CN113167095B

CN113167095B - Opening/closing body drive mechanism

Info

Publication number: CN113167095B
Application number: CN202080006481.0A
Authority: CN
Inventors: 上甲笃
Original assignee: Hi Lex Corp
Current assignee: Hi Lex Corp
Priority date: 2019-03-08
Filing date: 2020-03-09
Publication date: 2022-07-08
Anticipated expiration: 2040-03-09
Also published as: CN113167095A; WO2020184520A1; JP6941125B2; JP2020143553A

Abstract

The present invention can suppress "chattering" of an opening/closing body by using an opening/closing body drive mechanism that uses an easy control method, the opening/closing body drive mechanism including: a substrate; an opening/closing body; a drive unit that drives the opening/closing body; a control unit for controlling the driving of the driving unit; and a movement detection unit that detects movement of the opening/closing body, wherein the control unit compares a target movement speed obtained by determining a target movement speed of the opening/closing body with an actual movement speed of the opening/closing body obtained based on information of the movement detection unit, and performs feedback control that controls driving of the driving unit so that the actual movement speed of the opening/closing body becomes the target movement speed, and when the opening/closing body moves from the closed position to the open direction, and when the opening/closing body moves faster than the target movement speed by an external force, the control unit resets the feedback control when the movement speed of the opening/closing body is decelerated by the feedback control, compares the actual movement speed of the opening/closing body with the target movement speed, and controls driving of the driving unit so that the actual movement speed of the opening/closing body becomes the target movement speed.

Description

Opening/closing body drive mechanism

Technical Field

The present invention relates to an opening/closing body drive mechanism.

Background

A moving body that moves by driving of the driving unit is controlled to perform a predetermined operation, such as a rear door for a vehicle. As a device for performing such an operation, a motor control device is disclosed in which an electric motor for driving a driven body is operated at a target speed by a control unit such as a CPU (see, for example, patent document 1).

In such an apparatus, when the moving speed of the moving body is continuously either excessively high or excessively low, which is measured a plurality of times based on information detected by a detection unit such as a rotation sensor, control is performed to appropriately adjust an adjustment amount for correcting the target speed.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 9-125818

Disclosure of Invention

Problems to be solved by the invention

However, even if the target speed is corrected to reach the target speed earlier, new control for reaching the original target speed is required, which results in complicated control. When the opening/closing body is moved quickly by a temporary external force (for example, an elastic force of a weather strip provided between the opening/closing body and the opening) when the latch of the closing mechanism is released, the control cannot be performed in some cases as described above. As a result, an increase or decrease in the speed of the opening/closing body occurs in a short time, and a phenomenon called "chattering" occurs in which the opening/closing body moves back and forth.

The invention aims to provide an opening/closing body driving mechanism using an easy control method capable of restraining 'shaking' of an opening/closing body.

Means for solving the problems

The opening/closing body drive mechanism of the present invention includes: a substrate; an opening/closing body that moves between an open position and a closed position with respect to the base body; a drive unit that drives the opening/closing body; a control unit that controls driving of the drive unit; and a movement detecting section for detecting movement of the opening/closing body, wherein,

the control unit compares a target moving speed at which the opening/closing body is determined as a target moving speed with an actual moving speed of the opening/closing body obtained based on information of the movement detection unit, performs feedback control for controlling the driving of the driving unit so that the actual moving speed of the opening/closing body becomes the target moving speed, and performs feedback control for controlling the driving of the driving unit so that the actual moving speed of the opening/closing body becomes the target moving speed

The control unit resets the feedback control when the movement speed of the opening/closing body is decelerated or when information on release of restriction of movement of the opening/closing body that allows the opening/closing body to move from the closing position side to the opening position side is obtained, regardless of how the driving unit performs driving when the opening/closing body moves from the closing position to the opening direction, and controls driving of the driving unit so that the actual movement speed of the opening/closing body becomes the target movement speed by comparing the actual movement speed of the opening/closing body with the target movement speed.

