless frequency is fixed, a predetermined fixed rotation speed may be set as the rotation speed that should be avoided during wireless communication without using the rotation speed / noise frequency data table. Furthermore, the prediction unit 42 predicts the rotation speed of the motor 20 during the next scheduled communication period as a predicted motor operating state, based on the wireless communication information and drive state information acquired by the acquisition unit 41.

[0077] When the rotation speed of motor 20 during the planned communication period falls within a specific rotation speed range that adversely affects wireless communication, motor control unit 44 executes noise suppression control to control the rotation speed of motor 20 so that the rotation speed of motor 20 during the wireless communication period is maintained outside the specific rotation speed range. Specifically, when the rotation speed of motor 20 during the planned communication period falls within the specific rotation speed range, motor control unit 44 executes noise suppression control to control the rotation speed of motor 20 so that the rotation speed of motor 20 during the wireless communication period falls outside the specific rotation speed range. Note that when the rotation speed of motor 20 during the planned communication period is predicted to be outside the avoidance rotation speed range, motor control unit 44 does not execute noise suppression control but executes normal motor control.

[0078] In this way, the control unit 40 according to the second embodiment predicts the noise generation conditions for the predicted motor operating state based on a data table storing the noise generation conditions for the motor operating state, and performs noise suppression control on the motor 20 according to the predicted noise generation conditions.

[0079] The above-mentioned processing will be described in detail with reference to Fig. 5A. Fig. 5A is a time chart illustrating the communication processing state and the motor control processing state in the control device 10 according to the second embodiment. In Fig. 5A, the specific rotation speed region is indicated by the symbol C.

[0080] 5A, the control device 10 performs wireless communication with the upper control device 100 from time T1 to time T2. At this time, the control device 10 receives, for example, an opening / closing signal corresponding to an instruction to open or close a window. The control device 10 also receives wireless communication information including information indicating a request state for wireless communication with the upper control device 100, and driving state information regarding the driving state of the motor 20.

[0081] Next, at time T3, control device 10 starts motor 20 (applies voltage V1), which causes the rotation speed of motor 20 to increase toward the desired rotation speed A. Then, at time T4, which is before the timing (time T5) at which the next wireless communication is to start, control device 10 estimates the operating state of motor 20 that will be predicted when the requested wireless communication is to be performed from the drive state information of the motor-equipped device that it has received. Specifically, control device 10 estimates (predicts) the operating state of motor 20 based on the control content of motor 20, in this case, the control content of motor 20 based on the window open / close signal, and the elapsed time since the window open / close signal was received.

[0082] Here, as shown by imaginary line B3, control device 10 estimates (predicts) from the acquired drive state information of the motor-equipped device the operating state in which the rotation speed of motor 20 changes (increases) toward the desired rotation speed A. As described above, when the rotation speed of motor 20 is within specific rotation speed region C, noise N that strongly affects wireless communication is generated in motor 20.

[0083] Therefore, when the control device 10 according to the second embodiment predicts that the rotation speed (operating state) of the motor 20 during the communication scheduled period (times T5 to T6) based on the wireless communication information will be within the specific rotation speed region C, the control device 10 executes noise suppression control to maintain the rotation speed at a constant value (by adjusting the drive (applied) voltage to the motor 20) before the rotation speed of the motor 20 reaches the specific rotation speed region C, and performs wireless communication with the noise suppression control executed. Then, at time T7 after the wireless communication ends, the control device 10 controls the motor 20 so that the rotation speed of the motor 20 increases toward the desired rotation speed A. Note that in the example of FIG. 5A , the rotation speed of the motor 20 exceeds the specific rotation speed region C before the next communication scheduled period (times T9 to T10), and therefore the control device 10 does not execute noise suppression control for the next wireless communication period (times T9 to T10). The control device 10 then performs the same process until the rotation speed of the motor 20 reaches the desired rotation speed A.

[0084] As a result, in the second embodiment, when wireless communication is actually performed, motor 20 remains constant at a rotation speed that is not in specific rotation speed region C, so that it is possible to appropriately suppress the generation of noise that adversely affects wireless communication during wireless communication, and wireless communication can be performed reliably. Furthermore, since the power supply to motor 20 is not cut off during wireless communication to suppress the generation of noise, there is no unnecessary delay in the time it takes for motor 20 to reach the desired rotation speed A, and it is possible to suppress performance degradation of products equipped with the motor.

[0085] Next, a modified example of the second embodiment will be described with reference to Fig. 5B. Fig. 5B is a time chart illustrating a modified example of the second embodiment. Note that this modified example is substantially similar to the second embodiment described in Fig. 5A, and therefore only the differences will be described.

[0086] In this modification, when the rotation speed (operating state) of motor 20 is predicted to fall within specific rotation speed region C during the planned communication period (times T5 to T6), control device 10 reduces the rotation acceleration (degree of increase in rotation speed) B4 of the rotation speed of motor 20 so that the rotation speed of motor 20 does not fall within specific rotation speed region C during the wireless communication period. In other words, in this case, control device 10 determines the drive voltage to be applied to motor 20 according to the difference between the current rotation speed of motor 20 and specific rotation speed region C, the length of time until the planned communication period, and the motor characteristics (the relationship between voltage and rotation acceleration).

[0087] As a result, the modified example of the second embodiment also produces the same effects as the second embodiment. Furthermore, when it is predicted that the rotation speed will be within the specific rotation speed region C, the control device 10 does not maintain the rotation speed of the motor 20 at a constant rotation speed, but rather reduces the rotation acceleration (degree of increase in rotation speed) B4. This means that the time it takes for the motor 20 to reach the desired rotation speed A is shorter than in the second embodiment, and it is possible to further suppress the performance degradation of the motor-equipped product.

[0088] (Third embodiment) Next, a control device 10 according to a third embodiment will be described. For example, noise that adversely affects wireless communication may occur in the motor 20 only at a specific rotational speed (rotational acceleration). However, depending on the specifications of the in-vehicle device driven by the motor 20, the motor 20 may be driven using such a specific rotational acceleration.

[0089] Therefore, in the control device 10 of the third embodiment, noise suppression control is performed when the rotational acceleration of the motor 20 predicted when wireless communication is performed becomes a specific rotational acceleration at which noise occurs (hereinafter, sometimes referred to as "specific rotational acceleration").

[0090] Specifically, in the third embodiment, the wireless communication information includes frequency information of noise that adversely affects wireless communication (hereinafter referred to as specific frequency information). For simplicity, the specific frequency information may be the wireless communication frequency. A rotational acceleration-noise frequency data table, which stores the association between the rotational acceleration of the motor 20 and the noise frequency of the generated noise, is created based on experiments on each device and system, and is pre-stored in the storage unit 50 (see FIG. 3 ) of the control device 10. If the wireless frequency is fixed, a predetermined fixed rotational acceleration may be used as the rotational acceleration to be avoided during wireless communication, without using the rotational acceleration-noise frequency data table.

[0091] Then, the acquisition unit 41 of the control device 10 acquires wireless communication information including specific frequency information. The prediction unit 42 refers to a rotational acceleration / noise frequency data table using the specific frequency information of the wireless communication information acquired by the acquisition unit 41, and calculates a rotational acceleration (referred to as specific rotational acceleration) that should be avoided during wireless communication. Furthermore, the prediction unit 42 predicts the rotational acceleration of the motor 20 in the next planned communication period as a predicted motor operating state, based on the wireless communication information and driving state information acquired by the acquisition unit 41.

[0092] If the motor control unit 44 determines that the predicted motor operating state is an operating state that will adversely affect wireless communication, it executes noise suppression control to control the rotation speed of the motor 20 so that the rotation acceleration of the motor 20 is different from the rotation acceleration of the motor 20 in the predicted motor operating state. Specifically, if the rotation acceleration of the motor 20 during the expected communication period is within a specific rotation acceleration range, the motor control unit 44 executes noise suppression control to control the rotation speed (rotation acceleration) of the motor 20 (adjust the drive voltage of the motor 20) so that the rotation acceleration of the motor 20 during the wireless communication period is outside the specific rotation acceleration range. Note that if the rotation acceleration of the motor 20 during the expected communication period is predicted to be outside the specific rotation acceleration range, the motor control unit 44 does not execute noise suppression control but executes normal motor control.

[0093] The above-mentioned processing will be described in detail with reference to Fig. 6A, which is a time chart for explaining the communication processing state and the motor control processing state in the control device 10 according to the third embodiment.

[0094] The above-mentioned processing will be described in detail with reference to Fig. 6A. Fig. 6A is a time chart illustrating the communication processing state and the motor control processing state in the control device 10 according to the third embodiment. In Fig. 6A, the rotational acceleration included in the specific rotational acceleration region is indicated by the symbol B6.

[0095] 6A, the control device 10 performs wireless communication with the upper control device 100 from time T1 to time T2. At this time, the control device 10 receives, for example, an opening / closing signal corresponding to an instruction to open or close a window. The control device 10 also receives wireless communication information including information indicating a request state for wireless communication with the upper control device 100, and driving state information regarding the driving state of the motor 20.

