Motor control device

Abstract

To improve reliability of a motor control device of an opening / closing body of a vehicle.SOLUTION: A door control device controls a motor so as to enable transition from a normal constant-speed section SC1 to a slow-stop section SC2 when a window glass WG is moved to a fully-closed position Pc. In the normal constant-speed section SC1, a constant battery voltage is applied to the motor from the fully-open position Po to the slow-start position P0. In the slow-stop section SC2, a motor-applied voltage is decreased as the window glass approaches the fully-closed position Pc from the slow-start position P0. When the motor-applied voltage becomes a switching voltage, the switching voltage is applied to the motor until the window glass WG reaches the fully-closed position Pc. The door control device sets the switching voltage according to the number of operations that the window glass WG was operated.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a motor control device that controls a motor for driving an opening / closing body of a vehicle.

Background Art

[0002] Patent Document 1 describes an opening / closing body drive motor that sets a voltage value equal to or higher than the motor applied voltage at a point in time when the rotational speed of the motor body becomes equal to or lower than a second threshold value that is higher than a first threshold value, to the motor applied voltage from that point in time until the opening / closing body reaches the end position and stop control is executed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As a result of the inventors' detailed examination, depending on the magnitude of the second threshold value, there is a problem that a voltage more than necessary may be applied to the motor, resulting in a large collision sound when the opening / closing body reaches the end position, or there is a risk that the necessary voltage may not be applied to the motor and the opening / closing body may not be able to reach the end position.

[0005] An object of the present disclosure is to improve the reliability of a motor control device for an opening / closing body of a vehicle.

Means for Solving the Problems

[0006] One aspect of the present disclosure is a motor control device (1) that controls a motor (3) for generating a driving force to automatically open and close an opening / closing body (WG) provided in a vehicle between a fully open position and a fully closed position, the motor control device (1) including a control unit (12) and a switching voltage setting unit (S240).

[0007] The control unit is configured to control the motor so that it transitions from a normal constant speed section to a slow stop section when moving the switch towards the fully closed position. In the normal constant speed section, a constant normal constant speed voltage is applied to the motor from the fully open position to a slow start position set between the fully open and fully closed positions. In the slow stop section, the motor voltage applied to the motor is reduced as the switch approaches the fully closed position from the slow start position, and when the motor voltage reaches a preset switching voltage, the switching voltage is applied to the motor until the switch reaches the fully closed position.

[0008] The switching voltage setting unit is configured to set the switching voltage according to the number of times the switch has been operated. The motor control device of the present disclosure configured in this manner can change the motor applied voltage when the opening / closing body reaches the fully closed position according to the number of operations. Therefore, even when the load on the opening / closing body fluctuates according to the number of operations, the motor control device of the present disclosure can set an appropriate motor applied voltage according to the number of operations that will allow the opening / closing body to reach the fully closed position and will not cause excessive noise when the opening / closing body reaches the fully closed position. As a result, the motor control device of the present disclosure can suppress situations in which the opening / closing body does not close completely, and can suppress situations in which the noise when the opening / closing body reaches the fully closed position causes discomfort to the occupants of the vehicle, thereby improving the reliability of the motor control device. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing the configuration of the power window system according to the first embodiment. [Figure 2] This graph shows the change in the motor applied voltage during the origin setting process. [Figure 3] This is a flowchart showing the initial setup process. [Figure 4] This graph shows the change in motor rotation speed during the origin setting process. [Figure 5]This graph shows the relationship between the window position and the motor applied voltage when moving to the fully closed position. [Figure 6] This is a flowchart showing the voltage setting process. [Figure 7] This is a block diagram showing the configuration of the power window system according to the second embodiment. [Figure 8] This is a flowchart showing the process for setting the outside temperature. [Modes for carrying out the invention]

[0010] [First Embodiment] A first embodiment of this disclosure is described below with reference to the drawings. The power window system 1 of this embodiment is mounted on a vehicle and, as shown in Figure 1, comprises a door control device 2, a motor 3, a rotation detection sensor 4, an operating unit 5, and a battery 6.

