JP2001119995A - Motor-control device and motor-control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To start rotation of a stopped rotor by all-phase excitation without increasing cost. SOLUTION: A stepping motor drive circuit 11 stops the rotation of a stepping motor 12 by all-phase excitation. When starting to rotate the stopped stepping motor drive circuit 11, a CPU 2 adds A, that is, +α (when the voltage is lower than a reference voltage range) or -α (when it is higher than the reference voltage range) to a phase parameter in accordance with the detected voltage of a power supply 20 for rotating the stepping motor 12 by a power supply voltage detecting circuit 19, so that an excited phase can be changed, when starting to rotate the stepping motor 12. By starting the excitation for the excited phase according to the phase parameter set by the CPU2, the stepping motor drive circuit 11 starts to excited a phase taht corresponds to the stop position of a rotor caused by the all-phase excitation that fluctuates, depending on the change of a power supply voltage. Thus, the circuit 11 can make the stepping motor 12 rotate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device and a motor control method for driving and controlling a stepping motor for rotating a reel.

[0002]

2. Description of the Related Art Generally, a method for controlling the rotation stop of a stepping motor is generally a method of linearly accelerating, rotating at a low speed, linearly decelerating and stopping to grasp the stop position of the rotor. However, for a stepping motor used to rotate a reel of a spinning-type gaming machine (such as a slot machine), there is a rule on the time from when a rotation stop instruction is issued to when the rotation is stopped. For this reason,
A method for controlling the rotation stop of a stepping motor used in a spinning-type amusement machine uses a method in which when an instruction to stop the rotation is given, all phases of the stepping motor are simultaneously excited and the rotation of the rotor is suddenly stopped. Have been. Therefore,
In the rotation stop control in the spinning-type gaming machine, the stop position of the rotor cannot be grasped. Therefore, in the related art, when the stepping motor is started to rotate, the rotor is rotated by starting the excitation with a shift by a specific phase corresponding to the rotation position of the rotor whose rotation is stopped by the sudden stop.

However, when a stepping motor is rotationally driven using an unstabilized power supply, if the rotation of the motor is suddenly stopped by all-phase excitation, the stop position of the rotor fluctuates according to the fluctuation of the power supply voltage. Resulting in. For this reason, the phase at which the excitation is started when the rotation of the motor is started must be changed in accordance with the fluctuation of the stop position. Tuning (a state in which the rotor motion does not correctly follow the command pulse) was likely to occur.

[0004] In order to avoid such step-out, it is possible to cope with the problem by stabilizing the power supply. However, the circuit becomes complicated in order to use the stabilized power supply, and the number of parts increases, so that the cost increases. Will rise.

[0005]

As described above, in the motor control device used in the conventional spinning-type game machine and the like, since the rotation of the rotor is stopped by all-phase excitation, the stop position can be grasped. In addition, when the power supply voltage is not stable, the stop position fluctuates, so that when the stepping motor is restarted, the original excitation phase may be mistaken, resulting in step-out or the like.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has a motor control device capable of stably starting rotation of a rotor stopped by all-phase excitation without increasing cost. And a motor control method.

[0007]

SUMMARY OF THE INVENTION The present invention provides a motor control device for stopping rotation of a motor by all-phase excitation.
Power supply voltage detection means for detecting a voltage of a power supply for rotating the motor, and phase change means for changing an excitation phase when the motor is started to rotate, according to a power supply voltage detected by the power supply voltage detection means. Motor driving means for starting excitation of the excitation phase changed by the phase changing means and rotating the motor.

[0008] Thus, stable rotation is started by starting excitation in a phase that changes in accordance with fluctuations in the power supply voltage and that corresponds to the stop position of the rotor when rotation is stopped by all-phase excitation. As a result, it is possible to synchronize the phase at which excitation is started at the time of rotation start and the rotational position of the rotor.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a system configuration of a spinning-type gaming machine that constitutes a motor control device according to the present embodiment. The spinning-type gaming machine reads programs recorded on various recording media, and is implemented by implementing the functions of a computer whose operations are controlled by the programs.

