Motor control device

【0001】

[Technical field to which the invention belongs]

The present invention relates to a motor control device that rotates and drives the rotor to a target position by detecting the rotation position of the rotor based on the count value of the pulse signal of the encoder and sequentially switching the energizing phase of the motor.

【0002】

[Conventional technology]

In recent years, brushless motors such as switched reluctance motors, which are in increasing demand as inexpensive motors with a simple structure, are equipped with an encoder that outputs a pulse signal in synchronization with the rotation of the rotor, and the pulse signal of this encoder is installed. Is counted, the rotation position of the rotor is detected based on the encoder count value, and the current-carrying phase is sequentially switched to drive the rotor to rotate. Since such a motor with an encoder can detect the rotation position of the rotor based on the encoder count value after startup, the position switching for rotating the rotor to the target position by the feedback control system (F / B control system). It is used as a drive source for various position switching devices that perform control (positioning control) (see, for example, Patent Document 1).

【0003】

When F / B control is performed by such a motor with an encoder, the energizing phase is switched based on the encoder count value in synchronization with the pulse signal output timing of the encoder, the rotor is rotationally driven toward the target position, and the encoder count is performed. When the value reaches the target count value set according to the target position, it is determined that the rotor has reached the target position, the F / B control is terminated, and the rotor is stopped at the target position.

【0004】

[Patent Document 1]

Japanese Unexamined Patent Publication No. 2001-271917 (pages 4 to 8 etc.) [0005]

[Problems to be Solved by the Invention]

In the F / B control of the conventional motor, the energization phase is switched in synchronization with the pulse signal output timing of the encoder. Therefore, during the F / B control, the rotation of the rotor is temporarily stopped for some reason, and the encoder If the pulse signal is no longer output from, the energized phase cannot be switched, and the rotor cannot be rotationally driven to the target position.

【0006】

In order to solve such a problem, the present inventors, as described in the specification of Japanese Patent Application No. 2002-276521, energize by time synchronization processing separately from the switching of the energizing phase by F / B control. We have applied for an invention that has a function of switching phases so that the energized phase can be switched by time synchronization processing even when the rotation of the rotor is stopped.

【0007】

During F / B control, the rotation of the rotor may reverse for some reason, so when a reverse rotation is detected, it is necessary to immediately hold (fix) the energized phase to stop the reverse rotation (stop the reverse rotation). Otherwise, it will continue to reverse). Generally, the reversal detection method compares the previous value of the encoder count value with the current value, and determines the presence or absence of reversal based on whether or not the increase / decrease direction of the encoder count value is reversed (Fig. 26). reference).

【0008】

However, as shown in FIG. 27, if the energized phase is switched in both the F / B and the time synchronization processing, the previous value of the encoder count value in the previous F / B processing is updated by the time synchronization processing, so that it is actually Even if the rotor is reversed, the previous value and the current value of the encoder count value will be the same and it will be judged as stopped, and as a result, the energizing phase will be switched by the time synchronization process and the rotation will continue. appear.

【0009】

The present invention has been made in consideration of these circumstances, and an object of the present invention is to use the rotor as much as possible even if the rotation of the rotor is temporarily stopped for some reason during the F / B control of the motor. An object of the present invention is to provide a motor control device capable of rotationally driving to a target position and stopping the reversal when a reversal occurs.

【0010】

[Means for solving problems]

In order to achieve the above object, the motor control device according to claim 1 of the present invention sets the energizing phase based on the encoder count value in synchronization with the pulse signal output timing of the encoder during F / B control of the motor. A first energizing phase setting means and a second energizing phase setting means for setting the energizing phase based on the encoder count value at a predetermined cycle by time synchronization processing until the rotor is rotationally driven to the target position are provided. Each time the energized phase is set by the second energized phase setting means, the winding of the energized phase is energized, and the rotation direction of the rotor is reversed while the rotor is rotationally driven to the target position. A reverse rotation detecting means for detecting the reverse rotation is provided, and when the reverse rotation is detected by the reverse rotation detecting means, the current-carrying phase is fixed to the previous current-carrying phase by the current-carrying phase holding means.

【0011】

In this configuration, even if the rotation of the rotor is temporarily stopped for some reason and the pulse signal is no longer output from the encoder during the motor F / B control, the encoder count at that point in a predetermined cycle is performed by the time synchronization process. Since the energizing phase can be set based on the value, the energizing phase can be switched even when the rotation of the rotor is stopped, and the rotor can be rotationally driven to the target position as much as possible. Moreover, if the rotation direction of the rotor is reversed while the rotor is rotationally driven to the target position, the reverse rotation can be detected, the energizing phase can be fixed, and the reverse rotation can be stopped.

【0012】

In this case, as a specific example of the reverse rotation detecting means, as in claim 2, when the rotor is rotationally driven in the direction in which the encoder count value counts up, the maximum value of the encoder count value is sequentially stored. The presence or absence of reversal is determined by comparing the current encoder count value with the maximum value, and when the rotor is rotationally driven in the direction in which the encoder count value counts down, the minimum value of the encoder count value is sequentially stored. It is advisable to determine the presence or absence of reversal by comparing the current encoder count value with the minimum value. In this way, even if the previous value of the encoder count value by the previous F / B processing is updated by the time synchronization processing, reverse rotation detection is performed using the maximum and minimum values of the encoder count value. be able to.

【0013】

By the way, as shown in FIG. 28, when the target position is switched during F / B control (during rotor rotation), it is necessary to forcibly reverse the rotation direction of the rotor during F / B control. is there. In such a case, even if the target position is switched during the rotation of the rotor, it is impossible to immediately reverse the rotation direction of the rotor due to the inertia of the rotor, and in reality, the target position is switched. Since it takes some time for the rotation direction of the rotor to reverse after that, the rotor is in a "reverse" state when viewed from the target position after switching. Therefore, if the reverse rotation detection is performed too accurately (in other words, there is no dead zone described later), when the target position is switched during F / B control, the transient due to the inertia of the rotor immediately after the target position is switched. Behavior is determined to be "reversal", causing a problem that the motor is forcibly stopped.

【0014】

As a countermeasure for this, as in claim 3, when the current encoder count value is compared with the maximum value or the minimum value to determine the presence or absence of reversal, a predetermined count is given to the maximum value and the minimum value, respectively. It is advisable to set a dead zone for the value so that it is not judged as a reversal within this dead zone. In this way, even if the target position is switched during F / B control, the transient behavior due to the inertia of the rotor immediately after the target position is switched does not have to be determined as "reversal" due to the dead zone. Even if the target position is switched during / B control, the rotor can be rotationally driven to the target position.

【0015】

Further, as in claim 4, when a state in which the energized phase is fixed is detected by the energized phase holding means, the open loop drive means switches to open loop control, and the energized phase is switched without feeding back the encoder count value information. Is sequentially switched, the number of times the energized phase is switched is counted, and the rotor is rotationally driven to the target position based on the count value. In this way, it is possible to automatically return from the state in which the energized phase is fixed to the state in which F / B control is possible by reverse detection.

【0016】

In this case, as in claim 5, the maximum value or the minimum value may be set with the encoder count value at that time as an initial value at the start of F / B control. In this way, the maximum or minimum value of the encoder count value during the current F / B control can be set without being affected by the maximum or minimum value of the encoder count value detected in the past F / B control. It can be detected accurately.

【0017】

Further, as in claim 6, a switched reluctance motor may be used as the motor. The switched reluctance motor does not require a permanent magnet and has a simple structure, so that it has the advantages of being inexpensive and having high durability and reliability in a temperature environment and the like.

【0018】

The inventions according to claims 1 to 6 described above can be applied to various position switching devices using a brushless motor such as a switched reluctance motor as a drive source. It may be applied to a control device of a motor for driving a range switching mechanism for switching a range of a machine. This makes it possible to configure a highly reliable motor-driven range switching device.

【0019】

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment in which the present invention is applied to a range switching device of a vehicle will be described with reference to the drawings.

【0020】

First, the configuration of the range switching mechanism 11 will be described with reference to FIG. The motor 12 that is the drive source of the range switching mechanism 11 is composed of, for example, a switched reluctance motor, has a built-in reduction mechanism 26 (see FIG. 4), and is provided with an output shaft sensor 14 that detects the rotational position of the output shaft 13. Has been done. A detent lever 15 is fixed to the output shaft 13.

【0021】

An L-shaped parking rod 18 is fixed to the detent lever 15, and a cone 19 provided at the tip of the parking rod 18 is in contact with the lock lever 21. The lock lever 21 moves up and down about the shaft 22 according to the position of the cone 19 to lock / unlock the parking gear 20. The parking gear 20 is provided on the output shaft of the automatic transmission 27, and when the parking gear 20 is locked by the lock lever 21, the drive wheels of the vehicle are held in a detented state (parking state).