In the opening/closing body drive mechanism according to the present invention, the deceleration of the movement speed of the opening/closing body may be deceleration based on feedback control by the control unit, and the deceleration in this case may be deceleration based on feedback control performed when the opening/closing body moves faster than the target movement speed.

Effects of the invention

According to the present invention, "shaking" of the opening/closing body can be suppressed by an easy control method.

Drawings

Fig. 1 is a partially enlarged side view of a rear part of an automobile including an opening/closing body drive mechanism according to an embodiment of the present invention, in a state where an opening is opened.

Fig. 2 is a partially enlarged side view of the rear part of the automobile including the opening/closing body drive mechanism according to the present embodiment, when the opening is closed.

Fig. 3 is a block diagram illustrating a control system of the opening/closing body drive mechanism.

Fig. 4 is a diagram showing a temporal change in the moving speed of the opening/closing body.

Fig. 5 is a flowchart for explaining opening and closing control of the opening/closing member in the opening/closing member driving mechanism.

Detailed Description

The present embodiment will be described in detail below with reference to the drawings. In the present embodiment, an automobile that controls opening and closing of a back door is exemplified as an example of the opening/closing body drive mechanism 1, but the opening/closing body drive mechanism 1 can also be applied to a device that controls opening and closing of a shutter door, a sliding door, a hinged door, or a foldable eave that is disposed above an opening in the front of a structure such as a store or a garage.

[ integral Structure of opening/closing body drive mechanism ]

Fig. 1 is a partially enlarged side view of a rear part of an automobile including an opening/closing body drive mechanism 1 according to an embodiment of the present invention, when an opening 11 is opened. Fig. 2 is a partially enlarged side view of the rear part of the automobile including the opening/closing body drive mechanism 1 according to the present embodiment, when the opening 11 is closed.

As shown in fig. 1 and 2, the opening/closing body drive mechanism 1 includes an opening member 10 having an opening 11, an opening/closing body 20, a drive unit 30, a seal member 40, a control unit 50, and a movement detection unit 60 (see fig. 3).

The opening/closing body drive mechanism 1 is a device that switches the opening 11 of the opening member 10 between an open state and a closed state by the opening/closing body 20.

[ opening Member ]

The opening member 10 is provided at the rear of the vehicle body in the automobile shown as an example of the opening/closing body drive mechanism 1 in the present embodiment. The shape of the opening 11 may be any shape such as a rectangle or a circle.

[ opening/closing body ]

The opening/closing body 20 opens (see fig. 1) or closes (see fig. 2) the opening 11 of the opening member 10. The open state of the opening 11 is a state in which an object such as a cargo can be moved between the outside and the inside through the opening 11 at the rear portion of the vehicle. The closed state of the opening 11 is a state in which the object is hard to move through the opening 11.

In the present embodiment, the closed state is a state in which the opening 11 is closed, and the open state is a state in which the closed state of the opening is released, but the open state and the closed state are not necessarily limited to these states. For example, when the opening/closing body 20 is at a position to prevent an object such as a cargo from moving to the opposite side through the opening 11, the opening 11 can be closed by the opening/closing body 20. When the opening/closing body 20 is in a position that allows the object to move to the opposite side through the opening 11, the opening/closing body 20 can open the opening 11. In the present embodiment, the closed state is a state in which an elastic member such as a weather strip is interposed between the opening member 10 as a base and the opening/closing body 20 in a compressed state.

In the present embodiment, the upper edge portion of the opening/closing body 20 is rotatably attached to the upper edge portion side of the opening 11 in the opening member 10 via the shaft portion. The opening/closing body 20 rotates about the shaft portion to move the lower side up and down, thereby bringing the opening 11 into an open state or a closed state. That is, the opening/closing body 20 moves between an open position (see fig. 2) and a closed position with respect to the opening member 10. In the present embodiment, the position of the opening/closing body 20 is changed by the above-described rotation mechanism, but the mechanism for changing the position of the opening/closing body 20 is not limited to rotation, and any mechanism may be used as long as the opening 11 can be opened or closed.

