Electric tool, control method, and program

1. An electric tool, comprising:

a motor;

a motor control device;

an inverter circuit unit configured to generate a drive voltage from a direct-current power supply and output the drive voltage to the motor; and

an input/output unit being a user interface,

the input/output unit being configured to determine a target value of a speed of the motor in accordance with an operation given by a user, and give the target value to the motor control device,

the motor control device being configured to determine and update a command value of the speed of the motor based on the target value of the speed of the motor given by the input/output unit, and determine a target value of the drive voltage such that the speed of the motor matches the command value and give the target value of the drive voltage to the inverter circuit unit,

the motor control device being configured to update the command value of the speed of the motor based on a parameter relating to at least one of the voltage of the direct-current power supply for the motor or a magnitude of a load applied to the motor during rotation of the motor,

wherein, if the parameter does not satisfy a switching condition,

the motor control device is configured

to cause the command value to be close to the target value of the speed of the motor when the command value does not match the target value of the speed of the motor or

to maintain the command value, when the command value matches the target value of the speed of the motor,

and wherein, if the parameter satisfies the switching condition, the motor control device is configured to reduce the command value.

2. The electric tool of claim 1 , wherein

the motor control device is configured to update the command value based on a comparison result between the parameter and a threshold.

3. The electric tool of claim 2 , wherein

the parameter includes a modulation degree.

4. The electric tool of claim 3 , wherein

the threshold includes a modulation degree threshold, and

the motor control device is configured to reduce the command value when the modulation degree is higher than the modulation degree threshold.

5. The electric tool of claim 4 , wherein

the motor control device is configured to cause the command value to be close to the target value of the speed of the motor when the modulation degree is lower than or equal to the modulation degree threshold.

6. The electric tool of claim 2 , wherein

the parameter includes a torque current value representing a magnitude of a torque component of a current that flows through the motor.

7. The electric tool of claim 6 , wherein

the threshold includes a current threshold, and

the motor control device is configured to reduce the command value when the torque current value is larger than the current threshold.

8. The electric tool of claim 7 , wherein

the motor control device is configured to cause the command value to be close to the target value of the speed of the motor when the torque current value is smaller than or equal to the current threshold.

9. The electric tool of claim 2 , wherein

the parameter includes a power supply voltage value representing a magnitude of the voltage of the direct-current power supply.

10. The electric tool of claim 9 , wherein

the threshold includes a voltage threshold, and

the motor control device is configured to reduce the command value when the power supply voltage value is smaller than the voltage threshold.

11. The electric tool of claim 10 , wherein

the motor control device is configured to cause the command value to be close to the target value of the speed of the motor when the power supply voltage value is larger than or equal to the voltage threshold.

12. The electric tool of claim 1 , wherein

the motor is a brushless motor.

13. A control method of a motor, the control method comprising:

generating a drive voltage from a direct-current power supply and outputting the drive voltage to the motor by an inverter circuit unit; and

determining a target value of a speed of the motor in accordance with an operation given by a user,

determining and updating a command value of the speed of the motor based on the target value of the speed of the motor, and

determining a target value of the drive voltage such that the speed of the motor matches the command value and giving the target value of the drive voltage to the inverter circuit unit

updating the command value of the speed of the motor based on a parameter relating to at least one of a voltage of the direct-current power supply for the motor or a magnitude of a load applied to the motor during rotation of the motor

the method further comprising,

if the parameter does not satisfy a switching condition,

causing the command value to be close to the target value of the speed of the motor when the command value does not match the target value of the speed of the motor or

maintaining the command value when the command value matches the target value of the speed of the motor,

and if the parameter satisfies the switching condition,

reducing the command value.

14. A non-transitory computer readable storage medium recording a program configured to cause a computer system to execute the control method of claim 13 .