JP2000008704A - Opening/closing control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening/closing control device capable of realizing an accurate insertion preventing function with lower load regardless of the fluctuation of supply voltage. SOLUTION: An opening/closing control device is provided with a pulse sensor 33 outputting a pulse signal proportional to the rotating quantity of a motor 1 for driving window glass, a voltage detecting part 25 for detecting voltage supplied to the motor 1, and a microcomputer 20 computing the difference value ΔT of a cycle T of the above-mentioned pulse signal from the output of the pulse sensor 33 in the case of closing the window glass, performing estimation processing of estimating the fluctuation portion ΔTh of the difference value ΔT caused by voltage fluctuation, from the output of voltage detection and judging the generation of insertion when the value obtained by subtracting the fluctuation portion ΔTh from the difference value ΔT exceeds the threshold value D.

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. As another method, for example, the speed of a motor driving an opening / closing body is monitored by a pulse sensor, and when the motor speed decreases and the period of a pulse signal output by the pulse sensor becomes equal to or greater than a threshold value, the pinching is performed. (So-called absolute value determination method).

[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 conventional opening / closing control device, as described above, for example, the pinching determination is performed by comparing the motor current with a fixed threshold value. For example, it is particularly susceptible to the influence of voltage fluctuations of a power supply such as an in-vehicle battery, and in order to prevent malfunction due to such fluctuations of the power supply voltage, it is necessary to provide a large margin and set the threshold. Sensitive pinch detection that achieves the design goal for pinch load is not possible. Also,
For example, when the pulse period as the motor operating speed data exceeds the threshold value, it is determined that the motor is caught (absolute value determination). ) Is reliably determined to be stopped, and particularly reliable pinching determination can be performed. However, since the operation of the motor (the operation of the opening / closing body) is substantially detected as being stopped by the entrapment and the entrapment determination is performed, the entrapment determination is actually performed only when the entrapment state is already considerable. It is in a state of being advanced (a state of being sandwiched by a relatively large load), and it is impossible to detect a sensitive sandwiching that achieves the above-described design target for the sandwiching load.

[0005] For this reason, the applicant has proposed that the change amount (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 and the operation speed of the motor is a threshold value. Is being considered (or used together with the absolute value determination) to determine that the entrapment has occurred when the power supply voltage is exceeded. To cope with this, it is necessary to set a threshold value with a certain margin, and there is a problem that it is also difficult to achieve the above-described design target for the sandwiching load.

This is because, for example, a DC motor is usually used as an actuator of a switch in a power window of an automobile, and a motor speed (ie, an operation speed of the switch) is controlled by a power supply voltage supplied to the motor (hereinafter, in some cases). ,
It is called motor voltage. ). For this reason,
For example, due to factors such as the start of operation of the vehicle's computer, for example, FIG.
When the motor voltage drops sharply as shown at the top of FIG. 4, the motor speed decreases as shown at the second stage in FIG. It increases temporarily as in the third row. And
If the threshold value is set to a value small enough to achieve the above-mentioned design target for the pinching load, the increase in the motor speed change caused by the fluctuation of the power supply voltage depends on the threshold value. , And there is a danger that it is erroneously determined that entrapment has occurred even though entrapment has not actually occurred. Therefore, it is still difficult to achieve the above-described design target for the sandwiching load while preventing the erroneous determination due to the fluctuation of the power supply voltage.

It is to be noted that if there is a fluctuation such that the voltage suddenly drops, a measure may be considered in which the differential judgment is prohibited and only the absolute value judgment is executed. This is incomplete because it is a configuration that makes it impossible to detect a sensitive entrapment due to the above. Therefore, an object of the present invention is to provide an opening / closing control device capable of performing an accurate pinch determination without malfunction regardless of a fluctuation of a power supply voltage and realizing a pinch prevention function with a lower pinch load.

[0008]

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 / closing member operation sensor for detecting an operation amount of a motor to be driven, voltage detecting means for detecting a power supply voltage supplied to the motor, and at least when the opening / closing member closes, the opening / closing member or the motor The amount of change in the operating speed data relating to the operating speed is calculated from the detection output of the opening / closing member operation sensor, and the amount of change in the amount of change due to the change in the power supply voltage is calculated by the voltage detecting means. An estimation process for estimating from the output power is performed, and when the amount of change corrected by the variation obtained by the estimation process exceeds a set threshold value, a differential determination for determining that the entrapment has occurred is made. An opening / closing control device, comprising: a control processing unit that performs the entrapment determination.