[0096] Next, at time T3, control device 10 starts motor 20 (applies voltage V1), which causes the rotation speed of motor 20 to increase toward the desired rotation speed A. Then, at time T4, which is before the timing (time T5) at which the next wireless communication is to start, control device 10 estimates the operating state of motor 20 that will be predicted when the requested wireless communication is to be performed from the drive state information of the motor-equipped device that it has received. Specifically, control device 10 estimates (predicts) the operating state of motor 20 based on the control content of motor 20, in this case, the control content of motor 20 based on the window open / close signal, and the elapsed time since the window open / close signal was received.

[0097] Here, the control device 10 estimates (predicts) from the acquired drive state information of the motor-equipped device the operating state in which the rotational acceleration B6 of the motor 20 during the expected communication period (times T5 to T6) will be within a specific rotational acceleration range, as shown by imaginary line B6. As described above, when the rotational acceleration of the motor 20 is within the specific rotational acceleration range, noise N that strongly affects wireless communication is generated in the motor 20.

[0098] Therefore, when the control device 10 according to the third embodiment predicts that the rotational acceleration (operating state) of the motor 20 during the planned communication period (times T5 to T6) based on the wireless communication information will be rotational acceleration B6 within a specific rotational acceleration region, it executes noise suppression control to control the rotational speed of the motor 20 so that the rotational acceleration of the motor 20 is maintained at a rotational acceleration outside the specific rotational acceleration region (for example, so that the rotational acceleration becomes 0, where the rotational speed is constant), and performs wireless communication with such noise suppression control executed. Then, at time T7 after the wireless communication ends, the control device 10 controls the motor 20 so that the rotational speed of the motor 20 increases toward the desired rotational speed A.

[0099] Then, at time T8, which is before the timing (time T9) at which the next wireless communication is to start, the control device 10 estimates (predicts) the operating state (predicted motor operating state) of the motor 20 when the requested wireless communication will be performed. Here, the control device 10 predicts, based on the drive state information of the motor-equipped device, that the rotational acceleration of the motor 20 will be rotational acceleration B6 within a specific rotational acceleration region during the next scheduled communication period (times T9 to T10). Then, based on this prediction result, the control device 10 executes noise suppression control to maintain the rotational acceleration of the motor 20 during the actual wireless communication period (times T9 to T10) at a rotational acceleration outside the specific rotational acceleration region (rotational acceleration 0 in this example). Then, wireless communication is performed during that wireless communication period (times T9 to T10), and various information is transmitted and received.

[0100] Next, at time T11 after the wireless communication ends, control device 10 controls motor 20 so that the rotation speed of motor 20 increases toward desired rotation speed A. Then, after the rotation speed of motor 20 reaches desired rotation speed A, control of motor 20 begins to maintain rotation speed A.

[0101] Next, before the timing (time T13) at which the next wireless communication is to be started, the control device 10 estimates the operating state of the motor 20 in the next communication scheduled period (times T13 to T14). Here, the rotational speed of the motor 20 has already reached the desired rotational speed A, and control is being performed to maintain the motor 20 at rotational speed A. Therefore, the control device 10 predicts that the rotational acceleration of the motor 20 will be rotational acceleration 0, which is outside the specific rotational acceleration region, in the next communication scheduled period (times T13 to T14). When the rotational acceleration of the motor 20 is rotational acceleration 0, which is outside the specific rotational acceleration region, noise N that affects wireless communication is unlikely to occur. Therefore, the control device 10 performs normal control to continue controlling the motor 20 to maintain the rotational speed A in the wireless communication period (times T13 to T14). Then, wireless communication is performed during that wireless communication period (times T13 to T14), and various information is transmitted and received.

[0102] As a result, in the third embodiment, when wireless communication is actually performed, motor 20 has a constant rotation speed rather than a specific rotation acceleration, so that it is possible to appropriately suppress the generation of noise that adversely affects wireless communication and wireless communication can be performed reliably. Furthermore, because the power supply to motor 20 is not cut off during wireless communication to suppress the generation of noise, there is no unnecessary delay in the time it takes for motor 20 to reach the desired rotation speed A, and it is possible to suppress performance degradation of products equipped with the motor.

[0103] Next, a first modified example of the third embodiment will be described with reference to Fig. 6B. Fig. 6B is a time chart illustrating the first modified example of the third embodiment. Note that this modified example is substantially the same as the third embodiment described in Fig. 6A, and therefore only the differences will be described. Similarly, only the differences will be described for the following modified examples.

[0104] 6B, in a first modification of the third embodiment, when the rotational acceleration (operating state) of motor 20 is predicted to become rotational acceleration B6 within a specific rotational acceleration region during the expected communication period (times T5 to T6 or time T9 to T10), control device 10 executes noise suppression control by adjusting the rotational acceleration of motor 20 to a rotational acceleration (see symbol B7) that does not generate noise that adversely affects motor 20. That is, in this case, control device 10 determines the drive voltage to be applied to motor 20 according to the difference between the current rotational acceleration of motor 20 and rotational acceleration B7 that does not generate noise, the length of time until the expected communication period, and the motor characteristics (the relationship between voltage and rotational acceleration).

[0105] As a result, the first modified example of the third embodiment also produces the same effects as the third embodiment. Furthermore, when it is predicted that the rotational acceleration will be within the specific rotational acceleration region, control device 10 does not maintain the rotational speed of motor 20 at a constant rotational speed, but rather reduces rotational acceleration (degree of increase in rotational speed) B7. This means that motor 20 reaches the desired rotational speed A more quickly than in the third embodiment, further reducing performance degradation in products equipped with the motor.

[0106] Next, a second modified example of the third embodiment will be described with reference to Fig. 6C, which is a time chart illustrating the second modified example of the third embodiment.

[0107] In a second modification of the third embodiment, motor 20 is driven without using a specific rotational acceleration. Specifically, in the second modification, as shown in FIG. 6C , when the rotational acceleration (operating state) of motor 20 is predicted to become rotational acceleration B6 within a specific rotational acceleration range during the communication scheduled period (times T5 to T6), control device 10 performs noise suppression control by controlling the rotational acceleration of motor 20 to become a rotational acceleration different from the specific rotational acceleration (more specifically, rotational accelerations B9a and B9b that do not generate noise that adversely affects wireless communication). That is, in this case, control device 10 determines the drive voltage to be applied to motor 20 based on the difference between the current rotational acceleration of motor 20 and rotational accelerations B9a and B9b that do not generate noise, the length of time until the communication scheduled period, and the motor characteristics (the relationship between voltage and rotational acceleration).

[0108] Specifically, control device 10 controls the rotation of motor 20 to rotation acceleration B9a that does not generate noise that adversely affects wireless communication from time T3 to T4. Then, at time T4, which is before the timing T5) at which the next wireless communication is started, control device 10 controls the rotation of motor 20 to rotation acceleration B9b that is greater than rotation acceleration B9a and does not generate adverse noise in wireless communication. Next, at time T5a, which is before the desired number of rotations A is reached, control device 10 controls the rotation of motor 20 to rotation acceleration B9a, and thereafter the number of rotations of motor 20 reaches the desired number of rotations A.

[0109] As a result, the second modified example of the third embodiment also produces the same effects as the third embodiment. Furthermore, when it is predicted that the rotational acceleration will be within the specific rotational acceleration range, control device 10 does not maintain the rotational speed of motor 20 at a constant rotational speed, but uses rotational accelerations (rotational speed increase rates) B9a and B9b. This means that the time it takes for motor 20 to reach the desired rotational speed A is shorter than in the third embodiment, further reducing the performance degradation of a motor-equipped product.

[0110] Furthermore, in the second modified example of the third embodiment, by applying positive rotational accelerations B9a and B9b different from the specific rotational acceleration, it becomes possible to make the rotational speed of motor 20 reach the desired rotational speed A more quickly than when the rotational acceleration is set to 0 (or negative). Furthermore, by smoothing the change in rotational acceleration when changing the rotational acceleration, it becomes possible to reduce noise of motor 20 caused by switching the rotational acceleration.

[0111] (Fourth embodiment) Next, a control device 10 according to a fourth embodiment will be described. Wireless communication in the control device 10 may be affected not only by noise from the motor 20 but also by external noise, for example, which may cause a decrease in reception performance. For example, even if the noise generated by the motor 20 is relatively small and does not affect wireless communication, it may be superimposed on the external noise and affect wireless communication.

[0112] For example, when noise generated by the motor 20 and external noise are superimposed, an interference wave corresponding to the frequency of both noises (the sum or difference of the frequencies) is generated, and if the frequency of this interference wave is close to the carrier frequency of the wireless communication, it will have an adverse effect on the wireless communication. An example of external noise is noise generated by communication between a satellite and a ground communication base and arrives at the vehicle C on which the control device 10 is mounted. Furthermore, such external noise temporarily affects wireless communication depending on the positional relationship with the noise source (the noise only affects the vehicle C when it is in close proximity) and the duration of the noise generating operation (communication, etc.) at the noise generating source (the noise only affects the vehicle C when it is generating the noise).