[ Driving part ]

The drive unit 30 moves the opening/closing body 20 in the opening direction and the closing direction with respect to the opening 11 of the opening member 10. The number of the driving units 30 may be plural. In the present embodiment, the driving unit 30 is provided at each of the left and right ends of the opening/closing body 20 and the left and right edges of the opening 11, and the total number is two. The opening/closing body 20 is moved by driving each driving unit 30, and the opening/closing body 20 is moved relative to the opening member 10, thereby bringing the opening 11 into an open state or a closed state.

As long as the two driving units 30 can move the opening/closing body 20 in the direction (opening direction) for opening the opening 11 and the direction (closing direction) for closing the opening 11, the driving units 30 may drive the opening/closing body 20 in the same direction and by the same driving amount. Further, as long as the two driving units 30 can move the opening/closing body 20 in the opening direction and the closing direction, the opening/closing body 20 can be driven by different driving amounts even if the driving is performed in different directions. In the present embodiment, the driving units 30 are provided to synchronously perform the same driving.

The drive unit 30 has a drive mechanism having both ends connected to the opening member 10 and the opening/closing body 20, and moves the opening/closing body 20 relative to the opening member 10 by the telescopic drive of the drive unit 30. In order to rotationally move the opening/closing body 20 with respect to the opening member 10, the driving unit 30 is connected to the opening/closing body 20 and the opening member 10 by a connection mechanism such as a ball joint, which can switch a connection direction by sliding of the sliding unit so as to be able to follow the rotation of the opening/closing body 20.

Specifically, each driving unit 30 has a rod-like appearance that extends and contracts, and includes a driving main body portion that is disposed on one end portion side of the driving unit 30 and is connected to the opening member 10 side, and an advancing and retreating portion that is disposed on the other end portion side of the driving unit 30 and is connected to the opening/closing body 20 side. The advancing and retreating portion is attached so as to be capable of advancing and retreating from the other end portion side of the driving main body portion.

The driving unit 30 can move the opening/closing body 20 to the fully closed position, that is, the position completely closing the opening 11 and the fully open position, that is, the position where the opening 11 is maximally opened, by moving the advancing/retreating unit relative to the driving main body unit in the longitudinal direction of the driving unit 30. Each driving unit 30 converts a rotational motion of a motor or the like into a linear expansion and contraction motion, thereby moving the opening/closing body 20 in the opening direction or the closing direction.

The driving unit 30 is provided at each of the left and right ends of the rear part of the vehicle, and the number of driving units is not particularly limited. The structure, shape, and arrangement position of the driving unit 30 are not particularly limited as long as the opening/closing body 20 can be opened and closed. The driving unit 30 may be a known driving unit that can drive the opening/closing body 20.

In the present embodiment, as shown in fig. 1 and 2, the driving unit 30 includes a main body cylindrical portion 31, a slide cylindrical portion 32, a motor 33 (see fig. 3), a spindle (not shown), a spindle nut (not shown), a biasing member (not shown), and the like. In the driving section 30, a main body tube 31, a motor 33, a spindle, a biasing member, and the like correspond to the driving main body section, and a slide tube 32 and a spindle nut correspond to the advancing/retreating section.

One end side of the main body tube 31 is rotatably fixed to the opening member 10, and the other end side is open. The sliding cylinder portion 32 is disposed inside the main body cylinder portion 31 so as to be slidable in the longitudinal direction, and projects from the other end portion side of the main body cylinder portion 31.

The motor 33 is driven to move the advancing/retreating unit in the longitudinal direction with respect to the driving main body unit, thereby extending and contracting the driving unit 30. The motor 33 is a dc motor or an ac motor. When the opening/closing body drive mechanism 1 is applied to an automobile, a dc motor is preferably applied as the motor 33 in consideration of the use of a dc power supply for the automobile. The motor 33 is connected to the control unit 50, and the control unit 50 controls the rotational driving of both the normal rotation and the reverse rotation.

