Motor control device

1. A motor control device having a control unit which determines a command value for a duty ratio that is a ratio of a time during which a power source energizes an electric motor to a predetermined control cycle such that a moving velocity of a sliding door of a vehicle follows a target velocity set in advance while the sliding door is being opened and closed, and controls the moving velocity of the sliding door by executing energizing control over the electric motor based on the determined command value when controlling driving of the electric motor for opening and closing the sliding door, the motor control device comprising:

a plurality of upper stage switching elements, connected between terminals of windings of the electric motor and the power source; and

a plurality of lower stage switching elements, connected between the terminals and a ground potential,

wherein the control unit causes all the upper stage switching elements or all the lower stage switching elements to be switched between a turned-on state and a turned-off state synchronously when the command value indicates that a certain time elapses in a state in which the moving velocity of the sliding door exceeds the target velocity,

wherein the control unit causes all the upper stage switching elements or all the lower stage switching elements to be turned-on state when the command value for the duty ratio is smaller than 0%,

wherein the electric motor has a plurality of short-circuiting input terminals, and the motor control device generates a regenerative brake force by the short-circuiting input terminal,

wherein a reference position of the sliding door is detected by a fully-closed-state detecting switch electrically connected the control unit to determine when the sliding door is fully closed, wherein the fully-closed-state detecting switch is configured for detecting the sliding door at a fully closed position thereof, and the fully-closed state detecting switch is a limit switch which is turned on when the sliding door is at the fully closed position,

wherein the control unit executes duty control when all the upper stage switching elements or all the lower stage switching elements are caused to be in the turned-on state in accordance with the command value,

wherein, in accordance with the command value, the control unit switches a driving method for the plurality of upper stage switching elements or for the plurality of lower stage switching elements to a driving method comprising:

using a pulse width modulation which is not a complementary pulse width modulation;

using a complementary pulse width modulation with a plurality of transistors connected in series, wherein an operation mode in which the plurality of transistors connected in series in bridge connection have a reverse phase relationship in a same time period,

wherein a maximum duty of the complementary pulse width modulation is the command value for the duty ratio to be a threshold value for switching the driving method between using no complementary pulse width modulation and using the complementary pulse width modulation,

wherein the electric motor is in a drive state or a brake state based on a driving output or a braking output using the complementary pulse width modulation; and

executing duty control when all the upper stage switching elements or all the lower stage switching elements are caused to be in the turned-on state.