[0113] The control device 10 according to the fourth embodiment is configured to ensure wireless communication even when noise from the motor 20 and external noise are superimposed and adversely affect wireless communication. The control device 10 according to the fourth embodiment will be described below with reference to Fig. 7 etc.

[0114] 7 is a block diagram showing an example of the configuration of a control device 10 according to the fourth embodiment. As shown in FIG. 7, an acquisition unit 41 of the control device 10 acquires exogenous noise information 53 relating to exogenous noise and stores it in a storage unit 50.

[0115] The exogenous noise information 53 is various environmental information (conditions) when the wireless communication state deteriorates due to exogenous noise. For example, the state of the motor 20 (rotation speed, rotation acceleration) at the time of the most recent wireless communication deterioration, and information on the state of the motor 20 that will cause wireless communication deterioration under the current exogenous noise situation, is an example of the exogenous noise information 53. Note that control based on this example exogenous noise information 53 is the exogenous noise information 53 used in the control example shown in FIG. 8A, which will be described later.

[0116] Other examples of external noise information 53 include information that can be used to estimate a deteriorated state of communication, such as information on the location (location area) and state of the motor 20 when wireless communication deteriorated in the past (deterioration of communication due to external noise can be estimated based on whether the current location and state of the motor 20 match the situation when wireless communication deteriorated in the past), and information on the location of communication bases such as satellite communication that have an adverse effect on wireless communication and communication frequency information for satellite communication (deterioration of communication can be estimated if the current location is near a communication base and the communication frequency of satellite communication and the state of the motor are similar to the signal frequency used for communication).

[0117] The motor control unit 44 of the control device 10 estimates a deterioration in the communication state based on the external noise information 53 and the predicted motor operating state predicted from the drive state information 52, and determines and executes motor operating conditions that avoid the deterioration of the communication state (operating conditions that avoid the motor operating state when the communication state is estimated to be deteriorated), thereby performing noise suppression control. For example, when external noise and noise from the motor 20 are superimposed and adversely affect wireless communication (more specifically, when wireless communication fails), the motor control unit 44 performs noise suppression control to change the operation of the motor 20 from that at the time when the adverse effect on wireless communication occurs. As a result, in the fourth embodiment, it is possible to avoid the occurrence of adverse effects on wireless communication and to reliably perform wireless communication.

[0118] The above-mentioned processing will be described in detail with reference to Fig. 8A, which is a time chart for explaining the communication processing state and the motor control processing state in the control device 10 according to the fourth embodiment.

[0119] 8A, the control device 10 periodically performs wireless communication with the upper control device 100 at times Ta to Tb, Tc to Td, Tf to Tg, Th to Ti, and Tk to Tl. At this time, the control device 10 receives, for example, an open / close signal in response to an instruction to open or close a window. The control device 10 also receives wireless communication information including information indicating a request status for wireless communication with the upper control device 100, and driving status information regarding the driving status of the motor 20. Here, it is assumed that the wireless communication performed between times Tc and Td failed due to adverse effects of superimposed external noise and noise from the motor 20.

[0120] In such a case, the control device 10 acquires, as exogenous noise information, the exogenous noise state and the motor operation state when the wireless communication state has deteriorated at time Te before the timing to start the next wireless communication (time Tf determined based on the received information indicating the required state of wireless communication). In other words, the control device 10 acquires, as exogenous noise information, the exogenous noise state when wireless communication has failed and the motor operation state when wireless communication has failed.

[0121] Then, the control device 10 executes noise suppression control when the next or subsequent wireless communication determined based on the received information indicating the required state of wireless communication is actually performed (times Tf to Tg, Th to Ti). For example, if the predicted motor operation state in the next or subsequent planned communication period is the same as the motor operation state in a state where the wireless communication state has deteriorated, the control device 10 executes noise suppression control based on the exogenous noise information to control the rotation speed of the motor 20 so that the motor operation state in the exogenous noise generation state becomes a state different from the relationship between the exogenous noise state and the motor operation state in a state where the wireless communication state has deteriorated (a state where wireless communication has failed).

[0122] Specifically, the control device 10 controls (applies voltage Va) the rotation speed of the motor 20 to be constant at a value lower than the desired rotation speed A, which is the rotation speed during normal control before the wireless communication state deteriorated, based on the acquired drive status information of the motor-equipped device, and executes noise suppression control (see symbol B10). Note that the motor 20 here has a characteristic that generates less noise as the rotation speed decreases. The control device 10 also performs wireless communication while executing such noise suppression control. Furthermore, if wireless communication fails even with the above control, wireless communication may be attempted while the drive control of the motor 20 is performed in a manner that also excludes the condition for wireless communication failure.

[0123] As a result, in the fourth embodiment, it is possible to make it less likely that wireless communication will fail when wireless communication is actually performed next time (at times Tf to Tg, Th to Ti) after the wireless communication state has deteriorated, and as a result, wireless communication can be performed reliably.

[0124] Then, for example, if wireless communication is successful a set number of times in a row (twice in the example of FIG. 8A), the control device 10 applies voltage V1 to restore the rotation speed of the motor 20 to the original rotation speed (intended rotation speed A) (see time Tj).

[0125] 8A, the control device 10 executes noise suppression control when wireless communication fails once, but this is not limiting. For example, the control device 10 may execute noise suppression control when other conditions are met, such as when wireless communication fails an arbitrarily set number of times in succession.

[0126] In the above description, the control device 10 is configured to restore the rotation speed to the original speed when wireless communication is successful a set number of times in a row after the execution of noise suppression control, but the condition for restoration can also be set arbitrarily. That is, for example, the control device 10 may restore the rotation speed to the original speed when other conditions are met, such as when wireless communication is successful once or when noise suppression control has been executed for a set period of time.

[0127] Next, a modified example of the fourth embodiment will be described with reference to Fig. 8B. Fig. 8B is a time chart illustrating a modified example of the fourth embodiment. Note that this modified example is substantially similar to the fourth embodiment described in Fig. 8A, and therefore only the differences will be described.

[0128] In a modification of the fourth embodiment, as shown in Fig. 8B, the control device 10 uses a communication success rate as external noise information and performs noise suppression control based on the communication success rate. Note that the communication success rate indicates, for example, the ratio of the number of successful wireless communications to the number of recent wireless communications.

[0129] The control device 10 calculates the above-mentioned communication success rate based on the acquired external noise information. In the example of Fig. 8B, it is assumed that wireless communication performed at times Ta to Tb and Tc to Td, which are wireless communication periods, fails, and if the calculated communication success rate is equal to or less than a threshold value D, the control device 10 estimates that the wireless communication has been adversely affected by the superimposed external noise and noise from the motor 20.

[0130] Then, at time Te before the timing to start the next wireless communication (time Tf determined based on received information indicating the required state of wireless communication), if the predicted motor operating state for the next scheduled communication period (times Tf to Tg) is the same as the motor operating state in a state where the wireless communication state has deteriorated, the control device 10 executes noise suppression control to control the rotation speed of the motor 20 so that the relationship between the external noise state and the motor operating state in a state where the wireless communication state has deteriorated (a state where wireless communication has failed) is different.

[0131] Specifically, based on the acquired drive state information of the motor-mounted device and the like, the control device 10 controls the rotation speed of the motor 20 to be constant at a value lower than the expected rotation speed A, which is the rotation speed during normal control before the deterioration of the wireless communication state, and executes noise suppression control (see reference sign B11). The threshold value D is set to a value that can be estimated to cause the wireless communication to fail due to, for example, superimposed external noise and the noise of the motor 20, but is not limited thereto and can be set to any value.

[0132] By executing the noise suppression control in this way, for example, when the wireless communication is actually performed in the subsequent times (times Tf to Tg, Th to Ti), the occurrence of wireless communication failure can be made less likely, and as a result, the wireless communication can be surely performed.

[0133] When the wireless communication is successful and the communication success rate becomes larger than the threshold value D, the control device 10 applies the voltage V1 to return the rotation speed of the motor 20 to the original rotation speed (expected rotation speed A) (see time Tj).

[0134] In the above description, the same threshold value D is used for the condition for executing the noise suppression control and the condition for returning to the original rotation speed, but it is not limited thereto, and different threshold values may be used. That is, for example, if "threshold value D1" is used as the condition for executing the noise suppression control and "threshold value D2" is used as the condition for returning to the original rotation speed, the threshold value D1 is set to be smaller than the threshold value D2 (D1 < D2). By setting the threshold value D1 and the threshold value D2 as described above, it becomes difficult to shift to the noise suppression control and it becomes difficult to return to the original rotation speed, so that the occurrence of chattering in which the shift to the noise suppression control and the return to the original rotation speed are frequently repeated can be suppressed.