The slide cylinder portion 32 is biased from one end side to the other end side of the main body cylinder portion 31 by a biasing member. A spindle nut that is screwed to a spindle that is rotated around an axis by rotation of the motor 33 is provided inside the slide cylinder portion 32.

The driving unit 30 has a rotation restricting member such as a cylindrical body having a groove formed in the longitudinal direction so that the main body cylinder 31 and the slide cylinder 32 do not rotate together with each other by the rotation of the main shaft. When the motor 33 rotates to one of the front and back sides, the main shaft rotates around one of the front and back shafts, and the main shaft nut screwed to the main shaft moves in the longitudinal direction of the main shaft. Along with this, the slide cylinder portion 32 having the spindle nut moves forward and backward, i.e., slides in the longitudinal direction. Thus, the driving unit 30 is movable to expand and contract, and the opening/closing body 20 is opened/closed according to the length of the sliding tube portion 32 that advances from the main body tube portion 31.

The sealing member 40 is provided, for example, along the edge of the opening 11 of the opening member 10, and is located between the opening/closing body 20 and the opening member 10 when the opening/closing body 20 is located at the closed position. The sealing member 40 is an elastic member such as rubber, and is pressed against the opening member 10 by the opening/closing body 20 when it is located at the closing position. Therefore, as shown in fig. 2, when the opening/closing body 20 is in the closed position, the sealing member 40 is compressed by the opening/closing body 20, and the sealing property of the opening 11 of the opening member 10 is improved. Further, the sealing member 40 is provided on the opening member 10 side, but the present invention is not limited to this, and may be provided on the opening/closing body 20 side, or may be provided on both the opening member 10 and the opening/closing body 20.

The opening/closing body 20 is restricted from moving by the latch of the closing mechanism C, and thereby maintains the closed state of the opening member 10. The closing mechanism C (see fig. 3) maintains the closed state of the opening member 10 by positioning a latch engaged with the opening/closing body 20 at the closed position. The closing mechanism C releases the movement restriction of the opening/closing body 20 by moving the latch from the closing position to the releasing position. The opening/closing body 20 whose movement restriction is released moves from the closing position side to the opening position side. The closing mechanism C may be a known closing mechanism C, and may be configured to pass through a position such as a half-latch position or a neutral position while moving the latch from the closed position to the release position.

[ Structure of control System ]

Fig. 3 is a block diagram showing a control system of the opening/closing body drive mechanism 1.

In the opening/closing body drive mechanism 1, the control system includes a control unit 50 and a movement detection unit 60. The control system of the opening/closing body drive mechanism 1 controls the opening/closing operation of the opening/closing body 20 driven by the drive unit 30 including the motor 33. The opening/closing body drive mechanism 1 further includes a closing mechanism C that is controlled by the control unit 50 and that allows and restricts the movement of the opening/closing body 20 by latching.

[ movement detecting part ]

The movement detection unit 60 detects the movement of the position of the opening/closing body 20 by, for example, detecting the operation of the drive unit 30, and outputs movement information of the opening/closing body 20, which is the detection result, to the control unit 50.

For example, the movement detecting unit 60 includes a hall element, and magnetically detects the rotation state of the motor 33 to detect the operation of the driving unit 30 and further detect the movement of the position of the opening/closing body 20. In this case, magnets are arranged at different intervals in the circumferential direction on a disk provided on the rotation shaft of the motor 33, and the hall element of the movement detection unit 60 is arranged at a position facing the magnets. The hall element captures a magnet that moves with the rotation of the rotation shaft of the motor 33 and generates a pulse. The control unit 50 calculates the position of the opening/closing body 20 based on the count value obtained by counting the pulses, and calculates the moving speed of the opening/closing body 20 based on the count value per unit time.

The movement detecting unit 60 counts the captured pulses, and can use the count value of the pulses in calculating the position and the driving speed of the opening/closing body 20 by the control unit 50 by using the count value as the movement information of the opening/closing body 20. The movement detection unit 60 may calculate the position and movement speed of the opening/closing body 20 based on the count value in addition to counting the pulses, and output the calculation result to the control unit 50.

