Control device of actuator
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsEiichi Hioka, Shunsuke Habara
Life of this patent
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Abstract
An electronic control unit (100) detects the position of an output shaft (221) by counting a position count value based on pulse signals generated from position sensors (S4, S5) in accordance with rotation of a motor (210). The electronic control unit (100) determines that the motor (210) is in a predetermined rotational phase, based on the pulse signals generated from the position sensors (S4, S5). The electronic control unit (100) determines the number of revolutions that have been made by the motor (210) when the determination is made, based on the magnitude of current applied to the motor (210) when the determination is made, and updates the position count value based on a reference count value stored in association with the predetermined rotational phase.
Claims11
A control device of an actuator used in a condition where reaction force acting on an output shaft of the actuator increases as the output shaft is displaced in a direction in which a center axis of the output shaft extends, said actuator being adapted to convert rotary motion of a motor into linear motion of the output shaft and output the linear motion,
- wherein the control device detects a position of the output shaft by counting a position count value based on a pulse signal that is generated from a position sensor of the actuator in accordance with rotation of the motor of the actuator, the control device comprising:
- a rotational phase determining portion that determines that the motor is in a predetermined rotational phase;
- a number-of-revolutions determining portion that, when the determination is made by the rotational phase determining portion, determines the number of revolutions that have been made by the motor by the time when the determination is made by the rotational phase determining portion, based on a magnitude of current applied to the motor;
- a storage portion that stores a reference count value as a reference value of the position count value, the reference count value corresponding to the predetermined rotational phase;
- and
- an updating portion that, when the determination is made by the rotational phase determining portion, updates the position count value based on the reference count value, for each of the numbers of the revolutions that are determined by the number-of-revolutions determining portion.
A method of controlling an actuator used in a condition where reaction force acting on an output shaft of the actuator increases as the output shaft is displaced in a direction in which a center axis of the output shaft extends, said actuator being adapted to convert rotary motion of a motor into linear motion of the output shaft and output the linear motion, the method comprising:
- detecting a position of the output shaft by counting a position count value based on a pulse signal that is generated from a position sensor of the actuator in accordance with rotation of the motor of the actuator;
- determining that the motor is in a predetermined rotational phase;
- when it is determined that the motor is in the predetermined rotational phase, determining the number of revolutions that have been made by the motor by the time when it is determined that the motor is in the predetermined rotational phase, based on a magnitude of current applied to the motor;
- storing a reference count value as a reference value of the position count value, the reference count value corresponding to the predetermined rotational phase;
- and
- when it is determined that the motor is in the predetermined rotational phase, updating the position count value based on the reference count value, for each of the numbers of the revolutions that are determined when it is determined that the motor is in the predetermined rotational phase.
Dependencies are inferred from the claim text.