[0135] (The Fifth Embodiment) Next, a control device 10 according to a fifth embodiment will be described with reference to FIG. 9. FIG. 9 is a block diagram showing an example of the configuration of a control system 1 according to the fifth embodiment. As shown in FIG. 9, the control system 1 according to the fifth embodiment includes a plurality of control devices 10 (a first control device 10a, a second control device 10b) and a plurality of motors 20 (a first motor 20a, a second motor 20b). Note that, for ease of understanding, FIG. 9 shows an example in which there are two control devices 10 and two motors 20, but this is not limiting and there may be three or more.

[0136] The first motor 20a and the second motor 20b are mounted on different motor-mounted devices, and for example, the first motor 20a is a drive source for in-vehicle devices such as power windows, and the second motor 20b is a drive source for in-vehicle devices such as power seats. Note that these are merely examples and are not limiting.

[0137] The first control device 10a controls the first motor 20a, and the second control device 10b controls the second motor 20b. The first control device 10a and the second control device 10b are configured to be able to communicate wirelessly with the upper control device 100. Note that the first control device 10a and the second control device 10b may also be configured to be able to communicate wirelessly.

[0138] In the following, when the first control device 10a and the second control device 10b are described without any particular distinction, they will be referred to as "control device 10", and when the first motor 20a and the second motor 20b are described without any particular distinction, they will be referred to as "motor 20".

[0139] However, even if the noise generated by the first and second motors 20a and 20b does not adversely affect wireless communication when only one of the first motor 20a and the second motor 20b is driven, it may adversely affect wireless communication when the first and second motors 20a and 20b are driven simultaneously. That is, the noises generated by the first and second motors 20a and 20b may be superimposed, resulting in an increased noise level, or the generation of interference waves with frequencies that adversely affect wireless communication may adversely affect wireless communication.

[0140] Therefore, in the control device 10 of the fifth embodiment, when noise generated in multiple motors 20 is superimposed and adversely affects wireless communication, the noise superimposition state is changed to prevent the generation of noise in a form that adversely affects wireless communication, thereby ensuring reliable wireless communication.

[0141] Specifically, a simultaneous drive pattern / drive control value data table, which stores drive control values ​​for each pattern of simultaneous drive of the multiple motors 20, is stored in advance in the storage unit 50 (see FIG. 3) of the control device 10. For example, for a simultaneous drive pattern of the first motor 20a and the second motor 20b, the drive control value (voltage Va, see FIG. 10A) of the first motor 20a and the drive control value (voltage Vb, see FIG. 10A) of the second motor 20b are stored in the simultaneous drive pattern / drive control value data table.

[0142] The first control device 10a and the second control device 10b then determine the timing (period) for simultaneously driving the first motor 20a and the second motor 20b based on the drive status information acquired by the acquisition unit 41 via wireless communication. When the timing (period) for simultaneously driving the first motor 20a and the second motor 20b arrives, the first control device 10a and the second control device 10b read the drive control value (voltage Va) for the first motor 20a and the drive control value (voltage Vb) for the second motor 20b corresponding to the simultaneous drive pattern of the first motor 20a and the second motor 20b from the simultaneous drive pattern / drive control value data table, and perform drive control of the first motor 20a and the second motor 20b based on the drive control values. After that, when the timing (period) for simultaneously driving the first motor 20a and the second motor 20b has elapsed, the first motor 20a and the second motor 20b are returned to normal drive control.

[0143] The above-mentioned processing will be described in detail with reference to Fig. 10A, which is a time chart illustrating the communication processing state and the motor control processing state in the control device 10 according to the fifth embodiment.

[0144] As shown in FIG. 10A, the first control device 10a and the second control device 10b periodically communicate wirelessly with the host control device 100 at times Ta to Tb, Tc to Td, Tf to Tg, Th to Ti, and Tk to Tl. The first control device 10a receives, for example, an open / close signal in response to a window open / close instruction during the wireless communication periods Ta to Tb, Tc to Td, Tf to Tg, Th to Ti, and Tk to Tl. Meanwhile, the second control device 10b receives, for example, a movement signal in response to a seat movement instruction input by a user during the wireless communication periods Tc to Td and Tf to Tg. The first and second control devices 10a and 10b also receive wireless communication information, including information indicating a request status for wireless communication with the host control device 100, and driving status information regarding the driving status of the corresponding motors 20.

[0145] In the example of Figure 10A, the first control device 10a applies voltage V1 to control the first motor 20a so that the rotation speed of the first motor 20a becomes the desired rotation speed A1, in accordance with the control content of the motor 20 based on the window opening / closing signal obtained at a time before the timing to start wireless communication (time Ta determined based on the received information indicating the required state of wireless communication).

[0146] The acquisition unit 41 of the first control device 10a acquires driving state information of another motor (i.e., second motor 20b) that is a motor different from the first motor 20a during the wireless communication period (times Ta to Tb). The acquisition unit 41 of the second control device 10b acquires driving state information of another motor (i.e., first motor 20a) that is a motor different from the second motor 20b during the wireless communication period (times Ta to Tb).

[0147] Then, the prediction units 42 of the first and second control devices 10a and 10b each predict the predicted other motor operating states, which are the operating states of the other motors during the planned communication period (the next planned communication period (time Tc to Td)), based on the predicted motor operating states described above and the driving state information of the other motors.

[0148] The motor control units 44 of the first and second control units 10a and 10b each determine, at a time before the timing to start the next wireless communication (time Tc determined based on received information indicating the requested state of wireless communication), whether the predicted motor operating state and the predicted other motor operating state will be simultaneously driven during the planned communication period (times Tc to Td).

[0149] In the example of FIG. 10A, simultaneous driving is not performed during the communication scheduled period (times Tc to Td), so the motor control unit 44 of the first control device 10a continues normal control so that the rotation speed of the first motor 20a becomes the desired rotation speed A1.

[0150] When only the first motor 20a is driven, the noise generated by the first motor 20a does not adversely affect wireless communication, so the first control device 10a can reliably perform wireless communication during the wireless communication period (times Tc to Td).Furthermore, the second control device 10b is also in a state where noise from the first motor 20a does not adversely affect wireless communication, so it can reliably perform wireless communication during the wireless communication period (times Tc to Td).

[0151] Next, the acquisition unit 41 of the first control device 10a acquires the driving status information of the first motor 20a and the driving status information of the other motor, the second motor 20b, during the next wireless communication period (times Tc to Td). Similarly, the acquisition unit 41 of the second control device 10b acquires the driving status information of the second motor 20b and the driving status information of the other motor, the first motor 20a, during the next wireless communication period (times Tc to Td).

[0152] Then, the prediction units 42 of the first and second control devices 10a, 10b each predict the predicted other motor operating states, which are the operating states of the other motors during the planned communication period (the next planned communication period (time Tf to Tg)), based on the predicted motor operating states described above and the driving state information of the other motors.

[0153] The motor control units 44 of the first and second control units 10a and 10b each determine, at time Te1 before the timing to start the next wireless communication (time Tf determined based on received information indicating the requested state of wireless communication), whether the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (times Tf to Tg).

[0154] Here, if it is determined that the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (times Tf to Tg), the motor control units 44 of the first and second control devices 10a, 10b each perform noise suppression control on the corresponding motors 20 in accordance with the predicted motor operating state and the predicted other motor operating state to suppress noise generation by each motor during the wireless communication period (times Tf to Tg).

[0155] Specifically, the motor control unit 44 of the second control device 10b references the simultaneous drive pattern / drive control value data table and starts the second motor 20b at time Te1, which is before the expected communication period (times Tf to Tg). At this time, the motor control unit 44 of the second control device 10b applies voltage Vb (drive control value) to the second motor 20b to perform noise suppression control (see symbol B12) so that the second motor 20b rotates at a speed that reduces noise generation by the second motor 20b (a speed lower than the desired speed A2, which is the speed under normal control).

[0156] Furthermore, the motor control unit 44 of the first control device 10a refers to the simultaneous drive pattern / drive control value data table, and at time Te2, which is before the expected communication period (times Tf to Tg), applies voltage Va (drive control value) to the first motor 20a to achieve a rotation speed that reduces noise generation by the first motor 20a (a rotation speed lower than the intended rotation speed A1, which is the rotation speed during normal control) and executes noise suppression control (see symbol B13). Note that the first and second motors 20a and 20b here have a characteristic that reduces generated noise as the rotation speed decreases. Furthermore, the first and second control devices 10a and 10b perform wireless communication while executing this noise suppression control.

[0157] As a result, in the fifth embodiment, when wireless communication is actually performed, the rotation speed of each motor 20 is reduced compared to the rotation speed during normal control, so that the generation of noise that affects wireless communication can be appropriately suppressed, and wireless communication can be performed reliably.

[0158] 10A, the acquisition units 41 of the first and second control devices 10a and 10b each acquire, during the wireless communication period (times Th to Ti), information indicating that the seat movement instruction has ceased as drive state information for the second motor 20b. The prediction units 42 of the first and second control devices 10a and 10b each predict a predicted motor operation state and a predicted other motor operation state based on the drive state information and the like.

[0159] Then, the motor control units 44 of the first and second control devices 10a and 10b each determine, at time Tj before the timing to start the next wireless communication (time Tk determined based on received information indicating the requested state of wireless communication), whether the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (times Tk to Tl).