【0022】

On the other hand, a detent spring 23 for holding the detent lever 15 in the parking range (hereinafter referred to as "P range") and another range (hereinafter referred to as "Not P range") is fixed to the support base 17, and this detent When the engaging portion 23a provided at the tip of the spring 23 is fitted into the P range holding recess 24 of the detent lever 15, the detent lever 15 is held at the position of the P range, and the engaging portion of the detent spring 23 is held. When 23a is fitted into the NotP range holding recess 25 of the detent lever 15, the detent lever 15 is held in the NotP range position.

【0023】

In the P range, the parking rod 18 moves in the direction approaching the lock lever 21, the thick part of the cone 19 pushes up the lock lever 21, and the convex portion 21a of the lock lever 21 fits into the parking gear 20 for parking. The gear 20 is locked, whereby the output shaft (driving wheel) of the automatic transmission 27 is held in the locked state (parking state).

【0024】

On the other hand, in the NotP range, the parking rod 18 moves away from the lock lever 21, the thick part of the conical body 19 comes out of the lock lever 21 and the lock lever 21 descends, whereby the convex portion of the lock lever 21 21a is disengaged from the parking gear 20, the lock of the parking gear 20 is released, and the output shaft of the automatic transmission 27 is held in a rotatable state (travelable state).

【0025】

The output shaft sensor 14 described above is composed of a rotation sensor (for example, a potentiometer) that outputs a voltage corresponding to the rotation angle of the output shaft 13 of the reduction mechanism 26 of the motor 12, and the current range is set to the P range depending on the output voltage. You can check whether it is in the NotP range or the NotP range.

【0026】

Next, the configuration of the motor 12 will be described with reference to FIG. In this embodiment, a switched reluctance motor (hereinafter referred to as SR motor) is used as the motor 12. This SR motor 12 is a motor in which both the stator 31 and the rotor 32 have a salient pole structure, and has an advantage that a permanent magnet is not required and the structure is simple. For example, 12 salient poles 31a are formed at equal intervals on the inner peripheral portion of the cylindrical stator 31, whereas, for example, 8 salient poles 32a are formed at equal intervals on the outer peripheral portion of the rotor 32. As the rotor 32 rotates, the salient poles 32a of the rotor 32 face each salient pole 31a of the stator 31 in order through a minute gap. The 12 salient poles 31a of the stator 31 have a total of 6 windings 33 of U-phase, V-phase, and W-phase, and a total of 6 windings 34 of U'phase, V'phase, and W'phase. It is wound in order. Needless to say, the numbers of salient poles 31a and 32a of the stator 31 and the rotor 32 may be changed as appropriate.

【0027】

The winding order of the windings 33 and 34 of the present embodiment is, for example, V phase W phase U phase V phase W phase U phase V'for the 12 salient poles 31a of the stator 31. It is wound in the order of phase W'phase U'phase V'phase W'phase U'phase. As shown in FIG. 3, a total of 6 windings 33 of U phase, V phase, and W phase and a total of 6 windings 34 of U'phase, V'phase, and W'phase are two motors. It is connected so as to form the exciting parts 35 and 36. One motor excitation unit 35 is configured by Y-connecting a total of 6 windings 33 of U phase, V phase, and W phase (two windings 33 of the same phase are connected in series). The other motor excitation unit 36 is configured by Y-connecting a total of 6 windings 34 of U'phase, V'phase, and W'phase (two windings 34 of the same phase are in series, respectively). It is connected to the). In the two motor excitation units 35 and 36, the U phase and the U'phase are energized at the same time, the V phase and the V'phase are energized at the same time, and the W phase and the W'phase are energized at the same time.

【0028】

These two motor excitation units 35 are driven by separate motor drivers 37 and 38, respectively, using the battery 40 mounted on the vehicle as a power source. In this way, by providing two motor excitation units 35 and 36 and two motor drivers 37 and 38 respectively, even if one system fails, the SR motor 12 can be rotated by the other system. ing. In the circuit configuration example of the motor drivers 37 and 38 shown in FIG. 3, a unipolar drive system circuit configuration in which one switching element 39 such as a transistor is provided for each phase is used, but two switching elements are provided for each phase. Bipolar drive type circuit configurations provided one by one may be adopted. Needless to say, the present invention may have a configuration in which one motor exciting unit and one motor driver are provided.

【0029】

The on / off of each switching element 39 of each of the motor drivers 37 and 38 is controlled by the ECU 41 (energization control means). As shown in FIG. 4, the ECU 41 and the motor drivers 37 and 38 are mounted on the range switching control device 42, and the range switching control device 42 includes a P range switch 43 for switching to the P range and a P range switch 43. The operation signal of the NotP range switch 44 that switches to the NotP range is input. The range selected by operating the P range switch 43 or the Not P range switch 44 is displayed on the range display unit 45 provided on the instrument panel (not shown).

【0030】

The SR motor 12 is provided with an encoder 46 for detecting the rotational position of the rotor 32. This encoder 46 is composed of, for example, a magnetic rotary encoder, and as shown in FIGS. 5 and 6, the N pole and the S pole alternately arrive at equal pitches in the circumferential direction. A magnetized annular rotary magnet 47 is coaxially fixed to the side surface of the rotor 32, and three magnetic detector elements such as Hall ICs 48,49,50 are arranged at positions facing the rotary magnet 47. It is composed. In this embodiment, the magnetizing pitch of the north and south poles of the rotary magnet 47 is set to 7.5 °. The magnetizing pitch (7.5 °) of the rotary magnet 47 is set to be the same as the rotation angle of the rotor 32 per excitation of the SR motor 12. As will be described later, when the energized phase of the SR motor 12 is switched 6 times by the 1-2 phase excitation method, the switching of all the energized phases goes through and the rotor 32 and the rotary magnet 47 are integrally 7.5 ° × 6 = Rotate 45 °. The number of N poles and S poles existing in the rotation angle range of 45 ° of this rotary magnet 47 is 6 poles in total.

【0031】

Further, the N pole (N') at the position corresponding to the reference rotation position of the rotor 32 and the S poles (S') on both sides thereof are formed so as to be wider in the radial direction than the other magnetic poles. In this embodiment, considering that the rotor 32 and the rotary magnet 47 rotate 45 ° integrally while the switching of the energizing phase of the SR motor 12 goes through, the width corresponding to the reference rotation position of the rotor 32 is wide. The magnetized portions (N') are formed at a pitch of 45 °. Therefore, a total of eight wide magnetized portions (N') corresponding to the reference rotation position are formed in the rotary magnet 47 as a whole. It should be noted that the wide magnetized portion (N') corresponding to the reference rotation position may be formed by forming only one of the rotary magnet 47 as a whole.

【0032】

Three magnetic detectors 48, 49, 50 are arranged with respect to the rotary magnet 47 in the following positional relationship. The magnetic detector 48 that outputs the A-phase signal and the magnetic detector 49 that outputs the B-phase signal are the narrow magnetized portion (N, S) and the wide magnetized portion (N', S') of the rotary magnet 47. ) Are located on the same circumference at positions that can face both. On the other hand, the magnetic detector 50 that outputs the Z-phase signal is located at a position radially outside or inside the narrow magnetized portion (N, S) of the rotary magnet 47 and is wide at the magnetized portion (N'). , S') is placed at a position where it can face only. As shown in Fig. 7, the distance between the two magnetic detectors 48 and 49 that output the A-phase signal and the B-phase signal is such that the phase difference between the A-phase signal and the B-phase signal is 90 ° in electrical angle (mechanical angle). It is set to be 3.75 °). Here, the "electric angle" is the angle when the generation cycle of the A / B phase signal is one cycle (360 °), and the "mechanical angle" is the mechanical angle (one rotation of the rotor 32 is 360 °). The angle at which the rotor 32 rotates from the falling edge (rising edge) of the A-phase signal to the falling edge (rising edge) of the B-phase signal corresponds to the mechanical angle of the phase difference between the A-phase signal and the B-phase signal. To do. Further, the magnetic detector 50 that outputs the Z-phase signal is arranged so that the phase difference between the Z-phase signal and the B-phase signal (or A-phase signal) becomes zero.

【0033】

The output of each magnetic detector 48,49,50 is high level "1" when facing the N pole (N'pole) and low level "0" when facing the S pole (S'pole). Become. The output of the magnetic detector 50 for the Z-phase signal becomes a high level "1" each time it faces the wide N'pole corresponding to the reference rotation position of the rotor 32, and the output becomes a low level "1" at other positions. It becomes 0 .