[0011] Motor 3 is installed on each vehicle door to automatically open and close the window glass WG of the vehicle door. Figure 1 shows the configuration for one door. The rotation detection sensor 4 detects the rotation of the motor 3. The rotation detection sensor 4 is configured, for example, using a magnet that rotates integrally with the rotor of the motor 3 and a Hall IC for magnetic detection, and outputs a pulse signal at predetermined rotation angles as a detection signal synchronized with the rotation of the rotor.

[0012] The control unit 5 is located in a place accessible to the vehicle occupants. The control unit 5 includes a close switch, an open switch, and an auto switch. The close switch is a switch that operates the window glass WG toward the fully closed position when it is operated in the ON position. The open switch is a switch that operates the window glass WG toward the fully open position when it is operated in the ON position. The auto switch is a switch that, when operated in the ON position, continues to operate the window glass WG until it reaches the fully closed or fully open position, even after it has returned to the OFF position.

[0013] The battery 6 supplies power to each part of the vehicle at a DC battery voltage VB (e.g., 12V). The door control device 2 operates by receiving power supply from the battery 6, and opens and closes the window glass WG by driving the motor 3 based on the signal from the rotation detection sensor 4 and the operation states of the switches constituting the operation unit 5.

[0014] The door control device 2 includes a motor drive circuit 11 and a control unit 12. The motor drive circuit 11 is constituted by, for example, an H-bridge circuit, and applies the battery voltage VB of positive or negative polarity to the motor 3 according to the PWM signal which is a drive signal supplied from the control unit 12. That is, the rotation direction of the motor 3, and thus the moving direction of the window glass WG (i.e., the opening direction or the closing direction) is controlled by the polarity of the battery voltage VB applied to the motor 3. Also, the rotation speed of the motor 3, and thus the moving speed of the window glass WG is controlled by the applied voltage of the motor 3 determined by the duty of the PWM signal. The applied voltage of the motor 3 is VB when driven by a PWM signal with a duty of 100%, and is VB / 2 when driven by a PWM signal with a duty of 50%.

[0015] The control unit 12 is an electronic control device mainly constituted by a microcomputer including a CPU 21, a ROM 22, a RAM 23, etc. Various functions of the microcomputer are realized by the CPU 21 executing a program stored in a non-transitory tangible recording medium. In this example, the ROM 22 corresponds to the non-transitory tangible recording medium storing the program. Also, by executing this program, a method corresponding to the program is executed. Note that a part or all of the functions executed by the CPU 21 may be configured hardware-wise by one or a plurality of ICs, etc. Also, the number of microcomputers constituting the control unit 12 may be one or plural.

[0016] After the power window system 1 is mounted on the vehicle at the vehicle factory, an origin setting process is performed in which the fully closed position of the window glass WG is set as the origin position. When the origin setting process is executed, as shown in FIG. 2, the control unit 12 drives the motor 3 at a duty ratio of 100% (i.e., the battery voltage VB) from the fully open position to the fully closed position of the window glass WG, thereby moving the window glass WG from the fully open position to the fully closed position. When the rotational speed of the motor 3 becomes equal to or lower than a predetermined threshold value, the control unit 12 determines that the window glass WG has reached the fully closed position, stops driving the motor 3, and further sets the position of the window glass WG at the current time (hereinafter referred to as the window position) as the origin position. Specifically, the control unit 12 sets the origin position of the window glass WG by setting the value of the window position counter to 0.

[0017] When a pulse signal is input from the rotation detection sensor 4, the control unit 12 determines whether the window glass WG is in the opening operation or the closing operation. When the window glass WG is in the opening operation, the control unit 12 increments (i.e., adds 1) the window position counter, and when the window glass WG is in the closing operation, the control unit 12 decrements (i.e., subtracts 1) the window position counter. Thereby, the control unit 12 can detect the window position based on the value of the window position counter.

[0018] Next, the procedure of the initial setting process executed by the control unit 12 will be described. The initial setting process is started simultaneously with the start of the origin setting process. When the initial setting process is executed, as shown in FIG. 3, the CPU 21 of the control unit 12 determines in S10 whether the above-described origin setting process is being executed. Here, when the origin setting process has ended, the CPU 21 proceeds to S40.

[0019] On the other hand, when the origin setting process is being executed, the CPU 21 calculates the rotational speed of the motor 3 based on the pulse signal input from the rotation detection sensor 4 in S20. The CPU 21 stores the rotational speed calculated in S20 in the RAM 23 in S30 and then proceeds to S10.