[0160] 10A, because simultaneous driving is not performed during the communication scheduled period (times Tk to Tl), the motor control unit 44 of the first control device 10a ends the noise suppression control and executes normal control to set the rotation speed of the first motor 20a to the desired rotation speed A1 (in other words, the rotation speed of the first motor 20a is restored to the original rotation speed A1).Furthermore, the motor control unit 44 of the second control device 10b also ends the noise suppression control and stops driving the second motor 20b.

[0161] Next, a first modified example of the fifth embodiment will be described with reference to Fig. 10B, which is a time chart illustrating the first modified example of the fifth embodiment.

[0162] In the control device 10 according to the first modification of the fifth embodiment, when the predicted motor operation state and the predicted other motor operation state are simultaneously driven during the expected communication period, noise suppression control is executed on some of the multiple motors 20. Of the first and second motors 20a, 20b, the motor 20 on which noise suppression control is executed is the motor 20 with a relatively high noise suppression effect (more specifically, the motor 20 that can reduce noise generation relatively significantly by controlling the rotation speed), and in this case is the first motor 20a.

[0163] 10B, the acquisition units 41 of the first and second control devices 10a, 10b each acquire wireless communication information, driving state information of the first motor 20a, and driving state information of the second motor 20b during the wireless communication period (times Tc to Td). Furthermore, the prediction units 42 of the first and second control devices 10a, 10b each predict a predicted motor operating state and a predicted other motor operating state during the next scheduled communication period (times Tf to Tg) based on the acquired wireless communication information and driving state information.

[0164] At time Te1, which is before the timing (time Tf) at which the next wireless communication starts, the motor control units 44 of the first and second control units 10a and 10b each determine whether the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (times Tf to Tg).

[0165] If it is determined that simultaneous driving is occurring, the motor control unit 44 of the second control device 10b starts the second motor 20b (applies voltage Va) at time Te1, which is before the planned communication period (times Tf to Tg), thereby increasing the rotation speed of the second motor 20b and reaching the desired rotation speed A2.

[0166] Meanwhile, the motor control unit 44 of the first control device 10a refers to the simultaneous drive pattern / drive control value data table, and at time Te2 before the expected communication period (times Tf to Tg), applies voltage Va to the first motor 20a to perform noise suppression control (see symbol B14) so ​​as to achieve a rotation speed (lower than the intended rotation speed A1, which is the rotation speed during normal control) that reduces noise generation by the first motor 20a. The first and second control devices 10a, 10b perform wireless communication during the wireless communication period (times Tf to Tg) with this noise suppression control being performed.

[0167] As a result, in the first variant of the fifth embodiment, when wireless communication is actually performed, the rotation speed of the first motor 20a is lower than the rotation speed during normal control, so that the generation of noise that affects wireless communication can be appropriately suppressed, and wireless communication can be performed reliably.

[0168] In this way, in the control device 10 according to the first variant, when the predicted motor operating state and the predicted other motor operating state are simultaneously driven during the planned communication period, noise suppression control is performed on a portion of the multiple motors 20 (here, the first motor 20a).

[0169] As a result, in the first modified example, by performing noise suppression control on the first motor 20a, it is possible to appropriately suppress the generation of noise that would adversely affect wireless communication, for example, when wireless communication is actually performed from the next time onwards (for example, at times Tf to Tg, Th to Ti), and wireless communication can be performed reliably. Also, since the second motor 20b is normally controlled without being subjected to noise suppression control, the user will not feel uncomfortable with the operation of the second motor 20b (here, the operation of the power seat).

[0170] Next, a second modified example of the fifth embodiment will be described with reference to Fig. 10C, which is a time chart illustrating the second modified example of the fifth embodiment.

[0171] In the control device 10 according to the second variant of the fifth embodiment, when the predicted motor operation state and the predicted other motor operation state are simultaneously driven during the planned communication period, noise suppression control is performed to gradually change the rotation speeds of the multiple motors 20.

[0172] 10C, the acquisition units 41 of the first and second control devices 10a, 10b each acquire wireless communication information, driving state information of the first motor 20a, and driving state information of the second motor 20b during the wireless communication period (times Tc to Td). Furthermore, the prediction units 42 of the first and second control devices 10a, 10b each predict a predicted motor operating state and a predicted other motor operating state during the next scheduled communication period (times Tf to Tg) based on the acquired wireless communication information and driving state information.

[0173] At time Te1, which is before the timing (time Tf) at which the next wireless communication starts, the motor control units 44 of the first and second control units 10a and 10b each determine whether the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (times Tf to Tg).

[0174] Here, if it is determined that the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (times Tf to Tg), the motor control units 44 of the first and second control devices 10a, 10b each perform noise suppression control on the corresponding motors 20 in accordance with the predicted motor operating state and the predicted other motor operating state to suppress noise generation by each motor during the wireless communication period (times Tf to Tg).

[0175] Specifically, the motor control unit 44 of the second control device 10b references the simultaneous drive pattern / drive control value data table and starts the second motor 20b at time Te1, which is before the expected communication period (times Tf to Tg). At this time, the motor control unit 44 of the second control device 10b applies voltage Vb1 to the second motor 20b to perform noise suppression control (see symbol B17) so that the second motor 20b rotates at a speed (a speed Ab1 lower than the desired speed A2, which is the speed under normal control) that reduces noise generation by the second motor 20b.

[0176] Furthermore, the motor control unit 44 of the first control device 10a refers to the simultaneous drive pattern / drive control value data table, and at time Te2 before the expected communication period (times Tf to Tg), applies voltage Va1 to the first motor 20a to perform noise suppression control (see symbol B15) so as to achieve a rotation speed (rotation speed Aa1 lower than the intended rotation speed A1, which is the rotation speed during normal control) that reduces noise generation by the first motor 20a. Furthermore, the first and second control devices 10a, 10b perform wireless communication while performing such noise suppression control.

[0177] Next, the acquisition units 41 of the first and second control devices 10a, 10b each acquire wireless communication information, driving state information of the first motor 20a, and driving state information of the second motor 20b during the wireless communication period (times Tf to Tg). Furthermore, the prediction units 42 of the first and second control devices 10a, 10b each predict a predicted motor operating state and a predicted other motor operating state during the next scheduled communication period (times Th to Ti) based on the wireless communication information and the driving state information.

[0178] When the motor control units 44 of the first and second control units 10a and 10b determine at time Tx before the timing (time Th) at which the next wireless communication is to start that the predicted motor operating state and the predicted other motor operating state are to be simultaneously driven during the planned communication period (time Th to Ti), they execute noise suppression control on the corresponding motor 20, which controls the rotation speed of the motor 20 in conjunction with the rotation speed of the other motors, thereby gradually changing the rotation speed of each motor 20.

[0179] Specifically, the motor control unit 44 of the first control device 10a refers to the simultaneous drive pattern / drive control value data table, and at time Tx before the scheduled communication period (times Th to Ti), applies voltage Va2 to the first motor 20a to perform noise suppression control so as to achieve a rotation speed (rotation speed Aa2 lower than the intended rotation speed A1 and lower than the rotation speed Aa1 in the noise suppression control currently being executed) that further reduces the generation of noise by the first motor 20a compared to the noise suppression control currently being executed (see symbol B16).

[0180] Furthermore, the motor control unit 44 of the second control device 10b refers to the simultaneous drive pattern / drive control value data table, and applies voltage Vb2 to the second motor 20b to perform noise suppression control (see symbol B18) at time Tx before the expected communication period (times Tf to Tg) so as to operate in conjunction with the first motor 20a, so as to achieve a rotation speed (rotation speed Ab2 lower than the desired rotation speed A2 and higher than the rotation speed Ab1 in the noise suppression control currently being performed) that increases the generation of noise by the second motor 20b compared to the noise suppression control currently being performed. Furthermore, the first and second control devices 10a, 10b perform wireless communication while performing this noise suppression control.

[0181] In this way, in the second modification of the fifth embodiment, the first control device 10a performs noise suppression control by controlling the rotation speed of the first motor 20a to a value that gradually moves away from the desired rotation speed A1, while the second control device 10b performs noise suppression control by controlling the rotation speed of the second motor 20b to a value that gradually approaches the desired rotation speed A2.

[0182] In this way, in the second variant of the fifth embodiment, when the first and second motors 20a, 20b are driven simultaneously, noise suppression control is performed to gradually change the rotation speeds of the first and second motors 20a, 20b by controlling the rotation speeds of the first and second motors 20a, 20b in conjunction with each other.

[0183] As a result, in the second modified example of the fifth embodiment, when wireless communication is actually performed, the rotation speed of each motor 20 is reduced compared to the rotation speed during normal control, and the rotation speeds of the motors 20 change in conjunction with each other, so that it is possible to appropriately suppress the generation of noise that affects wireless communication and to reliably perform wireless communication. Also, because the rotation speeds of the first and second motors 20a, 20b change in stages, that is, the rotation speeds of the motors do not change suddenly, and the movement of the driven parts (windows and seats) that accompanies this change also changes gradually, it is possible to make it less likely that the user will feel uncomfortable with the operation of the first and second motors 20a, 20b (here, the operation of the power windows and power seats).