【0034】

In the present embodiment, the ECU 41 counts both rising / falling edges of the A-phase signal and the B-phase signal by the encoder counter routine of FIG. 8 described later, and the energized phase of the SR motor 12 is counted according to the encoder count value. The rotor 32 is driven to rotate by switching. At this time, the rotation direction of the rotor 32 is determined by the order of generation of the A-phase signal and the B-phase signal, and the encoder count value is counted up in the forward rotation (P range Not P range rotation direction) and the reverse rotation (Not P range Not P range In the rotation direction of the P range), the encoder count value is counted down. As a result, even if the rotor 32 rotates in either the forward rotation or the reverse rotation direction, the correspondence between the encoder count value and the rotation position of the rotor 32 is maintained, so that the rotation direction in either the forward rotation or the reverse rotation However, the rotation position (rotation angle) of the rotor 32 is detected by the encoder count value, and the windings 33 and 34 of the phase corresponding to the rotation position are energized to drive the rotor 32 to rotate.

【0035】

FIG. 7 shows the output waveform of the encoder 46 and the switching pattern of the energizing phase when the rotor 32 is rotated in the reverse rotation direction (rotation direction from Not P range to P range). In both the reverse rotation direction (Not P range P range rotation direction) and the forward rotation direction (P range Not P range rotation direction), 1-phase energization and 2-phase energization are performed every time the rotor 32 rotates 7.5 °. While the rotor 32 rotates 45 °, for example, U phase energization UW phase energization W phase energization VW phase energization V phase energization UV phase energization It is designed to go through the switching of. Then, each time the energized phase is switched, the rotor 32 rotates by 7.5 °, and the magnetic poles of the rotary magnet 47 facing the magnetic detectors 48 and 49 for the A-phase and B-phase signals are N pole S pole (N pole). The level of the A-phase signal and the B-phase signal is alternately inverted by changing from'pole S'pole) or S pole N pole (S'pole N'pole), thereby rotating the rotor 32 by 7.5 °. Each time, the encoder count value counts up (or counts down) by 2. In addition, every time the rotor 32 rotates 45 ° after the switching of the energized phase goes through, the magnetic detector 50 for the Z phase faces the wide N'pole corresponding to the reference rotation position of the rotor 32, and the Z phase The signal becomes high level "1". In the present specification, when the A-phase, B-phase, and Z-phase signals become high level "1", it may be said that the A-phase, B-phase, and Z-phase signals are output.

【0036】

When range switching control is performed by the SR motor 12 with the encoder 46, the rotor 32 is rotationally driven each time the command shift range (target position) is switched from the P range to the Not P range or the opposite direction. By sequentially switching the energized phase of the SR motor 12 based on the encoder count value, feedback control (hereinafter referred to as "F / B control") that drives the rotor 32 to rotate toward the target position is executed, and the encoder count value is changed. When the target count value set according to the target position is reached, it is determined that the rotor 32 has reached the target position, the F / B control is terminated, and the rotor 32 is stopped at the target position.

【0037】

In the F / B control of the SR motor 12, the energized phase is switched in synchronization with the A-phase / B-phase signal output timing of the encoder 46, so that the rotor 32 rotates for some reason during the F / B control. Once stopped and the A-phase / B-phase signals are no longer output from the encoder 46, the current-carrying phase cannot be switched by F / B control, and the rotor 32 cannot be rotationally driven to the target position.

【0038】

Therefore, in the present embodiment, the ECU 41 of the range switching control device 42 sets the encoder count value in a predetermined cycle (for example, 1 ms cycle) from the start of F / B control of the SR motor 12 until the rotor 32 is rotationally driven to the target position. Time to set the energized phase based on this The synchronous energized phase setting process is executed in parallel with the F / B control.

【0039】

In this configuration, even if the rotation of the rotor 32 is temporarily stopped during F / B control and the A-phase / B-phase signals are no longer output from the encoder 46, the time-synchronized energization phase setting process is performed. Since the energized phase is set based on the encoder count value at that time, even when the rotation of the rotor 32 is stopped, the energized phase can be switched by the time-synchronized energized phase setting process, and the rotor 32 can be switched as much as possible. Can be rotationally driven to the target position, and the reliability of the drive control (range switching control) of the SR motor 12 can be improved.

【0040】

By the way, in the middle of F / B control, the rotation of the rotor 32 may reverse for some reason. Therefore, when a reverse rotation is detected, it is necessary to immediately hold (fix) the energized phase to stop the reverse rotation ( This is because if the reversal is not stopped, the reversal will continue). Generally, the reversal detection method compares the previous value of the encoder count value with the current value, and determines the presence or absence of reversal based on whether or not the increase / decrease direction of the encoder count value is reversed (Fig. 26). reference).

【0041】

However, as shown in FIG. 27, when the energized phase is switched in both the F / B and the time-synchronized energized phase setting process, the previous value of the encoder count value by the previous F / B process is updated by the time-synchronized energized phase setting process. Therefore, even if the rotor 32 is actually reversed, the previous value and the current value of the encoder count value will be the same and it will be determined to be stopped. As a result, the energized phase will be changed by the time-synchronized energized phase setting process. There is a problem that it switches and keeps reversing.

【0042】

Therefore, in the present embodiment, the ECU 41 of the range switching control device 42 changes the energized phase to the previous energized phase when it detects that the rotation direction of the rotor 32 is reversed while the rotor 32 is rotationally driven to the target position. It is held (fixed) to stop the reversal.

【0043】

In this case, the reverse rotation detection method sequentially stores the maximum value of the encoder count value in the memory (not shown) of the ECU 41 when the rotor 32 is rotationally driven in the direction in which the encoder count value counts up. The presence or absence of reversal is determined by comparing the encoder count value of the above with the maximum value, and when the rotor 32 is rotationally driven in the direction in which the encoder count value counts down, the minimum value of the encoder count value is sequentially stored in the memory. However, the presence or absence of reversal is determined by comparing the current encoder count value with the minimum value. In this way, even if the previous value of the encoder count value by the previous F / B processing is updated by the time-synchronized energization phase setting processing, it is reversed by using the maximum and minimum values of the encoder count value. Detection can be performed.

【0044】

By the way, as shown in FIG. 28, when the target position is switched during F / B control (during rotation of rotor 32), the rotation direction of rotor 32 must be forcibly reversed during F / B control. Sometimes. In such a case, even if the target position is switched during the rotation of the rotor 32, it is impossible to immediately reverse the rotation direction of the rotor 32 due to the inertia of the rotor 32. Since it takes some time from the switching to the reverse rotation direction of the rotor 32, the rotor 32 is in the "reverse" state when viewed from the target position after the switching. For this reason, if reverse rotation detection is performed too accurately (in other words, there is no dead zone described later), if the target position is switched during F / B control, the inertia of the rotor 32 immediately after the target position is switched will be used. A problem occurs in which the SR motor 12 is forcibly stopped because the transient behavior is determined to be "reversal".

【0045】

As a countermeasure, in the present embodiment, when the current encoder count value is compared with the maximum value or the minimum value to determine the presence or absence of reversal, the maximum value and the minimum value are set by a predetermined count value, respectively. The dead zone is set so that it will not be judged as a reversal within this dead zone. In this way, even if the target position is switched during F / B control, the transient behavior due to the inertia of the rotor 32 immediately after the target position is switched does not have to be determined as "reversal" due to the dead zone. Even if the target position is switched during F / B control, the rotor 32 can be rotationally driven to the target position.

【0046】

Further, in the present embodiment, when a state in which the energized phase is held is detected by reverse rotation detection, the control is switched to open loop control, the energized phase is sequentially switched without feeding back the encoder count value information, and the energized phase of the energized phase is switched. The number of switchings is counted, and the rotor 32 is rotationally driven to the target position based on the count value. As a result, it is possible to automatically return to the F / B controllable state from the state in which the energized phase is held by the reverse rotation detection. Hereinafter, the processing contents of each routine executed by the ECU 41 of the range switching control device 42 will be described.

【0047】

[Encoder counter]

The processing contents of the encoder counter routine shown in FIG. 8 will be described. This routine is started by the AB phase interrupt processing in synchronization with both the rising / falling edges of the A-phase signal and the B-phase signal, and the rising / falling edges of both the A-phase signal and the B-phase signal are next. Count like this. When this routine is started, first, in step 301, the values A (i) and B (i) of the A-phase signal and the B-phase signal are read, and in the next step 302, the count-up value ΔN calculation map of FIG. 9 is obtained. Search and calculate the count-up values ΔN according to the current values A (i) and B (i) of the A-phase signal and B-phase signal and the previous values A (i-1) and B (i-1). ..

【0048】

Here, the reason for using the current values A (i) and B (i) of the A-phase signal and the B-phase signal and the previous values A (i-1) and B (i-1) is that the A-phase signal and the B-phase are used. This is to determine the rotation direction of the rotor 32 based on the signal generation order. As shown in FIG. 10, in the forward rotation (rotation direction of P range Not P range), the count-up value ΔN is set to a positive value and the encoder count value Ncnt. Is counted up, and in the reverse rotation (not P range P range rotation direction), the count-up value ΔN is set to a negative value and the encoder count value Ncnt is counted down.

