JP2000002044A - Opening and closing controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening and closing controller capable of realizing bite prevention function against a smaller catching load while correctly judging the bite regardless of dispersion and fluctuation in slidability of an opening and closing body. SOLUTION: In the configuration of this controller, provided are a pulse sensor 33 (opening and closing body operation sensor) which detects the quantity of operation of a motor 1 (actuator) driving a window glass (opening and closing body) and a microcomputer 20 (control processing means) which calculates difference value ΔT of the operation speed data (period T of the output waveform of a pulse sensor 33) of the motor 1 when the window glass is closed and judges the occurrence of bite when the difference value ΔT exceed a preset threshold value K; and the microcomputer 20 changes the threshold value K in response to the operation speed data and then executes the jugment.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an opening / closing control device for controlling an opening / closing body such as a window of a vehicle, and more particularly to an opening / closing control apparatus which detects that a finger or the like is caught in the closing opening / closing body. The present invention relates to an opening / closing control device having a pinching prevention function of forcibly stopping and opening a body.

[0002]

2. Description of the Related Art Conventionally, as an opening / closing control device having an anti-jamming function, in an area before a fully closed position,
For example, a device that determines that entrapment has occurred when the current of a motor that drives an opening / closing member exceeds a certain threshold value is known. For example, there is an apparatus disclosed in Japanese Patent Application Laid-Open No. 9-41800. This device includes a limit switch that is activated and turned on at a position before a fully closed position, and a rotation amount detection unit (a motor ripple detection circuit, a pulse generator, and the like) that detects a rotation amount of a motor that drives the opening and closing body. The operation position of the opening / closing body is accurately grasped based on the outputs of these sensors, and the anti-jamming function is executed accurately.

[0003] In recent years, the level of safety required in the automobile market and the like has become higher, and a more sensitive and delicate performance is also required for the anti-jamming function of this type of device. . For example, the force (hereinafter, referred to as a “trapping load”) applied to the object whose opening / closing body is clamped immediately before the stop / open movement at the time of the clamping by the above-described trapping prevention function is performed is set to a smaller value from the viewpoint of safety. For example, when the spring constant is 10 (N /
mm), when the sandwiching load is 100
(N) It is proposed that the design goal is to be less than or equal to.

[0004]

By the way, in the above-mentioned conventional switching control device, the pinch determination is performed by comparing the motor current with a fixed threshold value. In particular, the threshold value needs to be set with a large margin in order to prevent malfunction due to fluctuations in the power supply voltage. Entrapment detection is not possible. For this reason, the applicant has proposed that when the amount of change (for example, the difference value) of the operation speed data (for example, the operation cycle) detected by the detection output of the sensor for detecting the rotation amount of the motor exceeds the threshold value, We are considering using so-called differential judgment to judge that entrapment has occurred. However, even with this method, variations and fluctuations in the sliding properties of the opening / closing body (fluctuations due to use environment, fluctuations due to aging, etc.) are considered. In order to cope with this, it is necessary to set the threshold value with a certain margin, and there is a problem that it is also difficult to achieve the above-described setting target for the sandwiching load.

[0005] According to the study of the inventors, for example, the slidability in a power window of an automobile, for example, greatly changes as shown in FIG. 3 depending on the ambient temperature. That is,
The vertical axis represents the period T (or the difference ΔT) of the pulse signal of the pulse sensor output according to the operation amount of the window (strictly, the rotation amount of the window driving motor), and the window starts to rise. In the case where the horizontal axis represents the time until the occurrence of the entrapment, the period T in the state of the ambient temperature of −30 ° C. (sliding property b) is generally remarkably different from the state of the normal temperature (sliding property a). And the degree of the change (difference value ΔT) is always large. For this reason, in order to prevent a malfunction from occurring in consideration of local deterioration of the slidability, for example, as shown by a symbol Kb in the lower diagram of FIG. Must be set to a value. However, such a threshold value has a very large value with respect to a normal temperature state (slidability a), the sensitivity of the pinch detection becomes low, and it is detected after the pinch actually occurs. This increases the time required for the operation to be performed, and the pinching load described above becomes considerably large.