According to a second aspect of the present invention, in the switching control apparatus, the control processing means has a first-order lag element for the estimation processing, and the operating speed data has a first-order lag response characteristic due to the fluctuation of the power supply voltage. And estimating a variation of the variation. Further, in the opening / closing control device according to claim 3, the opening / closing body operation sensor is a pulse sensor that outputs a pulse signal proportional to the rotation amount of the motor, and the operation speed data is a pulse signal of the pulse sensor. It is characterized by a period.

[0010]

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 body for supporting and storing the window glass 8, as shown in FIG. And a peripheral edge including a side edge is fitted into a run channel 9 b in the sash 9. 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. 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 an open / close control device) Next, an example of an open / close 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 operation program of the microcomputer 20 includes software for digital filter processing (for example, first-order low-pass filter processing) having characteristics as a temporary delay element.

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 corresponds to a voltage detector of the present invention, and is a circuit for detecting a power supply voltage supplied to the motor 1 via the output circuit 23. The microcomputer 20 first performs a process of operating the motor 1 in a predetermined direction in accordance with an operation of a manual up switch 41 or a manual down switch 42, which will be described later, to realize the opening and closing operation of the window glass 8 by manual operation. It is. 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 means detection data of the operation amount of the window glass 8 and the motor 1 (in this example, a pulse signal output from the pulse sensor 33).
Means a pinching determination method for determining that pinching has occurred when no change occurs for a predetermined time period.

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. The pulse sensor 33 determines the rotation amount (rotation angle) of the motor 1 based on the number of edges (the number of times of rising and falling) of the output signal waveform. ) Can be grasped, and the rotation speed of the motor 1 (the operation speed of the window 8) can be obtained from the cycle of the pulse signal.
Can be detected.

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. 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.

The microcomputer 20 repeatedly executes a series of processes shown in FIG. 2 at a predetermined timing separately from the above-described process for 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, in 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 and the output (power supply voltage V) of the voltage detection unit 25 are read, and, for example, the cycle T and the power supply voltage V at each subsequent time point are stored as time-series data. In the following, of the plurality of current and past cycles T stored in step S30, the latest one is referred to as a cycle T0, the immediately preceding one is referred to as a cycle T1, and the immediately preceding one is referred to as a cycle T2. To express. Subsequent to step S30, a branch process not shown is executed, and in the case of auto-up, the process proceeds to step S32.
In the case of the automatic down, the process proceeds to step S34. In step S32, it is determined whether or not the limit switch 32 (fully closed switch) is on. If it is on, the process proceeds to step S34, and if not, step S3 is performed.
Proceed to 8.

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, an estimated pulse period Th is obtained from the power supply voltage V. Specifically, a digital filter process (for example, a first-order low-pass filter process) having a characteristic as a temporary delay element is performed on a given value of the power supply voltage V (time-series data). By multiplying or adding the obtained value by a predetermined coefficient or constant, the estimated value W of the operating speed (for example, the number of rotations per unit time) of the motor 1 is obtained.
Find h. In this case, the estimated value Th of the pulse period is obtained as the reciprocal of the estimated value Wh. In other words, the operating speed of the motor 1 and the value of the pulse period as the reciprocal thereof are determined steadily and unconditionally in proportion to the value of the power supply voltage V if other conditions are constant. It has been found by the inventors of the present invention that the optimum value follows the fluctuation of the power supply voltage V with almost first-order lag characteristics. Therefore, here, based on the relationship between the power supply voltage V and the operating speed data of the motor 1, the value of the operating speed data of the motor 1 (in this case, the pulse period) is estimated, and the estimated value Th is used as the estimated value Th. It is stored in the series. It should be noted that the parameters (time constants and the like as first-order lag elements) in the above digital filter processing are set in advance by optimization through experiments and the like.