[0184] Next, a third modified example of the fifth embodiment will be described with reference to Fig. 10D, which is a time chart illustrating the third modified example of the fifth embodiment.

[0185] In the control device 10 according to the third modification of the fifth embodiment, when the noise suppression control is to stop the motor 20, the noise suppression control is executed to gradually reduce the rotation speed of the motor 20 and stop it. Note that Fig. 10D illustrates an example in which the second motor 20b is stopped during wireless communication (see times Th to Ti).

[0186] 10D, the acquisition unit 41 of the second control device 10b acquires wireless communication information, driving status information of the second motor 20b, and driving status information of the first motor 20a, which is another motor, during the wireless communication period (times Tc to Td). The driving status information of the second motor 20b includes a movement signal corresponding to a seat movement instruction.

[0187] The motor control unit 44 of the second control device 10b starts the second motor 20b (applies voltage Va) at time Te before the timing (time Tf) at which the next wireless communication starts, thereby increasing the rotation speed of the second motor 20b and reaching the desired rotation speed A2.

[0188] Next, the acquisition unit 41 of the second control device 10b acquires the wireless communication information, the driving status information of the first motor 20a, and the driving status information of the second motor 20b during the wireless communication period (times Tf to Tg). At this time, it is assumed that the acquired driving status information of the second motor 20b indicates that the seat movement instruction has ceased.

[0189] Furthermore, the prediction unit 42 of the second control device 10b predicts the predicted motor operation state and the like for the next communication scheduled period (times Th to Ti) based on the wireless communication information and the drive state information. The predicted motor operation state here is such that the drive of the second motor 20b is stopped, and the timing of stopping the drive is assumed to be during the next communication scheduled period (times Th to Ti).

[0190] Here, for example, if the rotation speed of motor 20 suddenly changes (decreases) and stops, as shown by imaginary line B19, the sudden change in current accompanying the change in rotation speed may cause a change in the electric field, that is, noise may be generated that has a negative effect on wireless communication.

[0191] Therefore, the second control device 10b according to the third modification executes noise suppression control (see symbol B20) to gradually reduce the rotation speed of the second motor 20b and stop it during the wireless communication period (Th to Ti (actually, the stop control period Ty to Ti of the motor 20b within the wireless communication period)). In other words, the second control device 10b gradually reduces the rotation speed of the second motor 20b and stops it in a fade-out manner. Furthermore, the first and second control devices 10a, 10b perform wireless communication during the wireless communication period (here, times Th to Ti) while executing such noise suppression control.

[0192] In this way, in the third modification, when the second motor 20b is stopped during wireless communication, the rotation speed gradually decreases and the second motor 20b is stopped, which makes it difficult for noise that adversely affects wireless communication to occur. As a result, in the third modification, wireless communication during the wireless communication period when the second motor 20b is stopped (here, from time Th to Ti) is less susceptible to noise and can be performed reliably.

[0193] (Sixth embodiment) Next, a control device 10 according to a sixth embodiment will be described. The importance and urgency of wireless communication in the control device 10 vary depending on the content. In the sixth embodiment, noise suppression control is performed according to the importance and urgency of wireless communication.

[0194] Specifically, the control device 10 acquires the importance and urgency of the wireless communication as wireless communication information. The control device 10 may acquire the wireless communication information stored in advance in the storage unit 50 (see FIG. 3) or may acquire it from the upper control device 100.

[0195] Here, the importance of wireless communication will be explained. For example, information relating to the driving of vehicle C (information indicating accelerator and brake operation, vehicle speed information, etc.) is necessary for rapid control and requires prompt notification, so the importance is set to be relatively high. Also, for example, information relating to in-vehicle devices (information relating to power windows, power seats, air conditioners, wipers, etc.) is used for control that does not require rapid notification, so the importance is set to be medium. Also, for example, information relating to the human environment of vehicle C (information on outside temperature, inside temperature, weather, etc.) is simply displayed for reference to the driver, etc., so the importance is set to be relatively low and prompt notification is not required.

[0196] Regarding the urgency of wireless communication, for example, abnormality information and error information are set to a relatively high urgency. Also, for example, information that is periodically transmitted and received is set to a relatively low urgency. Note that the above-mentioned importance and urgency settings are merely examples and are not limiting.

[0197] It is preferable that the wireless communication of the above-mentioned information having a relatively high level of importance or urgency is performed without being adversely affected by noise generated in the motor 20. Therefore, in the control device 10 according to the sixth embodiment, noise suppression control is executed when wireless communication of information having a relatively high level of importance or urgency is performed.

[0198] Specifically, in the sixth embodiment, the wireless communication information includes information indicating the importance of the information transmitted by wireless communication. Note that the wireless communication information may include information indicating the type of the information transmitted by wireless communication, and the control device 10 may determine the importance of the information based on the information indicating the importance of the information. In this case, the control device 10 determines the importance of the information using, for example, a data table indicating the relationship between the type of information and the importance.

[0199] The acquisition unit 41 of the control device 10 then acquires wireless communication information including importance information indicating the importance of the information communicated wirelessly. The motor control unit 44 of the control device 10 uses the importance of the information in the wireless communication information acquired by the acquisition unit 41 to calculate a wireless communication period during which important information is transmitted and received, i.e., a period during which noise suppression control of the motor 20 should be performed. The motor control unit 44 then performs noise suppression control of the motor 20 during the calculated period during which noise suppression control should be performed. Note that during periods other than this period, the motor control unit 44 performs normal motor control. Furthermore, various types of noise suppression control such as those described above can be applied to the noise suppression control of the motor 20.

[0200] Furthermore, the acquisition unit 41 of the control device 10 acquires wireless communication information including urgency information indicating the urgency of the information transmitted by wireless communication. The motor control unit 44 of the control device 10 uses the urgency of the information in the wireless communication information acquired by the acquisition unit 41 to calculate a wireless communication period during which the emergency information is transmitted and received, i.e., a period during which noise suppression control of the motor 20 should be performed, and performs noise suppression control of the motor 20 during the calculated period.

[0201] The above-mentioned processing will be described in detail with reference to Fig. 11. Fig. 11 is a time chart for explaining the communication processing state and the motor control processing state in the control device 10 according to the sixth embodiment.

[0202] As shown in FIG. 11, it is assumed that wireless communication of information with a relatively high level of importance or urgency is carried out during wireless communication periods from time Tf to Tg and from time Th to Ti.

[0203] Specifically, the control device 10 periodically performs wireless communication with the upper control device 100 at times Ta to Tb, Tc to Td, Tf to Tg, Th to Ti, and Tk to Tl. In the example of Fig. 11, the acquisition unit 41 of the control device 10 receives, during the wireless communication period (times Tc to Td), information indicating a wireless communication request state, wireless communication information including importance information and urgency information, and driving state information of the motor 20. The wireless communication information includes information indicating that important information with a relatively high importance will be communicated during the next scheduled communication period (times Tf to Tg), and that emergency information with a relatively high urgency will be communicated during the next scheduled communication period (times Th to Ti).

[0204] In addition, the prediction unit 42 of the control device 10 predicts the rotation speed of the motor 20 in the next communication scheduled period (time Tf to Tg) and the period after that (time Tf to Tg) as a predicted motor operating state based on the wireless communication information and driving state information acquired by the acquisition unit 41.

[0205] Then, the motor control unit 44 of the control device 10 executes noise suppression control according to the predicted motor operating state, the importance information, and the urgency information. Specifically, when the rotation speed (predicted motor operating state) of the motor 20 during the planned communication period (here, times Tf to Tg and times Tf to Tg) during which important information and emergency information are transmitted and received becomes a rotation speed that adversely affects wireless communication (for example, expected rotation speed A), the motor control unit 44 calculates a period during which noise suppression control should be executed, including the wireless communication period (times Tf to Tg and times Tf to Tg).

[0206] Then, the motor control unit 44 performs noise suppression control of the motor 20 during the calculated period. For example, the motor control unit 44 performs noise suppression control (see symbol B21) by controlling (applying voltage Va) the rotation speed of the motor 20 so that it remains constant at a value lower than the desired rotation speed A, which is the rotation speed during normal control. Note that the motor 20 here has a characteristic that generates less noise as the rotation speed decreases. Then, the control device 10 performs wireless communication of information of relatively high importance or urgency while performing such noise suppression control.

[0207] Then, when the period for performing noise suppression control ends, the control device 10 applies voltage V1 to restore the rotation speed of the motor 20 to the original rotation speed (intended rotation speed A), and ends the noise suppression control (see time Tj).

[0208] In this way, in the sixth embodiment, noise suppression control is performed according to the importance and urgency of the information, which makes it possible to perform wireless communication of information of relatively high importance or urgency in a state that is less susceptible to the influence of noise generated in the motor 20, and ensures that such wireless communication can be performed reliably.