In the present invention, therefore, the setting of the threshold value for the determination of entrapment can be made more finely and appropriately, so that accurate entrapment determination can be performed without malfunctioning irrespective of the variability and fluctuation of the slidability of the opening and closing member, and the entrapment load can be further improved. It is an object of the present invention to provide an opening / closing control device capable of realizing an anti-jamming function with a low level.

[0007]

According to a first aspect of the present invention, there is provided an opening / closing control device for controlling opening / closing operation of an opening / closing body in accordance with an operation input and for holding foreign matter in the opening / closing body during closing movement. Performing an entrapment determination to determine whether or not an entrapment has occurred.If the entrapment has occurred, an opening / closing control device having an entrapment prevention function of forcibly opening the opening / closing body. An opening and closing body operation sensor for detecting an operation amount of an actuator to be driven;
At least when the opening / closing body is closed, a change amount of operating speed data relating to an operating speed of the opening / closing body or the actuator is calculated from a detection output of the opening / closing body operation sensor, and a change amount of the operating speed data is calculated. Control processing means for performing, as the entrapment determination, a differential determination for judging that the entrapment has occurred when the set value exceeds a set threshold value, wherein the control processing part executes the differential determination. An opening / closing control apparatus, wherein the threshold value is set according to the operating speed data at or before the time when the threshold value is set, and then the differentiation determination is performed.

Further, in the opening / closing control device according to claim 2, the control processing means sets the threshold value to a smaller value as the operating speed determined from the operating speed data is higher. And

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a power window of a vehicle will be described below with reference to the drawings. (Main Body Configuration of Power Window) First, an outline of a main body configuration example of the power window will be described with reference to FIG. FIG.
As shown in (a), the rotation of the output shaft of the motor 1 is transmitted to the drum 4 via the worm gear 2 and the worm wheel 3. The rotation of the drum 4 pulls the wire 5 in either direction, whereby the carrier plate 7 supported vertically by the slider 6 moves up and down, and the window fixed to the carrier plate 7 is moved. The glass 8 (opening and closing body) moves up and down (opening and closing operation). An inner sash 9a and a run channel 9b are attached to a sash 9 which is a frame for supporting and storing the window glass 8, as shown in FIG. The edge including the side edge and the sash 9
Into the run channel 9b. Here, the motor 1 is a DC motor, and the supplied power supply voltage and the number of rotations (rotational speed) are in a proportional relationship. The run channel 9b is formed of a rubber material such as a synthetic resin, and its properties (flexibility and slidability) change due to temperature change, use environment, or aging. The initial properties and dimensions of the run channel 9b also vary to some extent. For this reason, the slidability of the window glass 8 varies to some extent at the initial stage, and considerably varies depending on the use state and the use period. Needless to say, the present invention is not limited to such an example of the main body configuration. For example, there may be a method of transmitting the driving force of the motor by a link without using a wire.

(Example of opening / closing control device) Next, an example of an opening / closing control device for controlling the power window will be described with reference to FIG.
This will be described with reference to FIG. A. Hardware Configuration FIG. 1 is a circuit diagram showing a hardware configuration of the opening / closing control device of the present example. As shown in FIG. 1, the apparatus of this example includes a microcomputer 20 (hereinafter, referred to as a microcomputer 20) that controls the window driving motor 1 in accordance with input signals from various sensor devices and various operation switches. Things. The microcomputer 20 corresponds to a control processing unit of the present invention, and includes a central processing unit (CPU) 21, an input circuit 22, an output circuit 23, a power supply circuit 24, and a voltage detection unit 25,
Although not shown, a memory such as a ROM or a RAM for storing or temporarily storing an operation program and various setting values is provided.

The power supply circuit 24 is a circuit for transforming and stabilizing the power output of the battery 12 of the vehicle for the microcomputer 20. The microcomputer 20 receives a signal from a later-described pulse sensor 33 incorporated in the motor 1 so that the rotation amount of the motor 1 (the operation amount of the window glass 8) and the like can be determined. The voltage detector 25 is a circuit for detecting a power supply voltage supplied to the motor 1 via the output circuit 23. The microcomputer 20 is connected to a manual up switch 41 described later.
Alternatively, according to the operation of the manual down switch 42,
The motor 1 is operated in a predetermined direction to perform a process of opening and closing the window glass 8 by manual operation. The microcomputer 20 performs an auto-up or auto-down operation in which the motor 1 is automatically operated in a predetermined direction until the window glass 8 is fully closed or fully opened in response to an operation of an auto-up switch 43 or an auto-down switch 44 described later. It also has a processing function to realize. In this example, at least the pinching prevention function based on the differential determination is realized in the auto-up operation. The processing content of the microcomputer 20 including the pinching prevention function will be described later with reference to FIG. Note that, for example, so-called absolute value determination may be performed in addition to the above-described differential determination. The absolute value determination is performed when the detection data (in this example, the pulse signal output from the pulse sensor 33) of the operation amount of the window glass 8 or the motor 1 does not change for a predetermined period of time. Means that an entrapment is determined to occur.