Next, at step S40, a difference value ΔT (change amount) of the actually measured pulse period T read from the output waveform of the pulse sensor 33 is obtained, and at step S38.
Then, a difference value ΔTh (variation) of the estimated value Th of the pulse period obtained in step (1) 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 ΔT
And The same applies to the difference value ΔTh. In this example, in steps S38 and S40, the power supply voltage V
A series of processes for obtaining the difference value ΔTh from the values of the above corresponds to the estimation process of the present invention. Next, in step S42, first,
The difference value ΔT is corrected by subtracting the value of the difference value ΔTh from the difference value ΔT obtained in step S38. Then, the value (ΔT−ΔTh) obtained as a result of this correction operation
Is greater than or equal to a predetermined threshold value D for differential determination. 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 drive output of the motor 1 is stopped, the window glass 8 is reversed (opened) by a certain distance, and stopped. The process ends. A plurality of difference values ΔT and ΔTh are calculated for a waveform before a plurality of cycles, and for example, all the difference values ΔT and ΔT
When the difference h exceeds the predetermined threshold value D, step S44 may be executed to improve the determination accuracy.

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 pinching occurs, a more accurate and low-load pinch prevention function is realized. That is, the limit switch 32 at the time of closing movement
During the period until is turned on, the process proceeds to step S38 and subsequent steps in the branching process of step S32, so that at least the pinching prevention function (step S44) based on the differential determination (step S42) is executed. Then, after the difference value ΔT for the differentiation determination is corrected by the difference value ΔTh estimated from the power supply voltage V, it is determined whether or not the difference value exceeds the threshold value (step S42). For this reason, the influence of the fluctuation of the power supply voltage V on the differentiation judgment can be eliminated, and even if the threshold value for the differentiation judgment is set to a value smaller than the conventional value, the possibility of malfunctioning is significantly reduced. Therefore, the function of preventing pinching with a constantly low pinching load can be realized without causing a malfunction in response to the fluctuation of the power supply voltage.

For example, as shown at the top of FIGS.
If there is a step change in which the power supply voltage V of the motor suddenly drops at a certain point, the operating speed W of the motor 1 changes with the same characteristics as the step response of the first-order lag system as shown in the second stage of FIG. . Similarly, the pulse cycle T of the pulse sensor 33 attached to the motor 1 also changes in the same manner as shown in the second row of FIG. Therefore, the difference value Δ of the estimated value Th of the pulse period obtained by the above estimation processing
Th (shown in the fifth row in FIG. 3) has a value substantially equal to the difference value ΔT of the actually measured pulse period T (shown in the third row in FIG. 3) at any time. Therefore, if there is no state change other than the fluctuation of the power supply voltage V, the corrected pulse period (ΔT−ΔTh) becomes almost zero as shown in the lowermost stage of FIG. Is almost completely removed. Even when the power supply voltage V of the motor changes slowly, the effect of the change is removed by the same operation.

(Demonstration Data) FIG. 5 shows the results of a simulation test performed by the inventors using a test apparatus assuming an apparatus having the same configuration as that of the above-described embodiment to verify the operation and effect of the above-described embodiment. . In this test, the power supply voltage V was set to 1
The change of each parameter when the step is changed from 3.5V to 10.5V is measured. For convenience,
The measurement points in FIG. 5 show the actual measurement results in a simplified manner. As shown in FIG. 5, the pulse period T corresponding to the actually measured value and the pulse period Th corresponding to the estimated value changed with similar characteristics close to the response characteristics of the first-order lag system. And
The pulse period change amount (ΔT−ΔTh) after the correction hardly changes, and even when the entrapment load is a low threshold value corresponding to about 80 (N), the threshold value does not exceed the threshold value, and the differential judgment is performed. The condition did not hold. On the other hand, the uncorrected pulse period variation (ΔT) increases temporarily due to the voltage fluctuation, and when the entrapment load has a low threshold value corresponding to about 80 (N), the threshold value increases. The value exceeded the value, and the differential judgment condition was satisfied. Therefore, it can be seen that, with the configuration as in the above embodiment, the pinching load can always be maintained at about 80 (N) even when the power supply voltage changes.