【0049】

After calculating the count-up value ΔN, the process proceeds to step 303, and the count-up value ΔN calculated in step 302 above is added to the previous encoder count value Ncnt to obtain the current encoder count value Ncnt. After that, the process proceeds to step 304, and the current values A (i) and B (i) of the A-phase signal and the B-phase signal are set to A (i-1) and B (i-1), respectively, for the next counting process. And end this routine. The encoder counter routine described above serves as an encoder counting means within the scope of claims.

【0050】

[Control mode setting]

The control mode setting routines shown in FIGS. 11 to 13 are executed in a predetermined cycle (for example, 1 ms cycle) after the initial drive is completed. Here, the initial drive is a process for associating the encoder count value with the actual rotation position of the rotor 32 after the power is turned on to the ECU 41, and at the time of the initial drive, switching of the energized phase of the SR motor 12 is predetermined. The edges of the A-phase signal and the B-phase signal of the encoder 46 are counted in a cycle of the time schedule, and the correspondence between the encoder count value at the end of the initial drive and the rotation position (energized phase) of the rotor 32 is learned. Specifically, the encoder count value at the end of the initial drive is learned as the initial position shift learning value, and the encoder count value is corrected by the initial position shift learning value at the time of subsequent F / B control or the like to perform the initial drive. The deviation between the encoder count value at the end and the energized phase (rotation position of the rotor 32) is corrected so that the correct energized phase can be selected during F / B control or the like.

【0051】

In the control mode setting routines shown in FIGS. 11 to 13, the control mode determination value mode is set to any of 0, 1, 3, 4, and 5 in a predetermined cycle (for example, 1 ms cycle) after the initial drive is completed, and the following Specify the control mode as follows.

【0052】

mode = 0: Energization off (standby) mode = 1: Normal drive (F / B control start position stop holding process, time synchronous energizing phase setting process, F / B control) mode = 3: Target position stop holding process mode = 4 : Inverted position stop holding process mode = 5: Open loop control [0053]

When the control mode setting routine is activated, first, in step 401, it is determined whether or not the system failure flag Xfailoff is set to ON, which means a failure of the range switching controller 42, and if Xfailoff = ON is set. If so, the process proceeds to step 402 to execute the process for keeping the SR motor 12 in the power-off state. As a result, the rotation direction indicator value D = 0 (stop), the energization flag Xon = OFF (energization off), the F / B permission flag Xfb = OFF (F / B control prohibited), the control mode judgment value mode = 0 (energization off). ).

【0054】

On the other hand, if the system failure flag Xfailoff is OFF (no failure), the process proceeds from step 401 to step 403 to determine whether the fail-safe processing execution flag Xfsop = OFF and the recovery processing execution flag Xrcv = OFF. .. If either or both of the fail-safe processing execution flag Xfsop and the recovery processing execution flag Xrcv are set to ON, the process proceeds to step 404, and the rotation direction instruction value D = to execute the open loop control. Set to 0 (stop), control mode judgment value mode = 5 (open loop control), and F / B permission flag Xfb = OFF (F / B control prohibited).

【0055】

If both the fail-safe processing execution flag Xfsop and the recovery processing execution flag Xrcv are set to OFF, the process proceeds to step 405 to determine whether or not the energization flag Xon = ON (energization on) is set, and energization is performed. If the flag Xon = OFF is set, the process proceeds to step 406 to find the difference between the target count value Acnt and the encoder count value Ncnt (the difference between the target position and the rotor 32 and the position). Based on the difference (Acnt-Ncnt), it is determined whether it corresponds to forward rotation (rotation in the P range Not P range direction), reverse rotation (rotation in the Not P range P range direction), or stop. At this time, as the encoder count value Ncnt, a value corrected by the initial position shift learning value Gcnt learned by the initial drive is used. Ncnt = Ncnt-Gcnt [0056]

If the difference (Acnt-Ncnt) between the target count value Acnt and the encoder count value Ncnt is + Kth or more (for example, + 10 ° or more), the rotor 32 is rotated in the forward rotation direction (P range Not P range rotation direction). Judging that it is necessary to drive, the process proceeds to step 407, rotation direction indicated value D = 1 (forward rotation), energization flag Xon = ON (energization on), control mode determination value mode = 1 (F / B control start). Set to position stop holding process and F / B control).

【0057】

If the difference (Acnt-Ncnt) between the target count value Acnt and the encoder count value Ncnt is -Kth or less (for example, -10 ° or less), the rotor 32 is rotated in the reverse rotation direction (Not P range P range rotation direction). Judging that it is necessary to drive, the process proceeds to step 409, rotation direction indicated value D = -1 (reverse rotation), energization flag Xon = ON (energization on), control mode judgment value mode = 1 (F / B control). Set to start position stop holding process and F / B control).

【0058】

If the difference between the target count value Acnt and the encoder count value Ncnt (Acnt-Ncnt) is within the range of -Kth to + Kth (for example, within the range of -10 ° to + 10 °), the rotor 32 is detented to the target position. Judging that it is possible to hold by the spring force of the spring 23 (the SR motor 12 does not need to be energized), the process proceeds to step 408, and the rotation direction indicated value is used to keep the SR motor 12 in the energized off state. Set D = 0 (stop), energization flag Xon = OFF (energization off), control mode judgment value mode = 0 (energization off).

【0059】

On the other hand, if it is determined in step 405 that the energization flag Xon = ON (energization on) is set, has the command shift range (target position) been reversed by the processing of steps 410 to 415 in FIG. Whether or not it is determined, and if it is inverted, the rotation direction indicated value D is inverted.

【0060】

Specifically, first, in step 410, it is determined whether or not the rotation direction indicated value D = 1 (forward rotation), and if the rotation direction indicated value D = 1 (forward rotation), the process proceeds to step 411. Whether or not it is necessary to reverse the rotation direction of the rotor 32 from forward rotation to reverse rotation is determined based on whether or not the difference (Acnt-Ncnt) between the target count value Acnt and the encoder count value Ncnt is a negative value. If necessary, proceed to step 412 and set the rotation direction indicated value D = -1 (reverse rotation).

【0061】

On the other hand, if it is determined in step 410 that the rotation direction instruction value D is not 1 (forward rotation) (that is, when D = 0 or -1), the process proceeds to step 413 and the rotation direction instruction value D It is determined whether or not = -1 (reverse rotation), and if the rotation direction indicated value D = -1 (reverse rotation), the process proceeds to step 414, and the difference between the target count value Acnt and the encoder count value Ncnt ( Whether or not Acnt-Ncnt) is a positive value determines whether or not it is necessary to reverse the rotation direction of the rotor 32 from reverse rotation to forward rotation, and if necessary, proceed to step 415 and rotate. Set the direction indicator value D = 1 (forward rotation).

【0062】

When the rotation direction instruction value D is reversed as described above, the process proceeds to step 416, and in order to reverse the rotation direction of the rotor 32, the control mode determination value mode = 4 (reverse position stop holding process), F. Set the / B permission flag Xfb = OFF (F / B control prohibited) and proceed to step 417. On the other hand, if the rotation direction indicated value D is not inverted, the process proceeds to step 417 without performing the process of step 416.

【0063】

In this step 417, it is determined whether or not the control mode determination value mode = 4 (reverse position stop holding process) is set, and if "Yes", the process proceeds to step 418 and the energization flag Xon = ON (energization on). ) Is set to execute the reverse position stop holding process.

【0064】

On the other hand, when it is determined as "No" in step 417 above (when it is not the reverse position stop holding process), it is whether or not it is the end timing of the F / B control in steps 419 to 421 of FIG. To judge. Specifically, first, in step 419, it is determined whether or not the rotation direction instruction value D 0 (forward rotation or stop), and if the rotation direction instruction value D 0, the process proceeds to step 420 and the target count is performed. Whether or not it is the end timing of F / B control is determined by whether or not the difference (Acnt-Ncnt) between the value Acnt and the encoder count value Ncnt is + Kref or less (for example, + 0.5 ° or less). If the rotation direction indicated value D = -1 (reverse rotation), the process proceeds to step 421, and the difference (Acnt-Ncnt) between the target count value Acnt and the encoder count value Ncnt is -Kref or more (for example, -0.5 ° or more). ), Judges whether or not it is the end timing of F / B control.

【0065】

That is, as shown in FIG. 14, by setting the end determination value Kref of F / B control to, for example, the phase advance of the energized phase (for example, 2 to 4 counts), the phase of the energized phase is higher than the target count value Acnt. The F / B control is terminated at the timing before the advance. As a result, the last energized phase of the F / B control coincides with the energized phase that holds the rotor 32 stopped at the target position (target count value Acnt).