The movement detecting unit 60 may have any configuration as long as it can detect information on the positional movement of the opening/closing body 20, and may directly detect the movement of the position of the opening/closing body 20 without detecting the operation of the driving unit 30, for example. The detection method is not limited to the method using the hall element, and any method may be used as long as the count value according to the position of the opening/closing body 20 can be generated. Note that, although the movement detection unit 60 is described as being provided separately from the control unit 50 described later, the movement detection unit 60 may be embedded in the control unit 50.

In addition, when the movement detection unit 60 outputs an output value other than the count value to the control unit 50, the control unit 50 may acquire a preset count value from a storage unit or the like, for example, based on the output result of the movement detection unit 60.

[ control section ]

The control Unit 50 may have a known configuration, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

The CPU reads out a program corresponding to the processing contents from the ROM, develops the program in the RAM, and collectively controls the operations of the blocks of the opening/closing body driving mechanism 1 in cooperation with the developed program. At this time, various data stored in a storage unit (not shown) are referred to. The storage unit (not shown) is configured by, for example, a nonvolatile semiconductor memory (so-called flash memory) or a hard disk drive. The Control Unit 50 may be embedded in an ECU (Electronic Control Unit) that controls various parts of the vehicle, for example, or may be mounted on the drive Unit 30.

The control unit 50 performs feedback control for controlling the drive of the drive unit 30 so that the actual movement speed of the opening/closing body 20 becomes the target movement speed, based on the information of the movement detection unit 60.

The target moving speed is a target moving speed of the opening/closing body 20 when the opening/closing body 20 moves, and is determined according to each position of the opening/closing body 20. For example, as shown in L1 in fig. 4, the target moving speed is set to: immediately after the start time T0 of the opening operation when the opening/closing body 20 is moved from the closed position to the open position, the movement speed increases as the opening/closing body 20 is opened. In addition, the target moving speed may be set; after the opening/closing body 20 reaches the maximum speed, the movement speed decreases as it reaches the predetermined position and then moves to the fully open position.

The control unit 50 performs the feedback control by comparing the actual moving speed of the opening/closing body 20 obtained based on the information of the movement detection unit 60 with the target moving speed. The feedback control includes, for example, PI control, which is proportional-integral control using a proportional term and an integral term corresponding to a deviation between the actual moving speed and the target moving speed. The feedback control may be other than PI control as long as the actual moving speed of the opening/closing body 20 can be set to the target moving speed.

When the opening/closing body 20 moves in the opening direction, if the opening/closing body 20 moves faster than the target movement speed due to an external force, the control unit 50 resets the feedback control when the movement speed of the opening/closing body 20 is decelerated by the feedback control (time T1). Then, the control unit 50 compares the actual moving speed of the opening/closing body 20 with the target moving speed, and controls the driving of the driving unit 30 so that the actual moving speed of the opening/closing body 20 becomes the target moving speed.

The external force is a repulsive force of the sealing member 40. As described above, when the opening/closing body 20 is in the closed position, the sealing member 40 is pressed toward the opening member 10 by the opening/closing body 20, and is thus compressed (see fig. 2). Therefore, when the opening/closing body 20 is moved in the opening direction, a repulsive force for restoring the sealing member 40 to the state of fig. 1 is applied to the opening/closing body 20, and thus the moving speed of the opening/closing body 20 is increased (see L2 and L3 in fig. 4).

In addition to the repulsive force of the seal member 40, the external force may be applied to the opening/closing body 20 by gravity, such that when the opening/closing body 20 is in the closed position, the opening/closing body 20 is leaned against a load or the like loaded on the automobile. Further, as the external force, there is a case where an occupant of the automobile presses the opening/closing body 20 or the like from the inside of the automobile to apply a force to the opening/closing body 20.