Next, an ignition switch 31, a limit switch 32, and a pulse sensor 33 (opening / closing body operation sensor) are connected to the microcomputer 20 as the sensor devices. Of these, the ignition switch 31
The contact is connected between the plus side of the battery 12 and the input of the power supply circuit 24, and power is supplied to the control device by operating the ignition switch 31. The limit switch 32 is connected to the input circuit 22, and the operation state of the switch 32 is input to the CPU 21 as a digital signal. Here, the limit switch 32 is a so-called fully-closed switch in which a contact is activated by detecting that the window has been operated to near the fully-closed position. Specifically, the contact is provided on the carrier plate 7 in FIG. It is a mechanical micro switch or the like that is pressed to activate an internal contact. The pulse sensor 33 is a pulse generator that outputs a pulse signal proportional to the rotation amount of the motor 1, and the rotation amount of the motor 1 can be grasped from the number of edges (the number of times of rising and falling) of the output signal waveform. The rotation speed of the motor 1 (the operation speed of the window 8) can be detected from the cycle of the pulse signal.

The operation switches include a manual up switch 41, a manual down switch 4
2. An auto-up switch 43 and an auto-down switch 44 are provided, and the operation states of these switches are input to the CPU 21 as digital signals via the input circuit 22. In this case, the signal input lines of the auto-up switch 43 and the auto-down switch 44 are integrated into a single signal. 41 is activated, and the manual down switch 42 is always activated when the auto down switch 44 is activated, whereby the microcomputer 20 can determine whether the auto down or the auto up is commanded. It is configured as follows.

B. Threshold Value Setting Function Next, a threshold value setting function F preset and stored in the ROM of the microcomputer 20 of the present embodiment will be described with reference to FIGS. This threshold value setting function F is used to determine the differential according to the operating speed data (in this case, the cycle T of the output waveform of the pulse sensor 33) relating to the operating speed of the motor 1 at or before the time when the differential determination is performed. This is a function for setting the threshold every time. That is, in this case, the threshold value K for differential determination is represented by K = F (T).
The correction function F is a function having characteristics as shown in FIG. 4A as a whole, and is specifically set based on, for example, an experimental result as shown in FIG.

That is, in the configuration of this embodiment, the window is actually closed and the same object is sandwiched by changing the operating conditions (in this case, the ambient temperature), and the pulse period T and the difference value ΔT of the pulse period T When the change is measured, it becomes as shown in FIG. 3, for example. That is, the difference value ΔT of the pulse period T
Changes by a considerable amount due to the difference in slidability.
It can be seen that the change in the difference value ΔT corresponds to the change in the pulse period T due to the difference in the slidability. Specifically, in a state in which the slidability is poor and the pulse period T is large (a state in which the rotation speed of the motor 1 is low), the difference value ΔT
Increases, and apparently the sensitivity of the differential judgment increases. On the other hand, when the sliding property is good and the pulse period T is small (motor 1
In a state where the rotation speed is high), the difference value ΔT decreases according to the degree, and apparently the sensitivity of the differential determination decreases.

Therefore, in the present embodiment, the threshold value setting function F is set so that the threshold value K changes in accordance with the relationship between the period T and the difference value ΔT. According to the study by the inventors, it has been found that the relationship between the period T and the difference value ΔT can be approximated by a cubic expression. Specifically, the relationship is expressed by the following expression (1). The above function should be set. K = F (T) = D · T ³ + C (1) where C and D in the above equation (1) are constants,
The optimum value may be set from the experimental data as shown in FIG. The threshold setting function F may be registered as a data table in which a threshold value is set for each fixed range of the cycle T. However, if registered as a data table, the boundaries of the determination area will be strictly stepwise, but if registered as a mathematical expression, a continuous function as shown in FIG. 4A can be obtained. Also, by registering as a mathematical expression, the memory capacity can be saved.