【0066】

If "No" is determined in step 420 or 421 above (if it is not the end timing of F / B control), the process proceeds to step 422 and the stop holding time counter CThold that counts the time of the target position stop holding process is reset. ..

【0067】

On the other hand, if "Yes" is determined in step 420 or 421 above (when the F / B control end timing is reached), the process proceeds to step 423, and the F / B permission flag Xfb = OFF (F / B control prohibited). Set to, end the F / B control, and shift to the target position stop holding process. Then, in the next step 424, the stop holding time counter CThold is counted up to count the time of the target position stop holding process.

【0068】

After that, the process proceeds to step 425, and it is determined whether or not the time CThold of the target position stop holding process has reached a predetermined time (for example, 50 ms), and the time CThold of the target position stop holding process has reached the predetermined time (for example, 50 ms). If not, the process proceeds to step 426, and in order to continue the target position stop holding process, the rotation direction indicated value D = 0 (stop), the energization flag Xon = ON (energization on), and the control mode determination value mode = 3 (target). Maintain the position stop holding process).

【0069】

After that, when the time CThold of the target position stop holding process reaches a predetermined time (for example, 50 ms), the process proceeds to step 427, and in order to turn off the energization of the SR motor 12, the rotation direction indicated value D = 0 (stop), Set the energization flag Xon = OFF (energization off) and the control mode judgment value mode = 0 (energization off). An example of setting the control mode determination value mode described above is shown in the time chart of FIG.

【0070】

[Time Synchronous Motor Control]

The time-synchronized motor control routine shown in FIG. 16 is started in a predetermined cycle (for example, 1 ms cycle) after the initial drive is completed, and is normally driven (F / B control start position stop holding process, time-synchronized energization phase setting process, F / B control). ), Target position stop holding process, reverse position stop holding process are executed.

【0071】

When this routine is started, first, in step 501, it is determined whether or not the control mode determination value mode = 1 (normal drive) is set, and if the control mode determination value mode = 1, the process proceeds to step 505, which will be described later. The mode1 routine shown in FIG. 17 is executed to calculate the energizing phase determination value Mptn for setting the energizing phase during the F / B control start position stop holding process and the time-synchronized energizing phase setting process.

【0072】

On the other hand, if it is determined in step 501 that the control mode determination value mode = 1 is not set, the process proceeds to step 502, and it is determined whether or not the F / B permission flag Xfb = OFF (F / B control prohibited). , If the F / B permission flag Xfb = ON (F / B control execution), this routine is terminated without performing the subsequent processing. In this case, the energizing phase is set and the energizing process is executed by the F / B control routine shown in FIG. 22, which will be described later.

【0073】

In this routine, when the control mode determination value mode = 1, the process of step 505 (mode1 routine in FIG. 17) is executed even during F / B control, so that during F / B control, F / B processing that sets the energized phase in synchronization with the A-phase / B-phase signal output timing of the encoder 46 by the F / B control routine of FIG. 22, and time to set the energized phase at a predetermined cycle by the mode1 routine of FIG. The synchronous energizing phase setting process is executed in parallel. As a result, even if the rotor 32 is temporarily stopped for some reason during F / B control, the energized phase determination value Mptn is calculated by the time-synchronized energized phase setting process, and the rotor 32 rotates toward the target position. Driven.

【0074】

On the other hand, if the F / B permission flag Xfb = OFF (F / B control prohibited) is determined in step 502, the control mode determination value mode = 3 or 4 is set in steps 503 and 504. It is determined whether or not it corresponds, and when the control mode determination value mode = 3 (target position stop holding process), the process proceeds from step 503 to step 506, and the mode3 routine shown in FIG. 18 described later is executed to execute the target position. Calculate the energization phase judgment value Mptn for setting the energization phase when the stop holding process is executed.

【0075】

When the control mode determination value mode = 4 (reverse position stop holding process), the process proceeds from step 504 to step 507, the mode4 routine shown in FIG. 19 described later is executed, and the power is turned on when the reverse position stop holding process is executed. Calculate the energized phase judgment value Mptn for setting the phase.

【0076】

In the case of the control mode determination value mode = 1,3,4 as described above, after calculating the energization phase determination value Mptn, the process proceeds to step 508, and the energization processing routine shown in FIG. 20 described later is executed. Normal drive, target position stop holding process, and reverse position stop holding process are executed.

【0077】

On the other hand, if both are determined to be "No" in steps 503 and 504, that is, if the control mode determination value mode = 0,5, the process proceeds to step 508, and the energization processing routine shown in FIG. 20 described later is performed. Execute to perform power off or open loop control.

【0078】

[mode1]

The mode1 routine shown in FIG. 17 is a subroutine started in step 505 of the time-synchronized motor control routine of FIG. 16, and is an energizing phase determination value during the F / B control start position stop holding process and the time-synchronized energizing phase setting process. Set Mptn (energized phase) as follows.

【0079】

When this routine is started, first, in step 511, the energization time counter CT1 that counts the time of the F / B control start position stop holding process is counted up, and in the next step 512, the F / B control start position stop holding is held. It is determined whether or not the processing time CT1 exceeds a predetermined time (for example, 10 ms).

【0080】

If the time CT1 of the F / B control start position stop holding process does not exceed the predetermined time (for example, 10 ms), the process proceeds to step 513, and is the energized phase stored flag Xhold = OFF (unmemorized) when the stop is held? Whether or not (that is, whether or not it is the timing immediately before the start of the F / B control start position stop holding process) is determined, and if the stop holding time energizing phase stored flag Xhold = OFF, the process proceeds to step 514 and F / B Set the energization phase judgment value Mptn during the control start position stop holding process to the current position counter value (Ncnt-Gcnt).

【0081】

Mptn = Ncnt-Gcnt Here, the position counter value (Ncnt-Gcnt) is a value obtained by correcting the encoder count value Ncnt with the initial position shift learning value Gcnt learned at the time of initial drive, and accurately positions the current position of the rotor 32. It is the value shown.

【0082】

After that, the process proceeds to step 515, and the energized phase determination value Mptn is divided by 12 to obtain the remainder Mptn% 12. Here, "12" corresponds to the amount of increase / decrease in the encoder count value Ncnt (energized phase determination value Mptn) during the cycle of the energized phase. Based on this value of Mptn% 12, the current-carrying phase is determined by the conversion table in FIG.

【0083】

Then, in the next step 516, whether or not one-phase energization (U-phase energization, V-phase energization, W-phase energization) is performed depending on whether or not Mptn% 12 = 2,3,6,7,10,11. If 1-phase energization is performed, the process proceeds to step 517, and the energization phase determination value Mptn is increased by "2" corresponding to 1 step to 2-phase energization (UV phase energization, VW phase energization, UW phase energization). ). As a result, the rotor 32 is prevented from vibrating near the F / B control start position by executing the F / B control start position stop holding process with the two-phase energization, which has a larger holding torque than the one-phase energization. , Make sure that the rotor 32 can be stopped and held at the F / B control start position.

【0084】

Then, in the next step 518, the energization phase stored flag Xhold = ON (stored) at the time of stopping and holding is set, and this routine is terminated. After that, when this routine is started, it is determined as "No" in step 513, and the processes of steps 514 to 518 are not executed. As a result, the process of setting the energized phase determination value Mptn (energized phase) during the F / B control start position stop holding process is executed only once immediately before the start of the F / B control start position stop holding process.

【0085】

After that, when the time CT1 of the F / B control start position stop holding process exceeds a predetermined time (for example, 10 ms), it is determined as "Yes" in step 512, and the F / B control start position stop holding process is terminated. , Shift to F / B control. During F / B control, every time this routine is started in a predetermined cycle (for example, 1 ms cycle), the energized phase setting routine shown in FIG. 23, which will be described later, is executed in step 519, and the energized phase determination value Mptn is calculated. This process serves as a second energizing phase setting means in the claims. The energizing phase setting routine of FIG. 23 is also activated in step 602 of the F / B control routine shown in FIG. 22 to be described later. After that, the process proceeds to step 520, and the F / B permission flag Xfb = ON (F / B control execution) is set.

【0086】

In the control mode setting routines of FIGS. 11 to 13, when the difference (Acnt-Ncnt) between the target count value Acnt and the encoder count value Ncnt becomes equal to or less than a predetermined value by F / B control, the rotor 32 is set to the target position. Is determined to have reached (F / B control end timing), the F / B permission flag Xfb = OFF is set, the F / B control is ended, and the control mode judgment value mode = 3 (target position stop hold) (Process) is set, and then, when a predetermined time (for example, 50 ms) has elapsed, the control mode determination value mode = 0 (energization off) is set (see the process after step 419 in FIG. 13).

