A controller-integrated rotating electrical machine incudes a rotating electrical machine and a control device. The rotating electrical machine is equipped with a stator and a rotor. The control device is equipped with a control circuit for an inverter circuit and an angle position sensing device which works to measure an angular position of the rotor. The control device has first substrate on which the control circuit is mounted and a second substrate on which the angle position sensing device is mounted. The first substrate is located closer to the rotating electrical machine than the angle position sensing device is in an axial direction of the controller-integrated rotating electrical machine. This minimizes adverse effects of magnetic flux, as generated by the rotating electrical machine, on operation of the angle position sensing device, thereby enhancing a measurement accuracy of the angle positon sensing device.

A motor controller includes a first forward driver rotating a motor in a forward rotation direction, a torque short determiner determining short of a switch torque, a backward driver driving the motor up to an extreme position in the backward rotation direction in a switch torque short case, and a second forward driver rotating the motor from the extreme position to a target position. When the second forward driver drives the motor, a drive objet is rotated not only by a motor torque but also by a twist backlash torque from a rotation transmission part. Further, after a rotation of the motor in the forward rotation direction, the backward rotation operation of the motor is performed only in the switch torque short case, thereby reducing a shift position switch time in a switch torque sufficient case.

A motor controller includes a first forward driver rotating a motor in a forward rotation direction, a torque short determiner determining short of a switch torque, a backward driver driving the motor up to an extreme position in the backward rotation direction in a switch torque short case, and a second forward driver rotating the motor from the extreme position to a target position. When the second forward driver drives the motor, a drive objet is rotated not only by a motor torque but also by a twist backlash torque from a rotation transmission part. Further, after a rotation of the motor in the forward rotation direction, the backward rotation operation of the motor is performed only in the switch torque short case, thereby reducing a shift position switch time in a switch torque sufficient case.

A stepping motor control circuit includes a drive pulse generation section that generates forward-rotation drive pulses that drive a stepping motor stepwise in a forward rotation direction and reverse-rotation drive pulses that drive the stepping motor stepwise in a reverse rotation direction and a forward/reverse rotation switching control section that switches the drive pulses outputted to the stepping motor from one of the forward-rotation drive pulses and the reverse-rotation drive pulses to the other, and the forward/reverse rotation switching control section switches the drive pulses outputted to the stepping motor from one of the forward-rotation drive pulses and the reverse-rotation drive pulses to the other and then provide a predetermined period before the other drive pulses are outputted to the stepping motor.

A stepping motor control circuit includes a drive pulse generation section that generates forward-rotation drive pulses that drive a stepping motor stepwise in a forward rotation direction and reverse-rotation drive pulses that drive the stepping motor stepwise in a reverse rotation direction and a forward/reverse rotation switching control section that switches the drive pulses outputted to the stepping motor from one of the forward-rotation drive pulses and the reverse-rotation drive pulses to the other, and the forward/reverse rotation switching control section switches the drive pulses outputted to the stepping motor from one of the forward-rotation drive pulses and the reverse-rotation drive pulses to the other and then provide a predetermined period before the other drive pulses are outputted to the stepping motor.

A control apparatus that controls a stepping motor, comprises a determination unit configured to determine a current value to be applied to the stepping motor by looking up a first driving table, which is to be looked up when driving is to be performed in a first driving direction, and a second driving table, which is to be looked up when driving is to be performed in a second driving direction in reverse of the first driving direction. The determination unit includes an interpolation calculation unit configured to calculate the current value by interpolation calculation that looks up both the first driving table and the second driving table, in a case in which driving is to be performed in a driving direction different from a driving direction of a preceding driving operation.

A control apparatus that controls a stepping motor, comprises a determination unit configured to determine a current value to be applied to the stepping motor by looking up a first driving table, which is to be looked up when driving is to be performed in a first driving direction, and a second driving table, which is to be looked up when driving is to be performed in a second driving direction in reverse of the first driving direction. The determination unit includes an interpolation calculation unit configured to calculate the current value by interpolation calculation that looks up both the first driving table and the second driving table, in a case in which driving is to be performed in a driving direction different from a driving direction of a preceding driving operation.

A timepiece includes a stepping motor having a rotor and a coil, and a drive circuit that applies a first drive pulse having a stable stationary position at a rotor rotation angle of 90 degrees or less from a reference position and a second drive pulse having the stable stationary position at a rotor rotation angle of 90 degrees or more from the reference position, as a pulse for driving the rotor, to the coil. When a period during which the pulse is not applied to the coil is assumed as a waiting period, the drive circuit generates the waiting period after a first application of the second drive pulse after an application of the pulse to the coil is started and rotates the rotor by one or more turns without passing through the waiting period at at least one predetermined timing after the waiting period.

A timepiece includes a stepping motor having a rotor and a coil, and a drive circuit that applies a first drive pulse having a stable stationary position at a rotor rotation angle of 90 degrees or less from a reference position and a second drive pulse having the stable stationary position at a rotor rotation angle of 90 degrees or more from the reference position, as a pulse for driving the rotor, to the coil. When a period during which the pulse is not applied to the coil is assumed as a waiting period, the drive circuit generates the waiting period after a first application of the second drive pulse after an application of the pulse to the coil is started and rotates the rotor by one or more turns without passing through the waiting period at at least one predetermined timing after the waiting period.

A motor controller includes a first forward driver rotating a motor in a forward rotation direction, a torque short determiner determining short of a switch torque, a backward driver driving the motor up to an extreme position in the backward rotation direction in a switch torque short case, and a second forward driver rotating the motor from the extreme position to a target position. When the second forward driver drives the motor, a drive objet is rotated not only by a motor torque but also by a twist backlash torque from a rotation transmission part. Further, after a rotation of the motor in the forward rotation direction, the backward rotation operation of the motor is performed only in the switch torque short case, thereby reducing a shift position switch time in a switch torque sufficient case.