Shift range control device

1. A shift range control device for switching a shift range by controlling drive of a motor in a shift range switching system with play existing between a motor shaft being a rotating shaft of the motor and an output shaft to which rotation of the motor is transmitted, the shift range control device comprising:

an angle calculation unit that is configured to calculate a motor angle based on a motor rotation angle signal acquired from a motor rotation angle sensor detecting a rotational position of the motor;

an acceleration variation calculation unit that is configured to calculate an acceleration variation parameter related to an amount of variation in a motor acceleration, based on the motor angle;

an idle running determination unit that is configured to determine an end of an idle running state in which the motor is rotating within a range of the play, based on the acceleration variation parameter;

a target setting unit that is configured to set a target motor angle value by adopting an angle correction value being a value corresponding to the motor angle at the end of the idle running state; and

a drive control unit that is configured to control the drive of the motor such that the motor angle becomes the target motor angle value.

2. The shift range control device according to claim 1 ,

wherein the acceleration variation parameter is a value corresponding to a length of an acceleration variation waveform line indicating a temporal change in the motor acceleration.

3. The shift range control device according to claim 2 ,

wherein the acceleration variation calculation unit sets an integrated value of an amount of change in the motor acceleration per unit time as the length of the acceleration variation waveform line.

4. The shift range control device according to claim 2 ,

wherein the idle running determination unit is configured to:

determine an idle running section in which the motor is in the idle running state based on the motor acceleration, and

determine an integral rotation section in which the motor shaft and the output shaft are rotating integrally based on the motor acceleration;

derive a first approximate line as an approximate line representing a temporal change in the length of the acceleration variation waveform line in the idle running section;

derive a second approximate line as an approximate line representing a temporal change in the length of the acceleration variation waveform line in the integral rotation section; and

determine that the idle running state ends at an intersection between the first approximate line and the second approximate line.

5. The shift range control device according to claim 2 ,

wherein the idle running determination unit determines that the idle running state ends, in response to that the length of the acceleration variation waveform line becomes greater than a determination threshold.

6. A shift range control device for switching a shift range by controlling drive of a motor in a shift range switching system with play existing between a motor shaft being a rotating shaft of the motor and an output shaft to which rotation of the motor is transmitted, the shift range control device comprising:

a microcomputer configured to:

calculate a motor angle based on a motor rotation angle signal acquired from a motor rotation angle sensor detecting a rotational position of the motor;

calculate an acceleration variation parameter related to an amount of variation in a motor acceleration, based on the motor angle;

determine an end of an idle running state in which the motor is rotating within a range of the play, based on the acceleration variation parameter;

set a target motor angle value by adopting an angle correction value being a value corresponding to the motor angle at the end of the idle running state; and

control the drive of the motor such that the motor angle becomes the target motor angle value.