[0020] When the process transitions to S40, the CPU21 extracts the minimum motor rotation speed from among the multiple motor rotation speeds stored in RAM23, and uses this as the minimum rotation speed value Rmin. In S50, CPU21 determines whether the minimum rotational speed Rmin is greater than or equal to a pre-set speed threshold J1. If the minimum rotational speed Rmin is less than the speed threshold J1, CPU21 performs the first setting described later in S60 and terminates the initial setup process. On the other hand, if the minimum rotational speed Rmin is greater than or equal to the speed threshold J1, CPU21 performs the second setting described later in S70 and terminates the initial setup process.

[0021] The first setting is the process of setting the first, second, and third switching counts, which will be described later, to the first count N1, second count N2, and third count N3, respectively. The second count N2 is greater than the first count N1. The third count N3 is greater than the second count N2.

[0022] Furthermore, the first setting sets the first switching voltage to the first low-speed section voltage V1, the second switching voltage to the second low-speed section voltage V2, and the third switching voltage to the third low-speed section voltage V3. The second low-speed section voltage V2 is smaller than the first low-speed section voltage V1. The third low-speed section voltage V3 is smaller than the second low-speed section voltage V2.

[0023] The second setting is the process of setting the first and second switching counts to the fourth count N4 and fifth count N5, respectively. The fifth count N5 is greater than the fourth count N4. The third switching count is not set in the second setting.

[0024] Furthermore, the second setting sets the first switching voltage to the fourth low-speed section voltage V4 and the second switching voltage to the fifth low-speed section voltage V5. The fifth low-speed section voltage V5 is smaller than the fourth low-speed section voltage V4. Furthermore, the voltage V1 in the first low-speed section is greater than the voltage V4 in the fourth low-speed section, and the voltage V2 in the second low-speed section is greater than the voltage V5 in the fifth low-speed section.

[0025] Figure 4 shows the change in motor rotation speed when the window glass WG moves from the fully open position to the fully closed position during the origin setting process. As shown by line L1 in Figure 4, if the minimum value of the motor rotation speed during the origin setting process (i.e., the minimum rotation speed Rmin) is greater than or equal to the speed threshold J1, the second setting described above is performed. As shown by line L2 in Figure 4, if the minimum value of the motor rotation speed during the origin setting process (i.e., the minimum rotation speed Rmin) is less than the speed threshold J1, the first setting described above is performed.

[0026] In other words, the first setting is for when the load on the window glass WG due to the glass run is large, and the second setting is for when the load on the window glass WG due to the glass run is small.

[0027] Figure 5 shows the relationship between the window position and the motor applied voltage when the window glass WG is moved from the fully open position to the fully closed position. Graph G1 in Figure 5 shows the control method for the motor applied voltage when the first setting is performed during the initial setup process. Graph G2 in Figure 5 shows the control method for the motor applied voltage when the second setting is performed during the initial setup process.

[0028] As shown in Figure 5, when the window glass WG moves from the fully open position Po to the fully closed position Pc, the control unit 12 sets a normal constant speed section SC1 and a slow stop section SC2 and controls the motor applied voltage.

[0029] The normal constant speed section SC1 is the section from the fully open position Po to the slow start position P0, which is set between the fully open position Po and the fully closed position Pc. The control unit 12 drives the motor 3 with a duty cycle of 100% (i.e., battery voltage VB) in the normal constant speed section SC1.

[0030] The slow-stop section SC2 is the section from the slow-start position P0 to the fully closed position Pc. The slow-stop section SC2 consists of a deceleration section SC3 and a constant low-speed section SC4. The control unit 12 controls the motor voltage in the deceleration section SC3 such that the duty cycle (i.e., the motor applied voltage) gradually decreases as it moves away from the fully open position Po.

[0031] The control unit 12 drives the motor 3 with a constant duty cycle less than 100% in the low-speed constant section SC4. The control in the slow stop section SC2 differs depending on whether the first setting or the second setting is performed during the initial setup process.