C. Operation of Device (Contents of Control Process) Next, the operation of the opening / closing control device of this example (contents of control process of the microcomputer 20) will be described. When power is supplied by operating the ignition switch 31 and the control device is started,
The microcomputer 20 implements a manual operation by the following processing. That is, first, it is determined whether or not the manual down switch 42 is operating, and if it is operating, the motor 1 is operated in a direction in which the window glass 8 opens (downward direction) to open the window glass 8. Next, it is determined whether or not the manual up switch 41 is operating, and if it is operating, the motor 1 is operated in a direction in which the window glass 8 is closed (in a rising direction) to close the window glass 8. After the opening or closing of the window glass 8 is started by this manual operation,
When the manual down switch 42 or the manual up switch 41 returns to the non-operating state, the window glass 8 (motor 1) is stopped.

Further, the microcomputer 20 repeatedly executes a series of processes shown in FIG. 2 at a predetermined timing separately from the above-described process for the manual operation to execute an auto-up or auto-down operation, and To realize the function of preventing pinching. First, step S2
In step 2, it is determined whether the auto up switch 43 or the auto down switch 44 is on (operating). If the switch is on, the process proceeds to step S24. If not, the series of processes is terminated. When a series of processing is completed, the processing is repeated from step S22 at the next timing (the same applies hereinafter).

Next, at step S24, it is determined whether the automatic up or the automatic down is instructed (that is, whether the manual up switch 41 or the manual down switch 42 is on), and the next step S26 is performed. Thus, a control signal for operating the motor 1 in a direction corresponding to the command is output. After that, in step S28, the process progress is stagnated for an appropriate startup period (a period from the start of the motor 1 to the steady speed).
In step S30, the output waveform of the pulse sensor 33 is read, and, for example, a cycle T at each subsequent time is stored in a time series. In the following, of the plurality of current and past cycles T stored in step S28, the latest one is
0, the previous one is expressed as a period T1, and the immediately previous one is expressed as a period T2 (see FIG. 4B). Subsequent to step S30, a branch process (not shown) is executed.
The process proceeds to step S34 in the case of auto down. Then, in step S32, the limit switch 32
It is determined whether or not (fully closed switch) is turned on. If it is turned on, the process proceeds to step S34, and if not, the process proceeds to step S42.

In step S34, the value of the latest cycle T read from the output signal of the pulse sensor 33 (ie, the value of T)
0) exceeds a threshold value A for judging the stop due to the fully closed state or the fully opened state. If so, the process proceeds to step S36. If not, the process returns to step S30 and repeats the process from here. Next, in step S36, the driving output of the motor 1 is stopped, the driving (opening or closing) of the window glass 8 is stopped, and a series of processing ends.

In step S38, a difference value ΔT of the period T is obtained. Specifically, for example, the previous cycle T1 is subtracted from the latest cycle T0, and the difference is calculated as a difference value Δ
Let it be T. Next, at step S40, for example, the calculation of the following equation (2) is performed, and the threshold value K for differentiating determination is obtained. In K = F (T0) = D · T0 3 + C (2) next step S42, the value of the difference value ΔT calculated in step S38 it is determined whether or not exceeds the threshold value K calculated in step S40. If it has exceeded, it is determined that pinching has occurred, and the process proceeds to step S44, and if not, the process returns to step S30.

In step S44, after outputting a control signal for reversing the motor 1 for a certain period of time, the driving output of the motor 1 is stopped, the window glass 8 is reversed (opened) by a certain distance, and stopped. The process ends. The difference value ΔT is calculated for a plurality of waveforms before a plurality of cycles, and for example, when all of the difference values ΔT exceed the corresponding threshold value K, step S44 is executed to improve the determination accuracy. You may make it do.
That is, in step S42, for example, when the magnitude relations of the following expressions (3), (4), and (5) are all satisfied, it may be determined that the entrapment has occurred and the process proceeds to step S44. T0-T1> F (T0) (3) T1-T2> F (T1) (4) T2-T3> F (T2) (5)

