Motor control apparatus
First Claim
1. A motor control apparatus comprising:
- an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor; and
control means for rotating the rotor by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor, wherein in an initial drive that is performed after application of power, the control means learns a corresponding relationship between a count of the output signal of the encoder, a rotation position of the rotor, and a current supply phase at an end of the initial drive by counting pulses of the output signal of the encoder by effecting current supply for all phases of the motor around according to a prescribed time schedule, and wherein in an ordinary drive that is performed after the initial drive, the control means determines a current supply phase on the basis of a count of the output signal of the encoder and a learning result that is obtained at the end of the initial drive.
1 Assignment
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Accused Products
Abstract
In an automatic transmission position control by a motor, it is determined whether the present instant belongs to a starting period, that is, the present instant is immediately after resetting of a control unit or application of power to it. If it is the starting period, an actual shift position that is detected from an output of an output shaft sensor for detecting a rotation position of a motor is set as an instructed shift position. With this measure, even if the control unit is reset for a certain reason while the vehicle is running, the instructed shift position is not changed in association with the resetting. This prevents trouble that the shift position is switched contrary to the intention of the driver, whereby the reliability of a position switching control can be increased.
76 Citations
63 Claims
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1. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor; and
control means for rotating the rotor by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor, wherein in an initial drive that is performed after application of power, the control means learns a corresponding relationship between a count of the output signal of the encoder, a rotation position of the rotor, and a current supply phase at an end of the initial drive by counting pulses of the output signal of the encoder by effecting current supply for all phases of the motor around according to a prescribed time schedule, and wherein in an ordinary drive that is performed after the initial drive, the control means determines a current supply phase on the basis of a count of the output signal of the encoder and a learning result that is obtained at the end of the initial drive. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor;
control means for rotating the rotor to a target position by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor;
reversing monitoring means for monitoring a variation direction of the count of the output signal of the encoder, and determining whether a rotation direction of the rotor has been reversed from a rotation direction toward the target position; and
reversed rotation preventing means for prohibiting current supply for A-phase with which the rotor is driven in a reversed direction when the reversing monitoring means has detected reversing. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor; and
control means for turning off current supply of the motor after executing a feedback control in which rotational driving on the rotor is started each time a target position is changed and the rotor is rotated to a new target position by sequentially switching a current supply phase of the motor on the basis of a count of the output signal of the encoder, wherein the control means executes, before starting another feedback control from a current supply-off state of the motor, in a prescribed period, a feedback control start position stopping and holding process in which a current supply phase is selected on the basis of a current count of the output signal of the encoder and current supply is effected for the selected current supply phase, and the control means thereafter rotates the rotor to a target position by performing the feedback control. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor that rotates a control object; and
control means for rotating the rotor to a target position by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor, wherein the control means includes means for learning a play amount of a rotation transmission system for converting a rotation amount of the motor into a manipulated variable for the control object, and wherein the control means learns a play amount of the rotation transmission system by performing a first-direction butting control for rotating the rotor until butting occurs at one limit position of a movable range of the control object and a second-direction butting control for rotating the rotor until butting occurs at the other limit position of the movable range, determining, as an actual measurement value of the movable range of the control object, an increase or decrease of the count of the output signal of the encoder from the one limit position to the other limit position, and learning, as a play amount of the rotation transmission system, a difference between the actual measurement value of the movable range and a design value of the movable range, and in rotating thereafter the rotor to the target position the control means sets the target position taking the learned play amount of the rotation transmission system into consideration. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor; and
control means for rotating the rotor to a target position by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor, wherein the control means corrects A-phase lead of the current supply phase with respect to a rotation phase of the rotor in accordance with a rotation speed of the rotor. - View Dependent Claims (40, 49, 50)
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41. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor; and
control means for rotating the rotor to a target position by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor, wherein the control means raises a rotation speed of the rotor in an initial drive on the rotor by driving it by one/two-phase current supply method in which one-phase current supply and two-phase current supply are performed alternately, and thereafter drives the rotor by a one-phase current supply method in which only one-phase current supply is performed. - View Dependent Claims (42, 43, 44)
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45. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor; and
control means for rotating the rotor to a target position by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor, wherein the control means controls a rotation speed of the rotor by correcting A-phase lead of the current supply phase with respect to a rotation phase of the rotor and/or switching a current supply method.
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46. A motor control apparatus comprising:
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control means for rotating a rotor to a target position by sequentially switching a current supply phase of a motor, wherein the control means executes a process of temporarily stopping and keeping the rotor at a drive start position by two-phase current supply at a start of driving.
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47. A motor control apparatus comprising:
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control means for rotating a rotor to a target position by sequentially switching a current supply phase of a motor, wherein the control means executes a process of temporarily stopping and keeping the rotor at a drive end position by two-phase current supply at an end of driving.
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48. A motor control apparatus comprising:
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control means for rotating a rotor to a target position by sequentially switching a current supply phase of a motor, wherein when the target position has been changed during driving and reversing a rotation direction of the rotor has become necessary, the control means executes a process of temporarily stopping and keeping the rotor at a reversing position by two-phase current supply.
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51. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor that rotates a control object;
control means for rotating the rotor to a target position that is set by target position setting means by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor; and
a nonvolatile memory for storing the target position that is set by the target position setting means, wherein at starting the control means sets, as a target position of starting, the target position that is stored in the nonvolatile memory. - View Dependent Claims (52, 53, 54, 56, 57)
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55. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor that rotates a control object;
control means for rotating the rotor to a target position that is set by target position setting means by detecting a rotation position of the rotor on the basis of a count of the output signal of the encoder and sequentially switching a current supply phase of the motor; and
an output shaft sensor for detecting a rotation position of an output shaft of the motor or position information that is correlated with it, wherein the control means sets, as a target position of starting, a rotation position that is detected by the output shaft sensor at starting.
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58. A motor control apparatus comprising:
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an encoder for producing a pulse output signal in synchronism with rotation of a rotor of a motor that rotates a control object;
pulse counting means for counting pulses of the output signal of the encoder;
control means for detecting a rotation position of the rotor on the basis of a count of the pulse counting means during a drive control on the motor and sequentially switching a current supply phase of the motor so as to rotate the rotor to a target position;
first current supply phase setting means for setting a current supply phase on the basis of the count of the pulse counting means in synchronism with output of a pulse of the output signal of the encoder during the drive control on the motor; and
second current supply phase setting means for setting a current supply phase on the basis of the count of the pulse counting means in a prescribed cycle until the rotor reaches the target position, wherein every time the first or second current supply phase setting means sets a current supply phase, the control means energizes a winding of the current supply phase thus set. - View Dependent Claims (59, 60, 61, 62, 63)
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Specification