[0032] First, we will explain the control performed by the control unit 12 in the slow stop section SC2 when the first setting is made. If the number of times the window glass WG reaches the fully closed position Pc (hereinafter referred to as the number of operations) is less than the first switching count (i.e., the first count N1), the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the first low-speed section voltage V1 (i.e., when the window position reaches the first low-speed position P1), as shown by the dashed line L11 in graph G1. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the first low-speed section voltage V1.

[0033] If the number of operations is equal to or greater than the first switching count but less than the second switching count (i.e., the second count N2), the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the second low-speed section voltage V2 (i.e., when the window position reaches the second low-speed position P2), as shown by the dashed line L12 in graph G1. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the second low-speed section voltage V2.

[0034] If the number of operations is equal to or greater than the second switching count and less than the third switching count (i.e., the third count N3), the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the third low-speed section voltage V3 (i.e., when the window position reaches the third low-speed position P3), as shown by the dashed line L13 in graph G1. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the third low-speed section voltage V3.

[0035] If the number of operations is equal to or greater than the third switching cycle, the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the minimum low-speed section voltage Va (i.e., when the window position reaches the minimum low-speed position Pa), as shown by the solid line L14 in graph G1. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the minimum low-speed section voltage Va.

[0036] Next, we will explain the control performed by the control unit 12 in the slow stop section SC2 when the second setting is made. If the number of operations is less than the first switching count (i.e., the fourth count N4), the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the fourth low-speed section voltage V4 (i.e., when the window position reaches the fourth low-speed position P4), as shown by the dashed line L15 in graph G2. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the fourth low-speed section voltage V4.

[0037] If the number of operations is equal to or greater than the first switching count and less than the second switching count (i.e., the fifth count N5), the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the fifth low-speed section voltage V5 (i.e., when the window position reaches the fifth low-speed position P5), as shown by the dashed line L16 in graph G2. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the fifth low-speed section voltage V5.

[0038] If the number of operations is equal to or greater than the second switching cycle, the control unit 12 transitions from the deceleration section SC3 to the constant low-speed section SC4 when the motor applied voltage drops to the minimum low-speed section voltage Va (i.e., when the window position reaches the minimum low-speed position Pa), as shown by the solid line L17 in graph G2. In other words, in the constant low-speed section SC4, the control unit 12 drives the motor 3 with a constant duty cycle corresponding to the minimum low-speed section voltage Va.

[0039] Next, the procedure for the voltage setting process performed by the control unit 12 will be described. The voltage setting process is a process that is repeatedly performed when the window glass WG is in the closing operation. When the voltage setting process is executed, the CPU 21 of the control unit 12 determines in S210, as shown in Figure 6, whether the window glass WG has reached the fully closed position Pc based on the value of the window position counter. If the window glass WG has not reached the fully closed position Pc, the CPU 21 proceeds to S230. On the other hand, if the window glass WG has reached the fully closed position Pc, the CPU 21 increments the operation count counter in S220 and proceeds to S230.

[0040] When the process moves to S230, the CPU 21 determines, based on the value of the window position counter, whether the window glass WG has reached the throw start position P0. If the window glass WG has not reached the throw start position P0, the CPU 21 terminates the voltage setting process.

[0041] On the other hand, when the window glass WG reaches the slow start position P0, the CPU 21 sets a low-speed constant voltage in S240 according to the value of the operation count counter (i.e., the number of operations), and terminates the voltage setting process.

[0042] For example, if the above first setting is performed, and the number of operations is less than the first number N1, the CPU 21 sets the low-speed constant voltage to the first low-speed section voltage V1. If the number of operations is N1 or greater and less than the second number N2, the CPU 21 sets the low-speed constant voltage to the second low-speed section voltage V2. If the number of operations is N2 or greater and less than the third number N3, the CPU 21 sets the low-speed constant voltage to the third low-speed section voltage V3. If the number of operations is N3 or greater, the CPU 21 sets the low-speed constant voltage to the minimum low-speed section voltage Va. As a result, the CPU 21 controls the closing operation of the window glass WG as shown in graph G1 of Figure 5.