【0087】

Therefore, since the mode1 routine of FIG. 17 is not started after the F / B control is completed, the rotor 32 reaches the target position from the start of the F / B control in the setting of the energized phase by the time-synchronized energized phase setting process in step 519. Is executed until (that is, until the F / B control is completed).

【0088】

FIG. 24 is a time chart illustrating the phase that is energized first when the rotation is started from the UW phase. In this case, when starting forward rotation (rotation in the direction from P range to Not P range), the current-carrying phase determination value Mptn uses the encoder count value Ncnt, the initial position shift learning value Gcnt, and the phase lead amount K1 in the forward rotation direction. Is calculated by the following formula. Mptn = Ncnt-Gcnt + K1 [0089]

Here, assuming that the phase lead amount K1 in the forward rotation direction is 4, for example, the energized phase determination value Mptn is calculated by the following equation. When starting forward rotation from the Mptn = Ncnt-Gcnt + 4UW phase, the mod (Ncnt-Gcnt) is 4, so Mptn% 12 = 4 + 4 = 8, and the first energized phase is the UV phase.

【0090】

On the other hand, when starting reverse rotation (rotation in the Not P range P range direction) from the UW phase, assuming that the phase advance amount K2 in the reverse rotation direction is 3, for example, the energization phase determination value Mptn is calculated by the following equation. .. When the reverse rotation is started from the Mptn = Ncnt-Gcnt-K2 = Ncnt-Gcnt-3UW phase, Mptn% 12 = 4-3 = 1, and the first energized phase is the VW phase.

【0091】

In this way, by setting the forward rotation direction phase advance amount K1 and the reverse rotation direction phase advance amount K2 to 4 and 3, respectively, the switching pattern of the energizing phase in the forward rotation direction and the reverse rotation direction can be made symmetrical. In both the forward rotation direction and the reverse rotation direction, the phase at a position shifted by two steps from the current position of the rotor 32 can be first excited to start rotation.

【0092】

[mode3]

The mode3 routine shown in FIG. 18 is a subroutine started in step 506 of the time-synchronized motor control routine of FIG. 16, and sets the energization phase determination value Mptn (energization phase) at the time of the target position stop holding process as follows. To do.

【0093】

When this routine is started, first, in step 531, the energizing phase at the end of F / B control depends on whether or not Mptn% 12 = 2,3,6,7,10,11 at the end of F / B control. Is 1-phase energization (U-phase energization, V-phase energization, W-phase energization), and if it is 1-phase energization, the F / B control that has been performed up to that point is performed by the processes of steps 532 to 534. By increasing or decreasing the energizing phase judgment value Mptn by 2 according to the rotation direction of, it is changed to the two-phase energization in the next step of the one-phase energization.

【0094】

At this time, in step 532, the rotation direction is determined as follows. Immediately before entering this routine (at the end of F / B control), the rotation direction instruction value D is set to 0 (stop) in step 426 of FIG. 13, so even if the rotation direction instruction value D is viewed, the rotation direction can be changed. Cannot be determined. Therefore, in this routine, pay attention to the difference in the phase lead amount K1 and K2 of the energized phase between the energized phase judgment value Mptn at the end of F / B control and the position count value (Ncnt-Gcnt). , The rotation direction is determined as follows based on the magnitude relationship between the energization phase determination value Mptn at the end of F / B control and the position count value (Ncnt-Gcnt).

【0095】

When Mptn> Ncnt-Gcnt, it is determined to be forward rotation (rotation direction of P range Not P range), the process proceeds to step 533, and the energization phase determination value Mptn is increased by 2 to correct to 2-phase energization. ..

【0096】

On the other hand, when Mptn <Ncnt-Gcnt, it is determined that the rotation is reverse (not P range P range rotation direction), the process proceeds to step 534, and the energization phase determination value Mptn is reduced by 2 to achieve two-phase energization. to correct. If Mptn = Ncnt-Gcnt, it is judged to be stopped and the energized phase is not changed.

【0097】

In this way, the rotor 32 is near the target position by executing the target position stop holding process with the two-phase energization, which has a larger holding torque than the one-phase energization, as in the F / B control start position stop holding process. Prevents vibration and ensures that the rotor 32 is stopped and held at the target position.

【0098】

[mode4]

The mode4 routine shown in FIG. 19 is a subroutine started in step 507 of the time-synchronized motor control routine of FIG. 16, and sets the energization phase determination value Mptn (energization phase) at the time of inversion position stop holding processing as follows. To do.

【0099】

When this routine is started, first, in step 541, the energization time counter CT4 that counts the time of the inverted position stop holding process is counted up, and in the next step 542, the time CT4 of the inverted position stop holding process is set to a predetermined time ( For example, it is determined whether or not it exceeds 50 ms).

【0100】

If the time CT4 of the reverse position stop holding process does not exceed the predetermined time (for example, 50 ms), the process proceeds to step 543, and the current state depends on whether or not Mptn% 12 = 2,3,6,7,10,11. It is determined whether or not the energized phase of is one-phase energization (U-phase energization, V-phase energization, W-phase energization). By increasing or decreasing the energization phase judgment value Mptn by 2 according to the rotation direction of the / B control, the energization is changed to the two-phase energization in the next step of the one-phase energization. The processing of steps 543 to 546 is the same as the processing of steps 531 to 534 of the mode3 routine shown in FIG.

【0101】

In this way, the reverse position stop holding process is also executed by the two-phase energization, which has a larger holding torque than the one-phase energization, as in the F / B control start position stop holding process and the target position stop holding process. Prevents the 32 from vibrating near the reversing position, ensuring that the rotor 32 can be stopped and held at the reversing position.

【0102】

After that, when the time CT4 of the reverse position stop holding process exceeds a predetermined time (for example, 50 ms), it is determined as "Yes" in step 542, the reverse position stop holding process is terminated, and the F / B control is restarted. .. As a result, first, in step 547, the count value (for example, 4 or 3) of the phase advance of the energized phase is added or subtracted from the energized phase determination value Mptn at the time of the reverse position stop holding process according to the rotation direction. The first energization phase judgment value Mptn at the time of resuming F / B control is set, thereby starting the rotary drive of the rotor 32. After that, the process proceeds to step 548, and the F / B permission flag Xfb = ON (F / B control execution) is set, the energization time counter CT4 = 0, and the control mode judgment value mode = 1 (normal drive) are set, and this routine is terminated. To do.

【0103】

[Energization process]

The energization processing routine shown in FIG. 20 is a subroutine started in step 508 of the time-synchronized motor control routine of FIG. This routine is also activated in step 603 of the F / B control routine shown in FIG. 22, which will be described later.

【0104】

When the energization processing routine shown in FIG. 20 is activated, first, in step 551, it is determined whether or not the control mode determination value mode = 0 (energization off), and if the control mode determination value mode = 0 (energization off) is set. If so, the process proceeds to step 552, and all phases of the SR motor 12 are turned off to enter the standby state.

【0105】

On the other hand, if "No" is determined in step 551, the process proceeds to step 553, and it is determined whether or not the control mode determination value mode = 5 (open loop control), and the control mode determination value mode = 5 ( If it is open loop control), the process proceeds to step 554 to execute open loop control. In this open loop control, when a failure of the encoder 46 or an operation abnormality of the SR motor 12 occurs, the energizing phase is set by, for example, a time synchronization process having a cycle of 1 ms, and the rotor 32 is rotationally driven to the target position.

【0106】

Further, when all of the above steps 551 and 553 are determined to be "No", that is, the control mode determination value mode = 1,3,4 (normal drive, target position stop holding process, reverse position stop holding process). In this case, the process proceeds to step 555, the energized phase is set by the conversion table of FIG. 21 according to Mptn% 12, and the windings 33 and 34 of the energized phase are energized.

【0107】

[F / B control]

Next, the processing contents of the F / B control routine shown in FIG. 22 will be described. This routine is executed by AB phase interrupt processing, and when the F / B control execution condition is satisfied after the initial drive is completed, the rotation position (encoder count value Ncnt-Gcnt) of the rotor 32 is the target position (target count value). The rotor 32 is rotated by switching the energizing phase based on the encoder count value Ncnt and the initial position shift learning value Gcnt until it reaches within 0.5 °, for example, from Acnt).

【0108】

When the F / B control routine shown in FIG. 22 is activated, first, in step 601, whether or not the F / B permission flag Xfb is set to ON (whether or not the F / B control execution condition is satisfied) is checked. If the judgment is made and the F / B permission flag Xfb is OFF (F / B control execution condition is not satisfied), this routine is terminated without performing the subsequent processing.

【0109】

On the other hand, if the F / B permission flag Xfb is set to ON, the process proceeds to step 602, the energization phase setting routine shown in FIG. 23 described later is executed, and the current encoder count value Ncnt and the initial position shift learning value are executed. The energizing phase is set based on Gcnt (this process serves as the first energizing phase setting means in the claims), and the energizing process routine of FIG. 20 is executed in the next step 603.