As shown in FIG. 1, the spinning-type gaming machine (slot machine, etc.) in this embodiment controls various parts and realizes various functions by executing various programs stored in a ROM 3 by a CPU 2. I do.
Various data is temporarily stored in the RAM 4 as the CPU 2 executes. The CPU 2 can output various sounds such as sound effects and message sounds from the speaker 7 by the sound drive circuit 6 connected via the output port 5, and the display drive circuit connected via the output port 5. Various displays can be displayed on the various displays 9 by using the display 8.

The CPU 2 is connected to a stepping motor drive circuit 11 via an output port 10. The stepping motor drive circuit 11 controls the rotation of the stepping motor 12 under the control of the CPU 2.
When the rotation stop of the stepping motor 12 is instructed, the rotation is stopped by the all-phase excitation, and when the stepping motor 12 stopped by the all-phase excitation is started to rotate,
The stepping motor 12 that excites the phase corresponding to the phase parameter set by the CPU 2 is rotated by the rotation drive of the stepping motor drive circuit 11, and is provided with a reel having a plurality of types of symbols or the like attached to an outer peripheral portion thereof. ) 13 is rotated. The fact that the reel 13 has been rotated by the stepping motor 12 is notified to the CPU 2 from the reel index detection circuit 15 via the input port 14. The reel index detection circuit 15 detects that the reel 13 is rotating by detecting that the reference position (home position) of the reel 13 has passed a predetermined position. Therefore, CPU2
Can manage the symbol positions provided on the outer peripheral portion of the reel 13 based on the timing at which the reference position is detected by the reel index detection circuit 15.

The CPU 2 has a medal insertion sensor 16 and a stop switch (SW) through an input port 14.
17. Notification from a start switch (SW) 18 can be input. The medal insertion sensor 16 is connected to the reel 1
It is detected that a medal to be paid by the user to rotate 3 is inserted into the insertion slot. Stop switch (S
W) 17 notifies the CPU 2 that the rotation of the reel 13 has been stopped by the user. Start SW18 is
The user is notified that the rotation of the reel 13 has been instructed. The CPU 2 causes the stepping motor drive circuit 11 to stop the rotation of the stepping motor 12 (reel 13) by full-phase excitation in response to the notification from the stop SW 17, and also supplies the power supply voltage detection circuit in response to the notification from the start SW 18. Power supply 2 detected by 19
The rotation of the stepping motor drive circuit 11 is started from the phase of the stepping motor 12 corresponding to the voltage value of 0.
The power supply voltage detection circuit 19 monitors the power supply voltage of the power supply 20 and notifies the CPU 2 via the input port 14.

The CPU 2 outputs an output when the operation of the stop SW 17 detects that the reel 13 has been stopped so that a specific symbol provided on the outer peripheral portion of the reel 13 is at a predetermined position. The hopper 24 is driven to the hopper driving circuit 23 through the port 22 to pay out a predetermined number of medals. The medal payout sensor 25 detects a medal paid out by the hopper 24 and notifies the CPU 2 via the input port 14.

Next, the operation of the spinning-type gaming machine that realizes the motor control device according to the present embodiment will be described with reference to the flowchart shown in FIG. When the CPU 2 is notified that a medal has been inserted by the medal insertion sensor 16 and detects that the start SW 18 has been pressed by the user (step S1), the power supply voltage detection circuit 1
The voltage of the power supply 20 detected by the power supply 9 is acquired (step S2). Then, the CPU 2 determines the reference voltage range set in advance for determining the voltage change of the power supply 20 and the power supply 20 detected by the power supply voltage detection circuit 19.
And the voltage of.

