Actuator controller, control method therefor, and storage medium storing control program therefor
An actuator controller that is capable of drivingly controlling an actuator, such as a motor, with a sufficient accuracy in spite of a simple configuration while preventing an incorrect detection of switching of a magnetic pole. The actuator controller drivingly controls an actuator having a driving element and a stator. A driver supplies an electric current to a coil provided in the stator so as to drive the driving element. A sensor detects a magnetic field of the driving element so as to detect a position of the driving element. A processor exclusively controls a timing at which the sensor detects the magnetic field and a timing at which the driver supplies the electric current to the coil.
1. An actuator controller that drivingly controls an actuator having a driving element and a stator, the actuator controller comprising:
a driver that supplies an electric current to a coil provided in the stator so as to drive the driving element;
a sensor that detects a magnetic field of the driving element so as to detect a position of the driving element; and
a processor that exclusively controls a timing at which the sensor detects the magnetic field and a timing at which the driver supplies the electric current to the coil,
wherein the processor outputs a first signal to the driver for controlling the timing at which the driver supplies the electric current to the coil, and
wherein the processor outputs a second signal to the sensor for driving the sensor at a timing exclusive of the first signal.
2. The actuator controller according to claim 1 , wherein the driving element is magnetized in different poles at predetermined intervals, and
wherein the processor controls the electric current supplied to the coil according to a detection result of the sensor.
3. The actuator controller according to claim 1 , wherein the processor comprises an inverting circuit that generates the second signal by inverting the first signal.
4. The actuator controller according to claim 1 , wherein the driver controls the actuator by PWM control.
5. The actuator controller according to claim 1 , wherein the processor turns on the second signal when at least a period corresponding to a time constant of the coil elapses after turning off the first signal.
6. The actuator controller according to claim 1 , wherein the sensor outputs a detection result that has been detected in the last ON time of the second signal in a case where the second signal is OFF.
7. A control method for an actuator controller that drivingly controls an actuator having a driving element and a stator, the control method comprising:
supplying electric current to a coil provided in the stator so as to drive the driving element;
detecting a magnetic field of the driving element with a sensor so as to detect a position of the driving element; and
exclusively controlling a timing at which the sensor detects the magnetic field and a timing at which the electric current is supplied to the coil,
wherein the controlling the timing comprises outputting a first signal for controlling the timing at which the electric current is supplied to the coil, and
outputting a second signal to the sensor for driving the sensor at a timing exclusive of the first signal.
8. A non-transitory computer-readable storage medium storing a control program causing a computer to execute a control method for an actuator controller that drivingly controls an actuator having a driving element and a stator, the control method comprising:
supplying electric current to a coil provided in the stator so as to drive the driving element;
detecting a magnetic field of the driving element with a sensor so as to detect a position of the driving element; and
exclusively controlling a timing at which the sensor detects the magnetic field and a timing at which the electric current is supplied to the coil,
wherein the controlling the timing comprises outputting a first signal for controlling the timing at which the electric current is supplied to the coil, and
outputting a second signal to the sensor for driving the sensor at a timing exclusive of the first signal.