【0110】

[Energizing phase setting]

The energizing phase setting routine shown in FIG. 23 is a subroutine started in step 602 of the F / B control routine of FIG. 22 and step 519 of the mode1 routine of FIG. It serves as a holding means. When this routine is started, first, in step 611, whether or not the rotation direction instruction value D indicating the rotation direction to the target position is "1" which means forward rotation (rotation direction of P range Not P range). Is determined. As a result, if it is determined that the rotation direction indicated value D = 1 (forward rotation), the process proceeds to step 612, and it is determined whether or not it is the first excitation at the start of the F / B, and at the start of the F / B. If it is determined to be the first excitation, the process proceeds to step 613, the current encoder count value Ncnt is set as the initial value of the maximum value Ncntmax described later, and the process proceeds to step 614. If it is not the second excitation, the process of step 613 is skipped and the process proceeds to step 614.

【0111】

In this step 614, it is determined whether or not the forward rotation drive execution condition is satisfied based on whether or not one of the following two conditions [A-1] and [A-2] is satisfied.

[A-1] No reversal is detected during forward rotation drive [A-2] This is the first excitation at the start of F / B [0112]

The condition of [A-1] above does not decrease beyond the dead zone ΔNn even if the current encoder count value Ncnt is equal to or greater than the maximum encoder count value Ncntmax up to now, or smaller than the maximum value Ncntmax. That is. Ncnt Ncntmax-ΔNn [0113]

Here, the dead zone ΔNn is for avoiding determining the transient behavior due to the inertia of the rotor 32 when the target position is switched during the forward rotation drive, for example, as reversal. In the form, the dead zone ΔNn is set to, for example, 2 to 4 counts.

【0114】

If either of the above two conditions [A-1] and [A-2] is satisfied, the forward rotation drive execution condition is satisfied, the process proceeds to step 615, the current encoder count value Ncnt, and the initial position shift learning value Gcnt. , The current-carrying phase judgment value Mptn is updated by the following equation using the positive rotation direction phase advance amount K1 and the velocity phase advance correction amount Ks. Mptn = Ncnt-Gcnt + K1 + Ks [0115]

Here, the phase advance amount K1 in the forward rotation direction is the phase advance amount of the energized phase required to rotate the rotor 32 in the forward direction (the phase advance amount of the energized phase with respect to the current rotation phase of the rotor 32), for example, K1 = It is set to 4.

【0116】

Further, the speed phase advance correction amount Ks is a phase advance correction amount set according to the rotation speed of the rotor 32. For example, in the low speed range, the speed phase advance correction amount Ks is set to 0, and as the speed increases, the speed becomes higher. , The speed phase advance correction amount Ks is increased to, for example, 1 or 2. As a result, the energizing phase determination value Mptn is corrected so that the energizing phase becomes suitable for the rotation speed of the rotor 32.

【0117】

After updating the energizing phase determination value Mptn, the process proceeds to step 616 to determine whether the current encoder count value Ncnt is larger than the maximum value Ncntmax, and if it is larger, the process proceeds to step 617 and is stored in the memory of the ECU 42. Rewrite the stored data of the maximum value Ncntmax with the current encoder count value Ncnt. Since the encoder count value Ncnt is periodically counted up while the rotor 32 is rotating in the forward direction, the maximum encoder count value Ncntmax is periodically updated.

【0118】

On the other hand, when reversal occurs for some reason during the forward rotation drive and the encoder count value Ncnt is counted down, it is determined as "No" in step 616 above, and the stored data of the maximum encoder count value Ncntmax is updated. This routine ends without doing so. As a result, the maximum value Ncntmax of the encoder count value is stored in the memory of the ECU 42 during the forward rotation drive.

【0119】

On the other hand, in step 614, when both of the above two conditions [A-1] and [A-2] are not satisfied, that is, reverse rotation is detected during forward rotation drive (Ncnt <Ncntmax-ΔNn), and 2 In the case of excitation after the second time, the forward rotation drive execution condition is not satisfied, and this routine is terminated as it is. In this case, the energized phase determination value Mptn is not updated to prevent reversal, the energized phase is held by the previous energized phase, the previous energized phase is energized, and the braking torque is applied in the direction of suppressing the reversal of the rotor 32. appear.

【0120】

Further, in step 611, if it is determined that the rotation direction indicated value D = -1 (reverse rotation), that is, the rotation direction of Not P range P range, the process proceeds to step 618, and the first time at the start of F / B. If it is determined whether or not it is exciting and it is determined that it is the first excitation at the start of F / B, the process proceeds to step 619, and the current encoder count value Ncnt is set as the initial value of the minimum value Ncntmin described later. Then, the process proceeds to step 620, but if it is not the first excitation at the start of the F / B, the process of step 619 is skipped and the process proceeds to step 620.

【0121】

In this step 620, it is determined whether or not the reverse rotation drive execution condition is satisfied based on whether or not one of the following two conditions [B-1] and [B-2] is satisfied.

[B-1] No reverse rotation (forward rotation) is detected during reverse rotation drive [B-2] This is the first excitation at the start of F / B [0122]

The condition of [B-1] above does not increase beyond the dead zone ΔNp even if the current encoder count value Ncnt is less than or equal to the minimum encoder count value Ncntmin up to now, or greater than the minimum value Ncntmin. That is. Ncnt Ncntmin + ΔNp [0123]

Here, the dead zone ΔNp is for avoiding determining the transient behavior due to the inertia of the rotor 32 when the target position is switched during the reverse rotation drive, for example, as reversal. In the form, the dead zone ΔNp is set to, for example, 2 to 4 counts.

【0124】

If either of the above two conditions [B-1] and [B-2] is satisfied, the reverse rotation drive execution condition is satisfied, the process proceeds to step 621, the current encoder count value Ncnt, and the initial position shift learning value Gcnt. , The current-carrying phase judgment value Mptn is updated by the following equation using the reverse rotation direction phase advance amount K2 and the velocity phase advance correction amount Ks. Mptn = Ncnt-Gcnt-K2-Ks [0125]

Here, the phase advance amount K2 in the reverse rotation direction is the phase advance amount of the energized phase required to reversely rotate the rotor 32 (the phase advance amount of the energized phase with respect to the current rotation phase of the rotor 32), for example, K2 = It is set to 3. The velocity phase advance correction amount Ks is set in the same manner as in the case of forward rotation.

【0126】

After updating the energizing phase determination value Mptn, the process proceeds to step 622 to determine whether the current encoder count value Ncnt is smaller than the minimum value Ncntmin, and if it is smaller, the process proceeds to step 623 and is stored in the memory of the ECU 42. Rewrite the stored data of the minimum value Ncntmin with the current encoder count value Ncnt. While the rotor 32 is rotating in the reverse direction, the encoder count value Ncnt is periodically counted down, so that the minimum encoder count value Ncntmin is periodically updated.

【0127】

On the other hand, when reverse rotation occurs for some reason during reverse rotation drive and the encoder count value Ncnt is counted up, it is determined as "No" in step 622 above, and the stored data of the minimum encoder count value Ncntmin is stored. This routine ends without updating. As a result, the minimum encoder count value Ncntmin is stored in the memory of the ECU 42 during the reverse rotation drive.

【0128】

On the other hand, in step 620, when both of the above two conditions [B-1] and [B-2] are not satisfied, that is, reverse rotation is detected during reverse rotation drive (Ncnt> Ncntmax + ΔNp), and 2 In the case of excitation after the second time, the reverse rotation drive execution condition is not satisfied, and this routine is terminated as it is. In this case, the energized phase determination value Mptn is not updated to prevent reversal, the energized phase is held by the previous energized phase, the previous energized phase is energized, and the braking torque is applied in the direction of suppressing the reversal of the rotor 32. appear.

【0129】

After determining the current energization phase determination value Mptn as described above, the energization processing routine of FIG. 20 is executed, and during F / B control, the conversion table of FIG. 21 is searched in step 555 to obtain Mptn. The energizing phase corresponding to% 12 is selected, and the windings 33 and 34 of the energizing phase are energized.

【0130】

FIG. 30 shows a control example when the dead zone ΔNn is set to 2 counts. If the encoder count value Ncnt is within the region of the dead zone ΔNn with respect to the maximum value Ncntmax, it is not determined to be reverse and the energized phase is not held. In the region of the dead zone ΔNn, if the encoder count value Ncnt decreases, the energized phase determination value Mptn also decreases and the energized phase is switched. After that, when the encoder count value Ncnt becomes smaller than the dead zone ΔNn, it is determined to be reverse, and the energized phase is held by the previous energized phase.