Here, when the voltage of the power supply 20 is lower than the reference voltage range (step S3), the CPU 2 normally operates so that the phase at which the stepping motor drive circuit 11 starts rotating the stepping motor 12 moves forward. Α is added to the phase parameter A of stepping motor drive circuit 1
Set to 1 to rotate the stepping motor 12 (step S4). That is, when the voltage of the power supply 20 is low, when the rotation of the stepping motor 12 is stopped by the full-phase excitation, the force for stopping the rotation of the rotor is weaker than the normal voltage, and the full-phase excitation is performed at the normal voltage. As a result, the motor stops in a state in which it is rotated extra than when stopped. Thus, by adding α to the voltage drop to the normal phase parameter A, it is possible to excite from a phase corresponding to the position of the rotor stopped in an excessively rotated state. The stepping motor drive circuit 11 includes a CPU
In step S8, the stepping motor 12 is excited by exciting from the phase indicated by the phase parameter A + α in accordance with the instruction from Step 2.

On the other hand, when the voltage of the power supply 20 is higher than the reference voltage range (step S5), the CPU 2 sets the normal phase so that the phase at which the stepping motor drive circuit 11 starts rotating the stepping motor 12 moves later. Stepping motor drive circuit 1 by reducing α to parameter A
Set to 1 to rotate the stepping motor 12 (step S6). That is, when the voltage of the power supply 20 is high, when the rotation of the stepping motor 12 is stopped by the full-phase excitation, the force for stopping the rotation of the rotor is stronger than at the normal voltage, and the full-phase excitation is performed at the normal voltage. As a result, the motor stops in a state where it is not rotating as compared with the case where the motor is stopped. Therefore, by adding α corresponding to the voltage increase to the normal phase parameter A, it is possible to excite from the phase corresponding to the position of the rotor stopped in a state where it is not rotating more than usual. Stepping motor drive circuit 11
Is a phase parameter A- in response to an instruction from the CPU 2.
The stepping motor 12 is rotated by exciting the phase indicated by α (step S8).

When the voltage of the power supply 20 is within the reference voltage range, the CPU 2 sets a normal phase parameter A in the stepping motor drive circuit 11 and starts the rotation of the stepping motor 12 ( Steps S7 and S8). After the rotation is started, the stepping motor drive circuit 11 continues to excite the stepping motor 12 to rotate the reel 13 until the stop SW 17 is operated.

When the user gives an instruction to stop the rotation of the reel 13 by operating the stop SW 17 (step S9), the CPU 2 operates the stepping motor driving circuit 1 (step S9).
1 instructs the stepping motor 12 to stop rotating. The stepping motor drive circuit 11 stops the stepping motor 12 by all-phase excitation according to an instruction from the CPU 2 (step S10).

In this manner, when the voltage of the power supply 20 is lower than the reference voltage range, the phase parameter A is set to + α, and when the voltage is higher, the phase parameter A is set to −α. The excitation can be started from a phase in which the rotation of the stepping motor 12 can be stably started in accordance with the rotational position of the rotor.

Hereinafter, a motor control method for the stepping motor 12 will be described using a specific example. Here, for simplicity of description, as shown in FIG. 3, the number of rotor teeth is 5, and the A-phase → B-phase →
By switching the excitation from A 'phase to B' phase, the rotor has one tooth, A phase magnetic axis, two teeth and B phase magnetic axis, and three teeth and A 'phase magnetic axis. Rotate counterclockwise as follows. When stopping the rotation of the rotor, by exciting all phases, each tooth is attracted to one of the phases and suddenly stops.

FIG. 4 shows the timing of excitation of the stepping motor 12 when the power supply 20 is at the normal voltage. When the power supply 20 is at the normal voltage, as shown in FIG. 4, when the rotation of the rotor is stopped by the all-phase excitation, the excitation is started for the A-phase so that the step-out does not occur. , Stepping motor 12
(Reel 13) can be rotated.

On the other hand, the excitation timing for the stepping motor 12 when the power supply 20 is at a low voltage is as shown in FIG. When the power supply 20 is at a low voltage, even if the rotation of the rotor is stopped by all-phase excitation, the electromagnetic force for attracting each tooth by each phase is weaker than at the time of normal voltage, so that the rotor It rotates extra due to inertia compared to normal voltage. Therefore, assuming that the excitation is started for the A-phase at the time of the normal voltage, the excitation is started for the phase (next phase) earlier (+ α) than the A-phase at the time of the low voltage, that is, the B-phase which is immediately ahead. . As a result, the motor is excited from the phase corresponding to the position of the rotor stopped in an excessively rotated state, and the occurrence of step-out or the like can be avoided.

