Shift range control apparatus
A shift range control apparatus switches shift range by controlling the drive of a motor. The shift range control apparatus includes a feedback controller that is configured to perform position feedback control based on a target angle determined corresponding to the request shift range and the actual angle of the motor; a stationary phase energization controller that is configured to perform stationary phase energization control that energizes a stationary phase selected corresponding to an actual angle; and a switching controller that switches between motor control states. The switching controller switches the control state to position feedback control when the request shift range is switched. When the difference between the target angle and the actual angle becomes equal to or less than an angle determination threshold value, the switching controller switches the control state from position feedback control to the stationary phase energization control.
1. A shift range control apparatus switching a shift range by controlling a drive of a motor, the shift range control apparatus comprising:
a feedback controller that is configured to perform position feedback control based on an actual angle of the motor and a target angle determined corresponding to a request shift range;
a stationary phase energization controller that is configured to perform stationary phase energization control energizing a stationary phase selected corresponding to the actual angle; and
a switching controller that is configured to switch a control state of the motor,
wherein:
the switching controller sets the control state to the position feedback control when the request shift range is switched;
the switching controller switches the control state from the position feedback control to the stationary phase energization control when a difference value between the target angle and the actual angle becomes equal to or less than an angle determination threshold value;
the switching controller continues the stationary phase energization control until an energization duration elapses after the position feedback control is switched to the stationary phase energization control; and
the switching controller switches the control state to an energization off control in which an energization to the motor is shut off, at the time when the energization duration elapses after the position feedback control has been switched to the stationary phase energization control.
2. The shift range control apparatus according to claim 1 , wherein:
the feedback controller is provided with a phase advance filter that is configured to advance phase of the actual angle.
3. The shift range control apparatus according to claim 1 , wherein:
the switching controller changes the angle determination threshold value corresponding to a rotation speed of the motor.
4. The shift range control apparatus according to claim 1 , wherein:
in the stationary phase energization control, the stationary phase energization controller fixes an excitation phase by causing current to flow in a predetermined direction of the selected stationary phase to cause the motor to stop at a predetermined electrical angle corresponding to the fixed excitation phase.