[0209] In the above description, the control device 10 performs noise suppression control using both the importance and urgency of wireless communication, but this is not limited to this, and noise suppression control may be performed using at least one of the importance and urgency.

[0210] (Seventh embodiment) Next, a control device 10 according to a seventh embodiment will be described. For example, in a control system 1 as shown in Fig. 9, wireless communication may be performed by making the upper control device 100 function as a master device and the first and second control devices 10a and 10b function as slave devices.

[0211] In this case, the communication timing at which the first control device 10a performs wireless communication with the host control device 100 and the communication timing at which the second control device 10b performs wireless communication with the host control device 100 may differ. Therefore, even if each control device 10 independently performs motor control for noise suppression, noise generated in the first motor 20a driven by the first control device 10a may adversely affect the wireless communication between the second control device 10b and the host control device 100. Conversely, noise generated in the second motor 20b driven by the second control device 10b may adversely affect the wireless communication between the first control device 10a and the host control device 100.

[0212] Therefore, the control device 10 according to the seventh embodiment acquires information indicating the request state of wireless communication on a plurality of communication lines, in other words, information related to the wireless communication of another control device (here, the first control device 10a or the second control device 10b) as wireless communication information, and executes noise suppression control in accordance with the acquired information related to the wireless communication of the other control device. Note that the information related to the wireless communication of the other control device includes communication schedule information indicating the communication timing of the wireless communication.

[0213] Here, the above-mentioned communication schedule information is assumed to be transmitted simultaneously at predetermined time intervals from the upper control device 100, which is the master device, to the first and second control devices 10a, 10b, which are slave devices. Note that the upper control device 100 may perform communication quality improvement processing, such as transmitting the communication schedule information to the first and second control devices 10a, 10b multiple times, in order to increase the reliability of communication of the communication schedule information.

[0214] Furthermore, the method of transmitting the communication schedule information is not limited to the above. For example, the upper control device 100 may transmit the communication schedule information to the first and second control devices 10a and 10b by individually performing polling communication.

[0215] The communication schedule information may also be generated (estimated) and acquired by the first and second control devices 10a and 10b themselves. For example, the first control device 10a receives wireless communications between itself and the upper control device 100, and wireless communications between the second control device 10b and the upper control device 100. The first control device 10a may then measure the intervals between the received wireless communications and generate communication schedule information based on the communication intervals. Note that the second control device 10b may also generate communication schedule information using a similar method.

[0216] The control device 10 then executes noise suppression control of the motor 20 in accordance with the communication schedule information acquired as described above. Specifically, the control device 10 predicts each planned communication period, which is a period during which wireless communication is predicted to occur on each communication line, based on the wireless communication information, and predicts each predicted motor operating state, which is the operating state of the motor 20 during each planned communication period, based on the drive state information. The control device 10 then executes noise suppression control on the motor 20 in accordance with each predicted motor operating state, which suppresses noise generation by the motor 20 during each wireless communication period. More specifically, the control device 10 executes noise suppression control on the motor 20 during each wireless communication period in which the motor 20 generates noise that adversely affects wireless communication.

[0217] More specifically, in the seventh embodiment, the first control device 10a acquires, based on wireless communication information or the like, a communication schedule between the first control device 10a (its own device) and the second control device 10b (another device) and the upper control device 100. Furthermore, the second control device 10b acquires, based on wireless communication information or the like, a communication schedule between the first control device 10a (another device) and the second control device 10b (its own device).

[0218] Then, based on the acquired communication schedule, each motor control unit 44 of the first control unit 10a and the second control unit 10b determines the combined period for expected communication between the first control unit 10a and the upper control unit 100 and the period for expected communication between the second control unit 10b (another device) and the upper control unit 100 as the period for executing noise suppression control of the motor 20. This expected communication period is the period during which the motor 20 generates noise that adversely affects wireless communication.

[0219] Then, each motor control unit 44 of the first control unit 10a and the second control unit 10b performs noise suppression control of the motor 20 during the determined period for which noise suppression control should be performed. Note that, during periods other than the determined period, each motor control unit 44 of the first control unit 10a and the second control unit 10b performs normal motor control. Furthermore, various types of noise suppression control as described above can be applied to the noise suppression control of the motor 20.

[0220] The above-mentioned processing will be described in detail with reference to Fig. 12. Fig. 12 is a diagram showing an example of a processing sequence executed by the control device 10 and the like according to the seventh embodiment.

[0221] 12, first, the upper control device 100 and the first control device 10a execute wireless communication (step S100). Before this initial wireless communication between the upper control device 100 and the first control device 10a, the first control device 10a has not acquired communication schedule information, and this communication is performed based on an initial communication request from the upper control device 100 or the first control device 10a. At this time, the wireless communication includes communication schedules between the first control device 10a and the second control device 10b and the upper control device 100, and therefore the first control device 10a acquires these communication schedules.

[0222] Next, the first control device 10a determines that there is no wireless communication period based on the communication schedule, and drives the first motor 20a under normal control (step S101).

[0223] Next, the upper control device 100 and the second control device 10b execute wireless communication (step S102). Note that before this initial wireless communication between the upper control device 100 and the second control device 10b, the second control device 10b has not acquired communication schedule information, and this communication is performed based on an initial communication request from the upper control device 100 or the second control device 10b. On the other hand, during this wireless communication (step S102), the first control device 10a determines that it is a period in which noise suppression control should be performed based on the acquired communication schedule information, and executes noise suppression control (step S103).

[0224] This prevents the first motor 20a from generating noise that could adversely affect the wireless communication between the upper control device 100 and the second control device 10b, ensuring reliable wireless communication in step S102.

[0225] Next, when the wireless communication between the upper control device 100 and the second control device 10b is completed, the first control device 10a determines based on the communication schedule that there is no wireless communication period and drives the first motor 20a under normal control (step S104).Furthermore, the second control device 10b determines based on the communication schedule acquired through the wireless communication in step S102 that there is no wireless communication period and drives the second motor 20b under normal control (step S105).

[0226] Next, the upper control device 100 and the first control device 10a perform wireless communication based on the communication schedule (step S106). The first control device 10a determines, based on the acquired communication schedule information, that the wireless communication period of step S106 has begun, and performs noise suppression control of the first motor 20a during that wireless communication period (step S107). Similarly, the second control device 10b determines, based on the acquired communication schedule information, that the wireless communication period of step S106 has begun, and performs noise suppression control of the second motor 20b during that wireless communication period (step S108).

[0227] This prevents the first and second motors 20a, 20b from generating noise that could adversely affect the wireless communication between the upper control device 100 and the first control device 10a, ensuring reliable wireless communication in step S106.

[0228] Next, when the wireless communication between the upper control device 100 and the first control device 10a is completed, the first control device 10a determines based on the communication schedule that there is no wireless communication period and drives the first motor 20a under normal control (step S109). Similarly, the second control device 10b determines based on the communication schedule that there is no wireless communication period and drives the second motor 20b under normal control (step S110).

[0229] In this way, each control device 10 (here, the first control device 10a or the second control device 10b) according to the seventh embodiment is configured to perform noise suppression control in accordance with information related to wireless communication of another control device (here, the second control device 10b or the first control device 10a). This makes it possible to appropriately suppress the generation of noise that adversely affects the wireless communication of the first control device 10a or the second control device 10b in the first and second motors 20a, 20b, and ensures reliable wireless communication.

[0230] Next, a modification of the seventh embodiment will be described. The range in which noise adversely affects wireless communication for the motor 20 (first and second motors 20a, 20b) shown in Fig. 9 may vary depending on, for example, the positional relationship with the first control device 10a and the second control device 10b, the mounting position of the motor 20, and the like.

[0231] As an example, the noise generated by the second motor 20b may not have a negative effect on wireless communication between the upper control device 100 and the second control device 10b, but may have a negative effect on wireless communication between the upper control device 100 and the first control device 10a, thereby limiting the negative effects of the noise.

[0232] Therefore, in the control device 10 according to the modification of the seventh embodiment, the driving state information regarding the driving state of the motor 20 includes information on whether or not there is an adverse effect (or the driving state of the motor that has an adverse effect) on wireless communication in each control device 10 (e.g., the first control device 10a and the second control device 10b). Then, when wireless communication in each control device (e.g., the first control device 10a and the second control device 10b) is actually performed, the control device 10 (e.g., the first control device 10a and the second control device 10b) executes corresponding noise suppression control for each motor 20 (the first motor 20a and the second motor 20b) based on the driving state information (information on whether or not each motor 20 has an adverse effect on the wireless communication).

[0233] An example of the above-mentioned processing (processing content in a certain example situation) will be described in detail with reference to Fig. 13. Fig. 13 is a diagram showing an example of a processing sequence executed by the control device 10 etc. according to a modified example of the seventh embodiment.

[0234] 13, first, the upper control device 100 and the second control device 10b execute wireless communication (step S200). Before this initial wireless communication between the upper control device 100 and the second control device 10b, the second control device 10b has not acquired communication schedule information, and this communication is performed based on an initial communication request from the upper control device 100 or the second control device 10b. At this time, the wireless communication includes communication schedules between the second control device 10b and the first control device 10a and the upper control device 100, and therefore the second control device 10b acquires these communication schedules.