[0043] Furthermore, if the second setting described above is performed, and the number of operations is less than the fourth number N4, the CPU 21 sets the constant low-speed voltage to the fourth low-speed section voltage V4. If the number of operations is N4 or greater and less than the fifth number N5, the CPU 21 sets the constant low-speed voltage to the fifth low-speed section voltage V5. If the number of operations is N5 or greater, the CPU 21 sets the constant low-speed voltage to the minimum low-speed section voltage Va. As a result, the CPU 21 controls the closing operation of the window glass WG as shown in graph G2 of Figure 5.

[0044] The door control device 2 configured in this way controls a motor 3 that generates a driving force to automatically open and close the window glass WG provided on the vehicle between a fully open position Po and a fully closed position Pc.

[0045] The control unit 12 of the door control device 2 is configured to control the motor 3 so that it transitions from a normal constant speed section SC1 to a slow stop section SC2 when moving the window glass WG toward the fully closed position Pc. In the normal constant speed section SC1, a constant battery voltage VB is applied to the motor 3 from the fully open position Po to the slow start position P0, which is set between the fully open position Po and the fully closed position Pc. In the slow stop section SC2, the motor voltage applied to the motor 3 is reduced as it approaches the fully closed position Pc from the slow start position P0, and when the motor voltage applied to the motor 3 reaches a preset switching voltage, the switching voltage is applied to the motor 3 until the window glass WG reaches the fully closed position Pc.

[0046] The control unit 12 of the door control device 2 is configured to set the switching voltage according to the number of times the window glass WG has been operated. Such a door control device 2 can change the motor applied voltage when the window glass WG reaches the fully closed position Pc, according to the number of operations. Therefore, even if the load on the window glass WG fluctuates according to the number of operations, the door control device 2 can set an appropriate motor applied voltage according to the number of operations that will allow the window glass WG to reach the fully closed position Po and will not produce a loud collision noise when the window glass WG reaches the fully closed position Po. As a result, the door control device 2 can suppress situations in which the window glass WG does not close completely, and suppress situations in which the collision noise when the window glass WG reaches the fully closed position Pc causes discomfort to the vehicle occupants, thereby improving the reliability of the door control device 2.

[0047] Furthermore, the control unit 12 sets the switching voltage so that there is a negative correlation between the number of operations and the switching voltage. Note that "there is a negative correlation between the number of operations and the switching voltage" includes not only a continuous decrease in the switching voltage as the number of operations increases, but also a stepwise decrease in the switching voltage as the number of operations increases.

[0048] As a result, the door control device 2 can prevent situations where the window glass WG does not close completely, for example, when the load on the window glass WG decreases as the number of operations increases, such as with a glass run, and can also prevent situations where the collision sound when the window glass WG reaches the fully closed position Pc causes discomfort to the vehicle occupants.

[0049] Furthermore, the control unit 12 is configured to set the correspondence between the number of operations and the switching voltage based on the rotational speed of the motor 3 when it is performing the origin setting process to set the origin of the position of the window glass WG. As a result, the door control device 2 can set an appropriate correspondence between the number of operations and the switching voltage according to the load on the window glass WG in the initial state when the power window system 1 is installed in the vehicle at the vehicle factory.

[0050] In the embodiment described above, the door control device 2 corresponds to a motor control device, the window glass WG corresponds to an opening / closing body, the battery voltage VB corresponds to a normal constant-speed voltage, S240 corresponds to processing as a switching voltage setting unit, and S10 to S70 correspond to processing as an initial setting unit.

[0051] [Second Embodiment] A second embodiment of this disclosure is described below with reference to the drawings. Note that the second embodiment will describe parts that differ from the first embodiment. Common components will be denoted by the same reference numerals.

[0052] The power window system 1 of the second embodiment differs from the first embodiment in that the configuration of the power window system 1 has been changed and that an outside temperature setting process is performed instead of an initial setting process.

[0053] The power window system 1 of the second embodiment differs from the first embodiment in that an outside temperature sensor 7 is added, as shown in Figure 7. The outside temperature sensor 7 detects the outside temperature, which is the temperature outside the vehicle, and outputs an outside temperature detection signal indicating the detection result to the control unit 12.