When the opening/closing body 20 moves faster than the target movement speed due to the external force, if the feedback control is continued, the opening/closing body 20 is decelerated so as to move toward the target movement speed. However, if the actual moving speed exceeds the target moving speed by an external force, there is a possibility that the opening/closing body 20 is excessively decelerated by the feedback control (see L3). As a result, the amplitude of the vibration with respect to the target moving speed becomes excessive in the actual moving speed. That is, a phenomenon called "chattering" in which a large increase or decrease in the movement speed of the opening/closing body 20 occurs in a short time and the opening/closing body 20 moves back and forth occurs.

Therefore, in the present embodiment, when the moving speed of the opening/closing body 20 that has been temporarily and rapidly moved by the external force is decelerated, the feedback control is reset (time T1), and the driving of the driving unit 30 is controlled again so that the moving speed becomes the target moving speed. Therefore, "shaking" of the opening/closing body 20 due to the external force can be suppressed.

The control after resetting the feedback control may be feedback control such as PI control again. Further, the control after resetting the feedback control may be as follows: from time T1 to time T3 in fig. 4, the driving unit 30 is controlled so that the output of the motor 33 becomes a PWM (Pulse Width Modulation) output having a predetermined duty ratio, and then reset to shift to the feedback control. Alternatively, the following control may be performed: during the period when the PWM output of the predetermined duty ratio is performed, the reset is continued, and the reset is released when the control is shifted to the feedback control. In this case, the process of controlling the output value can be simplified by PWM in which the initial output value at the time of reset is set to a predetermined duty ratio.

In fig. 4, the time T3 is a time when the moving speed first exceeds the target moving speed and then falls below the target speed and then returns to the target speed in the case where the feedback control is not reset, but may be set arbitrarily.

Further, the control after resetting the feedback control may be as follows: before time T2 in fig. 4, the output of the motor 33 is fixed, or the drive unit 30 is controlled so that the motor 33 is in the free state, and then the control is shifted to the feedback control. The following control is also possible: similarly to the reset performed after the PWM control of the driving unit 30 from the time T1 to the time T3, the reset is continued until the transition to the feedback control is continued, and the reset is released when the transition to the feedback control is made, and the initial value at the time of the reset is set to the fixed output value of the motor 33, whereby the output process can be simplified. The time T2 is, for example, a time when the action of the external force on the opening/closing body 20 is lost, but may be set arbitrarily.

Further, the control unit 50 determines whether or not the movement speed of the opening/closing body 20 is decelerating based on the information of the movement detection unit 60. Specifically, the control unit 50 determines whether or not the moving speed of the opening/closing body 20 is decelerating based on the moving speed calculated based on the change in the count value of the pulse generated by the hall element of the movement detection unit 60.

This makes it possible to accurately calculate the moving speed of the opening/closing body 20 and to reset the feedback control at an accurate timing.

The control unit 50 resets the feedback control before the actual moving speed of the opening/closing body 20 decreases to the target moving speed. In fig. 4, for example, at time T1, the feedback control is reset. This can reduce the vibration of the actual moving speed with respect to the target moving speed. In fig. 4, the timing to reset the feedback control is time T1, but the present invention is not limited to this, and any timing may be used as long as the timing is within a range from time T11 at which the moving speed of the opening/closing body 20 becomes maximum after exceeding the target moving speed to time T12 at which the moving speed of the opening/closing body 20 is decelerated to become equal to the target moving speed.

The control unit 50 may reset the feedback control as described above based on the information from the closing mechanism C. The closing mechanism C restricts the movement of the opening/closing body 20 from the closed position side to the open position side by the latch, and allows the movement of the opening/closing body 20 by the operation of the latch. The closing mechanism C is constituted by: when the movement of the opening/closing body 20 is permitted, the actual movement of the latch can be detected by a sensor such as a limit switch. Specifically, the closing mechanism C is configured to: when the latch is moved from the closed position to the release position via the half-latch position, the latch can be detected by various switches such as a half-latch switch and a door-controlled light switch. The control unit 50 can detect that the opening/closing body 20 moves from the closed position side to the open position side, such as movement of the opening/closing body 20 from the locked state to the half-door state by the latch or movement from the half-door state to the open position, based on information from the switch that can know the fitted state of the latch. The control unit 50 may perform, instead of the return of the feedback control at the time of deceleration of the movement speed of the opening/closing body 20, the return of the feedback control at the time of obtaining information on the release of the movement restriction that allows the opening/closing body 20 to move from the closing position side to the opening position side, thereby suppressing "chattering" of the opening/closing body 20.