[0235] Next, the upper control device 100 and the first control device 10a execute wireless communication (step S201). Note that before this initial wireless communication between the upper control device 100 and the first control device 10a, the first control device 10a has not acquired communication schedule information, and this communication is performed based on an initial communication request from the upper control device 100 or the first control device 10a. As a result, the first control device 10a, like the second control device 10b, acquires the communication schedule between the upper control device 100 and the first control device 10a and the second control device 10b.

[0236] Furthermore, in the wireless communication of steps S200 and S201, driving state information including information on whether the first motor 20a and the second motor 20b adversely affect the wireless communication of each control device 10 (for example, the first control device 10a and the second control device 10b) is also transmitted and received. In this example, the first and second control devices 10a and 10b acquire driving state information indicating that noise generated by the second motor 20b adversely affects the wireless communication between the upper control device 100 and the first control device 10a but does not adversely affect other wireless communications.

[0237] Next, the first control device 10a drives the first motor 20a under normal control based on the acquired communication schedule information (step S202), and the second control device 10b drives the second motor 20b under normal control based on the acquired communication schedule information (step S203).

[0238] When the second motor 20b is driven under normal control, the host control device 100 and the second control device 10b perform wireless communication based on the communication schedule (step S204). Here, the driving state information includes information indicating that noise generated in the second motor 20b does not adversely affect the wireless communication between the host control device 100 and the second control device 10b, so the second control device 10b continues normal control of the second motor 20b.

[0239] Furthermore, if this period is the driving period of the first motor 20a, the driving status information includes information indicating that the noise generated by the first motor 20a does not adversely affect the wireless communication between the upper control device 100 and the second control device 10b, and therefore the first control device 10a continues normal control of the first motor 20a.

[0240] Next, the host control device 100 and the first control device 10a perform wireless communication based on the communication schedule (step S203). The second control device 10b determines that the wireless communication period of step S203 has begun based on the acquired communication schedule information. Furthermore, since the driving state information includes information indicating that noise generated by the second motor 20b adversely affects the wireless communication between the host control device 100 and the first control device 10a, the second control device 10b performs noise suppression control of the second motor 20b during the wireless communication period of step S203 (step S206).

[0241] Furthermore, if this period is the driving period of the first motor 20a, the driving status information includes information indicating that the noise generated by the first motor 20a does not adversely affect the wireless communication between the upper control device 100 and the first control device 10a, and therefore the first control device 10a continues normal control of the first motor 20a.

[0242] This prevents the second motor 20b from generating noise that could adversely affect the wireless communication between the upper control device 100 and the first control device 10a, ensuring reliable wireless communication in step S205.

[0243] Next, when wireless communication between the upper control device 100 and the first control device 10a is completed, the second control device 10b determines that there is a period of no wireless communication based on the communication schedule, and drives the second motor 20b under normal control (step S207).

[0244] In this way, in each control device 10 (here, the first control device 10a or the second control device 10b) according to the modified example of the seventh embodiment, if the drive state information includes information indicating the occurrence state of noise that affects wireless communication in another control device (here, the second control device 10b or the first control device 10a), noise suppression control is executed when wireless communication in the other control device is actually performed. This makes it possible to appropriately suppress the occurrence of noise that could adversely affect the wireless communication of the control device 10 in the motor 20, thereby ensuring reliable wireless communication.

[0245] Furthermore, in a modification of the seventh embodiment, if the noise of the motor 20 does not affect the wireless communication of the control device 10, the noise suppression control is not executed for the motor 20. This allows the noise suppression control to be executed for the minimum amount of the motor 20 necessary for noise suppression, thereby reducing the effect on the operation of the motor 20.

[0246] Furthermore, the present invention is not limited to the rotary electromagnetic motors described above, but can be applied to various electromagnetic drive devices that generate electromagnetic noise, such as linear drive motors, and provides similar effects.

[0247] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0248] 10 Control device 20 Motor 40 Control unit (controller) 100 Upper control device

Claims

1. A controller for controlling the motor is provided. The controller acquires wireless communication information including information indicating a wireless communication request state and driving state information including information regarding a driving state of the motor; predicting a communication schedule period, which is a period during which wireless communication is expected to be performed, based on the wireless communication information; predicting a predicted motor operation state, which is an operation state of the motor during the communication scheduled period, based on the drive state information; when it is determined that the predicted motor operating state is an operating state that adversely affects wireless communication, a noise suppression control is performed on the motor to suppress noise generation by the motor during a wireless communication period by controlling the rotation speed of the motor to accelerate the motor so that the rotation acceleration is different from the rotation acceleration of the motor in the predicted motor operating state. Motor control device.

2. The controller When it is determined that the predicted motor operating state is an operating state that adversely affects wireless communication, the noise suppression control is executed to control the rotation speed of the motor so that the rotation speed is different from the rotation speed of the motor in the predicted motor operating state. The motor control device according to claim 1 .

3. The controller When the noise suppression control is a control to stop the motor, the noise suppression control is executed to gradually reduce the rotation speed of the motor and stop it. The motor control device according to claim 2 .

4. The controller When the predicted motor operation state indicates that the rotation speed of the motor during the scheduled communication period is within a rotation speed range that adversely affects wireless communication, the noise suppression control is executed to control the rotation speed of the motor during the wireless communication period so that the rotation speed of the motor is maintained at a rotation speed outside the rotation speed range. The motor control device according to any one of claims 1 to 3.

5. The controller When the predicted motor operation state indicates that the rotational acceleration of the motor during the planned communication period is within a rotational acceleration range that adversely affects wireless communication, the noise suppression control is executed to control the rotation speed of the motor so that the rotational acceleration of the motor during the wireless communication period is maintained at a rotational acceleration outside the rotational acceleration range. The motor control device according to any one of claims 1 to 4.

6. The controller predicting a noise generation state for the predicted motor operating state based on a data table storing noise generation states for the motor operating state, and executing the noise suppression control on the motor in accordance with the predicted noise generation state; The motor control device according to any one of claims 1 to 5.

7. A controller for controlling a motor, The controller acquires wireless communication information including information indicating a wireless communication request state and driving state information including information regarding a driving state of the motor; predicting a communication schedule period, which is a period during which wireless communication is expected to be performed, based on the wireless communication information; predicting a predicted motor operation state, which is an operation state of the motor during the communication scheduled period, based on the drive state information; Acquire external noise information about external noise, executing noise suppression control on the motor to suppress noise generation by the motor during a wireless communication period in accordance with the predicted motor operation state and the external noise information; Motor control device.

8. The controller acquiring, as the external noise information, an external noise state and a motor operation state in a state where the wireless communication state is deteriorated; and executing the noise suppression control to control the rotation speed of the motor in a state where the external noise is generated based on the external noise information so that the motor operation state is different from the relationship between the external noise state and the motor operation state in a state where the wireless communication state is deteriorated. The motor control device according to claim 7.

9. The controller Acquire driving state information of another motor that is a motor different from the motor; predicting a predicted other motor operation state, which is an operation state of the other motor during the communication scheduled period, based on the drive state information of the other motor; executing the noise suppression control on the motor to suppress generation of noise by the motor during a wireless communication period in accordance with the predicted motor operation state and the predicted other motor operation state; The motor control device according to any one of claims 1 to 8.

10. The controller When the predicted motor operation state and the predicted other motor operation state are simultaneously driven during a communication scheduled period, the noise suppression control is executed on the motor to suppress noise generation by the motor during a wireless communication period. The motor control device according to claim 9.

11. The controller the noise suppression control is executed on the motor by controlling the rotation speed of the motor in conjunction with the rotation speed of the other motor, and changing the rotation speed of the motor in a stepwise manner. The motor control device according to claim 10.

12. A controller for controlling a motor, The controller acquires wireless communication information including information indicating a wireless communication request state and driving state information including information regarding a driving state of the motor; predicting a communication schedule period, which is a period during which wireless communication is expected to be performed, based on the wireless communication information; predicting a predicted motor operation state, which is an operation state of the motor during the communication scheduled period, based on the drive state information; acquiring the wireless communication information including importance information of the wireless communication; executing noise suppression control on the motor to suppress noise generation by the motor during a wireless communication period in accordance with the predicted motor operation state and the importance information; Motor control device.

13. The controller acquiring wireless communication information including information indicating a request state of wireless communication in a plurality of communication lines; predicting each communication schedule period, which is a period during which wireless communication is expected to be performed on each communication line, based on the wireless communication information; predicting each predicted motor operation state, which is an operation state of the motor during each communication scheduled period, based on the drive state information; executing the noise suppression control on the motor to suppress noise generation by the motor during each wireless communication period in accordance with each predicted motor operation state; The motor control device according to any one of claims 1 to 12.

14. The controller executing the noise suppression control on the motor during each of the wireless communication periods in which the motor generates noise that adversely affects wireless communication; The motor control device according to claim 13.

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