According to the above processing, the normal operation of auto-up and auto-down is realized, and at the time of auto-up, the processing after step S32 is executed, so that the limit switch 32 is turned off. In a region where the pulse is generated, a more accurate and low-load anti-jamming function is realized based on a threshold value finely set according to the pulse period T. In other words, during the period until the limit switch 32 is turned on at the time of closing, the process proceeds to step S38 and subsequent steps in the branching process of step S32.
At least a pinching prevention function (step S44) based on the differential determination (step S42) is executed. The threshold value K for the differential determination is based on a threshold value setting function F as shown in FIG.
(Step S40), and after the setting of the threshold value K is performed each time, the above-described differential determination is executed. For this reason, the value of the threshold value K can be changed to a preferable value according to the slidability at that time,
The function of preventing pinching with a constantly low pinching load can be realized without causing a malfunction.

For example, as shown in FIG. 3, the slidability is relatively good (the operating speed is relatively large), and the slidability is locally increased when the same object is sandwiched or under the same conditions. When the change amount of the cycle T (that is, the difference value ΔT) is relatively small even when the value of T is deteriorated, the cycle Ta for determining the threshold value K, for example, the cycle Ta immediately before the differential determination also becomes a small value accordingly.
The threshold value K is also the difference value ΔT due to such a change in slidability.
Is set to a relatively small value Ka in accordance with the change in the magnitude of. Conversely, the sliding property is relatively poor (the operating speed is relatively small), for example, as shown in the sliding property b shown in FIG. 3, and the sliding property is locally increased when the same object is sandwiched or under the same conditions. When the change amount of the cycle T (that is, the difference value ΔT) is relatively large even when the value of T is deteriorated, the cycle Tb for determining the threshold value K, for example, the cycle Tb immediately before the differentiation determination also becomes a correspondingly large value.
The threshold value K is also the difference value ΔT due to such a change in slidability.
Is set to a relatively large value Kb in accordance with the change in the magnitude of.

Therefore, in any case, it is possible to prevent the difference value ΔT from exceeding the threshold value K due to local deterioration of slidability or the like, thereby preventing a malfunction, and when the pinching occurs, Can be quickly determined and the anti-jamming function can be activated with a low jamming load. On the other hand, for example, in the case of the conventional idea of setting the threshold value to be constant regardless of the slidability, it is necessary to always set the threshold value K to a sufficiently large value (for example, Kb) in order to prevent malfunction. In this case, when the slidability is good as in the case of the slidability a, the substantial sensitivity is reduced, the entrapment determination is delayed, and the entrapment load is increased. According to the experiments performed by the inventors, according to the configuration as in the present example, even if the slidability is changed, the entrapment load is always 80%.
It can be seen that it can be maintained at about (N). Therefore, according to this example, even if the slidability of the opening / closing member varies or fluctuates due to an initial error, a change in the ambient temperature, or an aging of the run channel 9b, etc. The sensitive anti-jamming function can be operated more accurately.

The present invention is not limited to the above embodiment, but may have various aspects and modifications. For example, the open / close body operation sensor of the present invention is not limited to the pulse sensor provided in the motor as described above. For example, it may be a circuit for detecting a motor ripple, a detector such as a tacho generator for detecting a rotation speed of a motor, or a movable portion of an opening / closing body or a transmission mechanism that operates in conjunction with the opening / closing body. Various sensors (for example, a potentiometer) for detecting the moving amount and moving direction of the camera can be used. When a pulse sensor or the like is provided, a two-phase type that can obtain, for example, two signals having different phases may be used, and the operation direction of the opening / closing body may be detected from the signals. Further, it goes without saying that another actuator (for example, a pneumatic cylinder or the like) may be used as a drive source of the opening / closing body instead of the motor. Further, in the above embodiment, the cycle of the output signal waveform of the pulse sensor is used as the operation speed data of the present invention. The operation speed itself of the body may be calculated, and the calculation result may be used as the operation speed data of the present invention.
When the opening / closing member operation sensor is a sensor that directly detects the operation speed of a motor or the like, the detection output may be used as it is as the operation speed data of the present invention. In the above embodiment, the difference (difference value ΔT) between two temporally adjacent operation speed data (cycles T) is used as the change amount of the present invention.
However, the present invention is not limited to such an embodiment. For example, when the operating speed data is given as an analog signal indicating the operating speed of the opening / closing body, a process of differentiating the signal is performed, and the value obtained as a result of the differentiating process may be used as the variation of the present invention. Needless to say. That is, the change amount according to the present invention is a broad concept meaning data relating to the operation speed change amount or the operation acceleration of the opening / closing body or the actuator that drives the opening / closing body.