FIG. 6 shows the excitation timing of the stepping motor 12 when the power supply 20 is at a high voltage. When the power supply 20 is at a high voltage, when the rotation of the rotor is stopped by all-phase excitation, the electromagnetic force for attracting each tooth by each phase is stronger than that at the time of the normal voltage. The amount of rotation is smaller due to inertia than at the time. Therefore, at normal voltage, A
Assuming that the excitation has been started for the phase, the excitation is started for the phase (previous phase) before the A phase (-α) at the time of high voltage, that is, for the B ′ phase immediately before the A phase. As a result, the excitation is performed from the phase corresponding to the position of the rotor stopped at a position where the rotation is small, and the occurrence of step-out or the like can be avoided as in the case of the low voltage. Thus, the rotor whose rotation has been stopped by the all-phase excitation is connected to the power supply 2
Depending on whether the voltage of 0 is a low voltage or a high voltage,
By starting the excitation from the preceding phase or the preceding phase, the rotation can be stably started.

In the above description, the phase parameter A is set to + α or −α (in the specific example, the previous phase or the next phase) depending on whether it is higher or lower than the reference voltage range. A change in voltage may be detected in multiple stages, and a parameter value according to the amount of change in each voltage may be added or subtracted. In this case, data indicating the relationship between the multi-stage power supply voltages and the corresponding parameter values is stored in the ROM 3 and the CPU 2
Be made available by

In this manner, even if the stop position of the stepping motor 12 due to the all-phase excitation is affected by the fluctuation of the voltage of the power supply 20, the phase (excitation phase) to be excited when the stepping motor 12 starts rotating is changed to the power supply. By changing the voltage in accordance with the voltage value of 20, the phase is excited in accordance with the stop position, and the stepping motor 12
Can be started smoothly, and step-out is less likely to occur. In addition, since there is no need to use a stabilized power supply, the number of components does not increase and the cost does not increase. Although the above-described specific example is directed to a one-phase excitation type stepping motor for the sake of simplicity of description, a multilayer excitation type may be used, and the number of rotor teeth is set to five. It may be a number.

[0026]

As described above, according to the present invention, it is possible to stably start the rotation of the rotor stopped by the all-phase excitation without increasing the cost.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the system configuration of a spinning-type gaming machine that constitutes a motor control device according to an embodiment.

FIG. 2 is a flowchart for explaining the operation of the spinning-type gaming machine that realizes the motor control device according to the embodiment.

FIG. 3 is a diagram showing an example of a configuration of a stepping motor 12.

FIG. 4 shows a stepping motor 1 when a power supply 20 is at a normal voltage.
FIG. 6 is a diagram showing the timing of the excitation for No. 2;

FIG. 5 shows the stepping motor 12 when the power supply 20 is at a low voltage.
FIG. 6 is a diagram showing the timing of excitation with respect to FIG.

FIG. 6 shows the stepping motor 12 when the power supply 20 is at a high voltage.
FIG. 6 is a diagram showing the timing of excitation with respect to FIG.

[Description of Signs] 2 CPU 3 ROM 4 RAM 11 Stepping motor drive circuit 12 Stepping motor 13 Reel 19 Power supply voltage detection circuit 20 Power supply

Claims (2)

[Claims] 1. A motor control device for stopping rotation of a motor by all-phase excitation, comprising: a power supply voltage detection means for detecting a voltage of a power supply for rotating the motor; and a power supply voltage detected by the power supply voltage detection means. Accordingly, a phase change unit that changes an excitation phase when the motor is started to rotate, and a motor drive unit that starts excitation of the excitation phase changed by the phase change unit and rotates the motor. A motor control device, comprising: 2. A motor control method in a motor control device for stopping rotation of a motor by all-phase excitation, comprising detecting a voltage of a power supply for rotating the motor, and according to the detected power supply voltage, A motor control method comprising: changing an excitation phase at the time of starting rotation of a motor; starting excitation with respect to the changed excitation phase; and rotating the motor.