【0131】

[Fail-safe processing]

The fail-safe processing routine shown in FIG. 25 is activated at a predetermined cycle and serves as an open loop driving means within the scope of claims. When this routine is started, first, in step 701, it is determined whether or not F / B control is in progress, and if F / B control is not in progress, this routine is terminated as it is, but F / B control is in progress. If so, the process proceeds to step 702, and it is determined whether or not the energized phase is being held (motor is stopped).

【0132】

If the energized phase is not being held, this routine is terminated as it is, but if the energized phase is being held, the process proceeds to step 702 to switch to open loop control. In this open loop control, the energized phase is sequentially switched without feeding back the information of the encoder count value, the number of times the energized phase is switched is counted, and the rotor 32 is rotationally driven to the target position based on the count value. In this way, it is possible to automatically return to the F / B controllable state from the state in which the energized phase is held by the reverse rotation detection.

【0133】

In the present embodiment described above, the time-synchronized energizing phase setting process for setting the energizing phase based on the encoder count value at a predetermined cycle from the start of F / B control of the SR motor 12 until the rotor 32 is rotationally driven to the target position. Is executed in parallel with the F / B control, so the rotation of the rotor 32 is temporarily stopped for some reason during the F / B control, and the A-phase and B-phase signals are output from the encoder 46. Even if it disappears, the energizing phase can be set based on the encoder count value at that time by the time-synchronized energizing phase setting process, and the rotor 32 can be rotationally driven to the target position as much as possible.

【0134】

Moreover, in the present embodiment, the maximum and minimum values of the encoder count values are sequentially stored during F / B control, and the presence or absence of reversal is determined by comparing the current encoder count values with the maximum and minimum values. Therefore, even if the previous value of the encoder count value by the previous F / B processing is updated by the time-synchronized energizing phase setting processing (see Fig. 27), the maximum and minimum values of the encoder count value are set. Reverse detection can be performed using the value. As a result, when a reversal occurs during F / B control, the energized phase can be held at the previous energized phase, and the problem of continuous reversal due to the time-synchronized energized phase setting process can be solved.

【0135】

The reverse rotation detection method is not limited to the method of the present embodiment, and for example, the reverse rotation may be detected by determining the rotation direction of the rotor 32 according to the generation order of the A-phase signal and the B-phase signal.

【0136】

Further, in the present embodiment, when the current encoder count value is compared with the maximum value or the minimum value to determine the presence or absence of reversal, a dead zone for a predetermined count value is set for each of the maximum value and the minimum value. Since it is not judged to be reverse in this dead zone, even if the target position is switched during F / B control, the transient behavior due to the inertia of the rotor 32 immediately after the target position is switched is "reversed" by the dead zone. Even if the target position is switched during the F / B control, the rotor 32 can be rotationally driven to the target position.

【0137】

However, the present invention is not limited to a configuration in which a dead zone is provided, and when the present invention is applied to a system in which reversal is essentially unlikely to occur, such as a system in which F / B control is always started from a motor stopped state, the present invention is applied. As shown in FIG. 29, the configuration may be such that the dead zone is eliminated. In this configuration, if the current encoder count value is 1 count smaller than the maximum value (or 1 count larger than the minimum value), it is determined to be reverse and the energized phase is immediately held.

【0138】

In the present embodiment, the time-synchronized energization phase setting process is performed for the entire period from the start of F / B control to the rotational drive of the rotor 32 to the target position, so that the rotor 32 stops at what timing. Even so, there is an advantage that the current-carrying phase can be set without delay immediately after the rotor 32 is stopped by the time-synchronous current-carrying phase setting process, and the stop time of the rotor 32 can be shortened.

【0139】

However, in the present invention, the time-synchronized energization phase setting process may be executed until the rotor 32 is rotationally driven to the target position during the period when the rotation speed of the rotor 32 is equal to or less than a predetermined value. In this way, the time-synchronized energization phase setting process only needs to be executed when the rotation speed of the rotor 32 drops to a rotation speed that may cause a pause, which has the advantage of reducing the computing load on the CPU of the ECU 41. There is.

【0140】

Alternatively, the time-synchronized energization phase setting process may be executed only when the rotor 32 is stopped in the middle of F / B control. In the present embodiment, during F / B control, the drive is performed by a 1-2 phase excitation method that alternately switches between 1-phase energization and 2-phase energization, but 1-phase excitation is driven only by 1-phase energization. A method or a two-phase excitation method that is driven only by two-phase energization may be adopted.

【0141】

Further, the encoder used in the present invention is not limited to the magnetic encoder 46, and for example, an optical encoder or a brush type encoder may be used. Further, the motor used in the present invention is not limited to the SR motor 12, as long as it is a brushless motor that detects the rotation position of the rotor based on the count value of the output signal of the encoder and sequentially switches the energized phase of the motor. A brushless motor other than the SR motor may be used.

【0142】

Further, the range switching device of the present embodiment has a configuration of switching between two ranges, a P range and a Not P range. For example, a range switching valve and a manual valve of an automatic transmission are linked to the rotational operation of the detent lever 15. The present invention can also be applied to a range switching device that switches each range of an automatic transmission such as P, R, N, and D by switching.

【0143】

In addition, the present invention is not limited to the range switching device, and it goes without saying that the present invention can be applied to various devices using a brushless motor such as an SR motor as a drive source.

[Simple explanation of drawings]

FIG. 1 is a perspective view of a range switching device showing an embodiment of the present invention. FIG. 2 is a flowchart illustrating a configuration of an SR motor. FIG. 3 is a flowchart showing a circuit configuration for driving an SR motor. FIG. A diagram schematically showing the configuration of the entire control system of the switching device [Fig. 5] A plan view explaining the configuration of the rotary magnet of the encoder [Fig. 6] A side view of the encoder [Fig. 7] (a) shows the output waveform of the encoder. The time chart shown, (b) is a time chart showing the energization phase switching pattern [Fig. 8] Flow chart showing the processing flow of the encoder counter routine [Fig. 9] Fig. 10 showing an example of the count-up value ΔN calculation map [Fig. 10] Command Time chart showing the relationship between range shift, A-phase signal, B-phase signal, and encoder count value [Fig. 11] Flow chart showing the processing flow of the control mode setting routine (Part 1) [Fig. 12] Processing of the control mode setting routine Flowchart showing the flow (Part 2) [Fig. 13] Flowchart showing the processing flow of the control mode setting routine (Part 3) [Fig. 14] Time chart explaining the timing of transition from F / B control to target position stop holding processing FIG. 15 is a time chart showing a control example of an SR motor. FIG. 16 is a flowchart showing a processing flow of a time-synchronized motor control routine. FIG. 17 is a flowchart showing a processing flow of a mode1 routine. FIG. 18 is a flowchart showing a processing flow of a mode3 routine. Flow chart showing the flow of the mode4 routine [Fig. 19] Flowchart showing the processing flow of the mode4 routine [Fig. 20] Flowchart showing the processing flow of the energization processing routine [Fig. 21] 1-2 Energizing from Mptn% 12 in the case of the phase excitation method Figure 22 showing an example of the conversion table to phase [Fig. 22] Flow chart showing the processing flow of the F / B control routine [Fig. 23] Flow chart showing the processing flow of the energizing phase setting routine [Fig. 24] Rotating from the UW phase Time chart explaining the energization process at the time of starting [Fig. 25] Flow chart showing the processing flow of the fail-safe processing routine [Fig. 26] Time chart explaining the control example of the conventional energization phase hold process [Fig. 27] Comparative example Energizing phase hold processing[Fig. 28] Time chart for explaining the behavior of the encoder count value when the target position is switched during F / B control [Fig. 29] The present invention in the case where the dead zone is not provided. Time chart for explaining a control example of the energized phase hold process [FIG. 30] Time chart for explaining a control example of the energized phase hold process of the present invention when a dead zone is provided [Explanation of reference numerals]

11 ... Range switching mechanism, 12 ... SR motor, 14 ... Output shaft sensor, 15 ... Detent lever, 18 ... Parking rod, 20 ... Parking gear, 21 ... Lock lever , 23 ... detent spring, 24 ... P range holding recess, 25 ... Not P range holding recess, 26 ... reduction mechanism, 27 ... automatic transmission, 31 ... stator, 32. Rotor, 33,34 ... winding, 35,36 ... motor excitation part, 37,38 ... motor driver, 41 ... ECU (energization control means, first energization phase setting means, first 2 Energizing phase setting means, Encoder counting means, Reverse detection means, Energizing phase holding means, Open loop driving means), 43 ... P range switch, 44 ... NotP range switch, 46 ... Encoder, 47. .. Rotary magnet, magnetic detection element for 48 ... A phase signal, magnetic detection element for 49 ... B phase signal, magnetic detection element for 50 ... Z phase signal.