The reset by the control unit 50 is not limited to one reset. The control unit 50 may perform the reset of the feedback control based on the detection of the speed or the latch position by the one-time reset, but may perform control such that the opening/closing body 20 is driven with a constant driving force during the reset period and the feedback control is started after the reset during the reset period, by setting a period of a predetermined time during which the opening/closing body 20 is influenced by the external force after the detection as the reset period in which the reset is repeated or continued.

Further, the control unit 50 continues the feedback control when the opening/closing body 20 is not moved faster than the target moving speed by the external force. In a case where the opening/closing body 20 is not moved faster than the target moving speed by the external force, it is considered that the actual moving speed of the opening/closing body 20 is less likely to vibrate with respect to the target moving speed, and therefore, in this case, the feedback control is not reset and the feedback control is continued. As a result, the movement speed of the opening/closing body 20 can be quickly matched with the target movement speed by the feedback control.

[ drive control of opening/closing body in opening/closing body drive mechanism ]

Fig. 5 is a flowchart for explaining opening and closing control of the opening/closing body in the opening/closing body drive mechanism 1. The control in fig. 5 is premised on the reception of an operation instruction to move the opening/closing body 20 to the open position when the opening 11 is in the closed state.

As shown in fig. 5, the control unit 50 determines whether or not the actual moving speed, which is the actual moving speed of the opening/closing body 20, is faster than the target moving speed (step S101). If the actual moving speed is higher than the target moving speed as a result of the determination (yes at step S101), the control unit 50 determines whether or not the actual moving speed starts decelerating (step S102).

If the actual moving speed does not start decelerating as a result of the determination (no in step S102), the process of step S102 is repeated. On the other hand, when the actual moving speed starts decelerating (yes at step S102), the control unit 50 resets the feedback control (step S103).

Then, the control unit 50 starts predetermined speed control (step S104). The predetermined speed control may be control in which the feedback control is performed again, or control in which the feedback control is shifted to after the other speed control is performed. After step S104, the present control ends.

Returning to the determination in step S101, if the actual moving speed is equal to or less than the target moving speed (no in step S101), the present control is ended. After the control is completed, the process of step S101 may be repeated again for a predetermined time after the opening/closing body 20 starts moving from the closed position to the opening direction. The fixed time is a time that can be set as appropriate, for example, a time that eliminates the influence of the external force applied to the opening/closing body 20.

According to the present embodiment configured as described above, the feedback control is reset when the movement speed of the opening/closing body 20 increases due to an external force, and therefore "chattering" of the opening/closing body 20 can be suppressed.

In addition, in the present embodiment, even if the movement speed of the opening/closing body 20 increases due to an external force, new control such as correction of the target movement speed is not necessary, and therefore "shaking" of the opening/closing body 20 can be suppressed by an easy control method.

Further, since it is determined whether or not the moving speed of the opening/closing body 20 is decelerating based on the information of the movement detecting unit 60, the moving speed of the opening/closing body 20 can be accurately calculated, and the feedback control can be reset at an accurate timing.

Further, since the feedback control is reset at the timing before the moving speed of the opening/closing body 20 is decelerated to the target moving speed, it is possible to further suppress the vibration of the moving speed of the opening/closing body 20 with respect to the target moving speed.

Further, since the feedback control is continuously performed when the opening/closing body 20 is not moved faster than the target moving speed by the external force, the moving speed of the opening/closing body 20 can be easily and quickly matched with the target moving speed by the feedback control.