[0054] Next, the procedure for setting the outside temperature, which is performed by the control unit 12, will be described. The outside temperature setting process is a process that is repeatedly performed while the door control device 2 is in operation. When the ambient temperature setting process is executed, the CPU 21 of the control unit 12 determines in S310, as shown in Figure 8, whether the ambient temperature is above a preset temperature threshold J2 based on the ambient temperature detection signal from the ambient temperature sensor 7. If the ambient temperature is below the temperature threshold J2, the CPU 21 performs the first setting described above in S320 and terminates the ambient temperature setting process. On the other hand, if the ambient temperature is above the temperature threshold J2, the CPU 21 performs the second setting described above in S330 and terminates the ambient temperature setting process.

[0055] In other words, the first setting is for when the load on the window glass WG due to the glass run is high because the outside temperature is low, and the second setting is for when the load on the window glass WG due to the glass run is low because the outside temperature is high.

[0056] The door control device 2 configured in this way is set to set the relationship between the number of operations and the switching voltage based on the outside temperature, which is the temperature outside the vehicle. As a result, the door control device 2 can set an appropriate relationship between the number of operations and the switching voltage according to the outside temperature of the vehicle, for example, in cases where the load on the window glass WG fluctuates depending on the outside temperature of the vehicle, such as in the case of a glass run.

[0057] In the embodiments described above, steps S310 to S330 correspond to the processing performed by the outside temperature setting unit. Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment and can be implemented in various modified forms.

[0058] [Example 1] In the above embodiment, the number of times the window glass WG reached the fully closed position Pc was defined as the number of operations. However, it is not limited to the number of times the fully closed position Pc is reached. For example, the number of operations may be the number of times the window glass is moved toward the fully closed position Pc.

[0059] [Differentiation 2] In the above embodiment, the duty cycle in the normal constant speed section SC1 is shown to be 100%, but the duty cycle in the normal constant speed section SC1 may be less than 100%.

[0060] The control unit 12 and its method described herein may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. Alternatively, the control unit 12 and its method described herein may be implemented by a dedicated computer provided by configuring a processor by one or more dedicated hardware logic circuits. Alternatively, the control unit 12 and its method described herein may be implemented by one or more dedicated computers configured by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium. The method for realizing the functions of each part included in the control unit 12 does not necessarily need to include software, and all of its functions may be realized using one or more hardware components.

[0061] Multiple functions of one component in the above embodiment may be realized by multiple components, or one function of one component may be realized by multiple components. Furthermore, multiple functions of multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Also, some parts of the configuration of the above embodiment may be omitted. Furthermore, at least some parts of the configuration of the above embodiment may be added to or replaced with the configuration of other above embodiments.

[0062] In addition to the door control device 2 described above, this disclosure can also be realized in various forms, such as a system that uses the door control device 2 as a component, a program for causing a computer to function as the door control device 2, a non-transitional physical recording medium such as a semiconductor memory on which this program is recorded, and a motor control method. [Explanation of Symbols]

[0063] 2...Door control device, 3...Motor, 12...Control unit

Claims

1. A motor control device (1) that controls a motor (3) that generates a driving force for automatically opening and closing an opening / closing body (WG) provided on a vehicle between a fully open position and a fully closed position, A control unit (12) is configured to control the motor such that when the opening / closing body is moved toward the fully closed position, a constant normal constant speed voltage is applied to the motor in a normal constant speed section from the fully open position to a slow start position set between the fully open position and the fully closed position, and as the motor approaches the fully closed position from the slow start position, the motor applied voltage decreases, and when the motor applied voltage reaches a preset switching voltage, the motor is applied to the motor in a slow stop section until the opening / closing body reaches the fully closed position. A switching voltage setting unit (S240) configured to set the switching voltage according to the number of times the switching body is operated, A motor control device equipped with the following features.

2. A motor control device according to claim 1, The switching voltage setting unit is a motor control device that sets the switching voltage such that there is a negative correlation between the number of operations and the switching voltage.

3. A motor control device according to claim 1 or claim 2, A motor control device further comprising an initial setting unit (S10 to S70) configured to set the correspondence between the number of operations and the switching voltage based on the rotational speed of the motor when an origin setting process is performed to set the origin of the position of the opening and closing body.

4. A motor control device according to claim 1 or claim 2, A motor control device further comprising an outside temperature setting unit (S310 to S330) configured to set the correspondence between the number of operations and the switching voltage based on the outside temperature, which is the temperature outside the vehicle.

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