Further, in the above embodiment, a limit switch for detecting that the switch is in the vicinity of the fully closed state is provided, and in the area where the limit switch is on, the entrapment determination by the differential determination is not performed. Is prevented from being erroneously recognized as a pinch, but there may be a mode in which such a limit switch is not provided. For example, the fully closed position and the determination area corresponding to the fully closed position are stored by a learning process, and re-learning is performed as needed, thereby always determining whether the opening / closing body is within a predetermined determination area up to the vicinity of the fully closed position. On the other hand, the pinch determination such as the above-described differential determination may be performed only in the predetermined determination region. Further, in the above embodiment, the pinch determination is performed only during the auto-up operation, but it is needless to say that the pinch prevention function can be similarly activated during the manual-up operation. The present invention is not limited to the power window of a vehicle, and may be used for, for example, a sunroof of a vehicle, or may be applied to control of various opening / closing members in a building or a structure other than the vehicle.

[0028]

According to the opening / closing control device of the first aspect,
At least when the opening and closing body is closed, based on the detection output of the opening and closing body operation sensor, calculate the amount of change in operating speed data related to the operating speed of the opening and closing body or its actuator,
When the amount of change in the operation speed data exceeds a set threshold, control processing means is provided for executing a differential determination for determining that entrapment has occurred as entrapment determination. Then, the control processing means sets the threshold value according to the operating speed data at or before the time when the differential judgment is executed, and then executes the differential judgment. For this reason, the threshold value can be changed to a preferable value according to the slidability at that time, and the function of preventing pinching with a low pinching load can be realized without causing malfunction.

For example, as set forth in claim 2, the threshold value is set to a smaller value as the operating speed determined from the operating speed data is higher (for example, as the pulse period T in FIG. 3 is smaller). With this configuration, even if the sliding property of the opening / closing member varies or fluctuates, as illustrated in, for example, the sliding properties a and b in FIG. The threshold value is set to a minimum value (for example, Ka, Kb in FIG. 3) corresponding to the difference value ΔT of (3), so that the sensitive anti-jamming function at a low jagging load is always more accurately operated. Can be.

[Brief description of the drawings]

FIG. 1 is a circuit diagram showing a configuration of an opening / closing control device.

FIG. 2 is a flowchart illustrating a control process of an opening / closing control device.

FIG. 3 is a diagram illustrating a control process of an opening / closing control device.

FIG. 4 is a diagram illustrating a control process of an opening / closing control device.

FIG. 5 is a diagram showing a mechanical configuration of a power window.

[Explanation of symbols]

 Reference Signs List 1 motor (actuator) 8 window glass (opening / closing body) 20 microcomputer (control processing means) 33, 34 pulse sensor (opening / closing body operation sensor) K, Ka, Kb threshold value T, Ta, Tb pulse cycle (operation speed data ) ΔT difference value (change amount)

Claims (2)

[Claims] An opening / closing operation of an opening / closing body is controlled in accordance with an operation input, and a jamming determination for determining whether or not a foreign object is jammed in a closing opening / closing body is performed. An opening / closing control device having an anti-jamming function for forcibly opening an opening / closing body, comprising: an opening / closing body operation sensor that detects an operation amount of the opening / closing body or an actuator that drives the opening / closing body; and at least the opening / closing body is closed. When moving, the amount of change in operating speed data relating to the operating speed of the opening / closing body or the actuator is calculated from the detection output of the opening / closing body operation sensor, and the threshold for setting the amount of change in the operating speed data is set. Control processing means for performing a differential determination for determining that the entrapment has occurred when the value exceeds the value, as the entrapment determination, wherein the control processing means An opening / closing control device, wherein the threshold value is set according to the operating speed data at or before the time when the differential determination is performed, and then the differential determination is performed. 2. The opening / closing control device according to claim 1, wherein the control processing means sets the threshold value to a smaller value as the operating speed determined from the operating speed data is higher. .