However, since the repulsive force of the sealing member 40 is reduced due to aging, it is considered that the frequency of the movement speed of the opening/closing body 20 being higher than the target movement speed due to the external force is reduced as the use history advances. That is, in the case of adopting a configuration in which the feedback control is always reset at the time of the opening operation of the opening/closing body 20, even when the reset is not necessary depending on the state of use of the sealing member 40, there is a possibility that the feedback control is reset.

However, in the present embodiment, since the feedback control is continuously performed when the movement speed of the opening/closing body 20 does not move faster than the target movement speed, the movement speed of the opening/closing body 20 can be controlled more accurately than in a configuration in which the feedback control is always reset.

In the above embodiment, the feedback control is reset at the timing before the moving speed of the opening/closing body 20 is decelerated to the target moving speed, but the present invention is not limited to this. For example, the control unit 50 may reset the feedback control at a timing when the moving speed of the opening/closing body 20 is decelerated to the target moving speed. The control unit 50 may reset the feedback control at a timing when the external force has no effect on the opening/closing body 20. The criterion for determining the disappearance of the external force can be arbitrarily determined by experiments or the like.

The control unit 50 may determine the reset timing of the feedback control based on the speed control performed after the reset. The reset timing may be set arbitrarily for each speed control performed after the reset, for example, as a timing at which the deviation between the moving speed of the opening/closing body 20 and the target moving speed becomes small.

In the above-described embodiment, whether or not the moving speed of the opening/closing body 20 is decelerating is determined using the detection result of the movement detecting unit 60, but the present invention is not limited to this, and any means may be used as long as it can measure the moving speed of the opening/closing body 20.

The embodiments disclosed herein are illustrative in all respects, and should not be construed as being limiting. The scope of the present invention is indicated by the claims rather than the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are intended to be embraced therein.

The embodiments of the present invention have been described above. The above description is an example of the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. That is, the description of the structure of the above-described apparatus and the shape of each part is an example, and it is obvious that various changes and additions can be made to these examples within the scope of the present invention.

Industrial applicability

The opening/closing body drive mechanism according to the present invention is practical as an opening/closing body drive mechanism capable of suppressing "chattering" of an opening/closing body by an easy control method.

Description of the reference symbols

1 opening/closing body drive mechanism

10 opening part

11 opening part

20 opening and closing body

30 drive part

31 main body tube part

32 sliding barrel part

33 Motor

40 sealing member

50 control part

60 movement detecting part

C, closing the mechanism.

Claims

1. An opening/closing body drive mechanism includes: a base; an opening/closing body that moves between an open position and a closed position with respect to the base body; a drive unit that drives the opening/closing body; a control unit that controls driving of the drive unit; and a movement detecting section for detecting movement of the opening/closing body,

the control unit compares a target moving speed at which the opening/closing body is determined as a target moving speed with an actual moving speed of the opening/closing body obtained based on information of the movement detection unit, performs feedback control for controlling the driving of the driving unit so that the actual moving speed of the opening/closing body becomes the target moving speed, and,

2. The opening-and-closing-body drive mechanism according to claim 1,

the opening/closing body drive mechanism includes a seal member that is positioned between the opening/closing body and the base body when the opening/closing body is in the closed position, and that is pressed against the base body by the opening/closing body,

the external force is a repulsive force generated when the sealing member is pressed against the base body by the opening/closing body.

3. The opening-and-closing body driving mechanism according to claim 1 or 2, wherein,

the control unit determines whether or not the movement speed of the opening/closing body is decelerated based on the information of the movement detection unit.

4. The opening-and-closing body driving mechanism according to claim 1 or 2, wherein,

the control unit resets the feedback control at a timing before the moving speed of the opening/closing body is decelerated to the target moving speed.

5. The opening-and-closing-body drive mechanism according to claim 3,

6. The opening-and-closing body driving mechanism according to claim 1, 2 or 5, wherein,

the control unit continues the feedback control when the opening/closing body is not moved faster than the target moving speed by the external force.

7. The opening-and-closing body driving mechanism according to claim 3,

8. The opening-and-closing-body drive mechanism according to claim 4,