The present invention is not limited to the above-described embodiment, and may have various aspects and modifications. For example, the opening / closing body operation sensor of the present invention may be any sensor as long as it can detect an operation amount such as an operating distance (rotation angle) and an operation speed (rotation speed) of the opening / closing body and the motor. It is not limited to a pulse sensor provided in a simple motor. For example, a circuit for detecting a motor ripple or a detector such as a tachometer for detecting a rotation speed of a motor may be used. Alternatively, various sensors (for example, a potentiometer) for detecting the moving amount and the moving direction of the movable body of the opening / closing body or the transmission mechanism operating in conjunction with the opening / closing body 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, in the above embodiment, the operating speed data of the present invention includes the period T of the output signal waveform of the pulse sensor as the operating speed data.
Although, for example, the rotation speed of the motor and the operation speed of the opening and closing body itself are calculated from data such as the rotation amount of the motor obtained from the opening and closing body operation sensor, and the calculation results are used as the operation speed data of the present invention. You may. 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. Note that, even when the motor speed W is used as the operating speed data of the present invention, by performing the same processing as in the above-described embodiment, as shown in FIG. Can be removed. That is, the estimated value Wh of the motor speed is obtained from the value of the power supply voltage V (the fourth stage in FIG. 4), and the difference value (change amount) ΔWh is obtained from the estimated value Wh (FIG. 4).
And the difference value ΔW of the estimated value Wh from the difference value (change amount) ΔW of the motor speed calculated from the actually measured value W.
If h is subtracted, the effect of the voltage fluctuation is almost completely eliminated, as shown at the bottom of FIG.

Further, in the above embodiment, two operation speed data (period T) that are temporally adjacent to each other are used as the variation of the present invention.
(Difference value ΔT) is used, but 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 motor driving the opening / closing body. Further, in the above embodiment, the estimation processing of the present invention is all performed by software using digital filter processing, but is not limited thereto.
For example, by processing a detection signal of a power supply voltage by a filter circuit having a first-order lag characteristic, a signal having a waveform as shown in the second stage of FIG. 4 is obtained, and a change amount of the operating speed data is estimated based on this signal. The value (variation of the present invention) may be obtained. That is, the first-order lag element of the present invention may be a soft component or a hard component.

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 / closing body is closed, the amount of change in the operating speed data related to the operating speed of the opening / closing body or the motor is calculated from the detection output of the opening / closing body operation sensor, and the change in the amount of change due to the power supply voltage fluctuation. Estimation is performed from the detection output of the voltage detection means, and when the amount of change corrected by the amount of change obtained by this estimation exceeds a set threshold, it is determined that pinching has occurred. The differential judgment is executed by the control processing means. For this reason, the influence of the fluctuation of the power supply voltage on the entrapment determination by the differential determination is removed, and even if the power supply voltage fluctuates,
The function of preventing pinching with a constantly low pinching load can be realized without causing a malfunction.

In particular, the control processing means may include a first-order lag element for the estimation process, and the operating speed data may change with a first-order lag response characteristic due to a change in power supply voltage. In the configuration for estimating the amount of change in the amount of change, it is possible to almost completely eliminate the influence of the voltage change on the operating speed when the DC motor is used. For this reason, it is possible to realize a pinching prevention function with a particularly low pinching load while preventing malfunction due to voltage fluctuation.

According to a third aspect of the present invention, a pulse sensor for outputting a pulse signal proportional to the rotation amount of the motor is used as the opening / closing member operation sensor, and the period of the pulse signal of the pulse sensor is used as the operation speed data. in case of,
The signal that needs to be read in order to obtain the operation speed data can be handled as a digital signal as it is, and the operation speed data (that is, the pulse signal) is counted only by counting the falling or rising timing of the signal. , The period) can be easily obtained. For this reason, when the control processing means is constituted by a digital circuit including a microcomputer or the like, there is an effect that the processing for the above-described differential determination can be particularly easily performed.

[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 test results for demonstrating the operation of the switching control device.

FIG. 6 is a diagram showing a mechanical configuration of a power window.

[Explanation of symbols]

 Reference Signs List 1 motor 8 window glass (opening / closing body) 20 microcomputer (control processing means) 25 voltage detecting section (voltage detecting means) 33 pulse sensor (opening / closing body operation sensor) D threshold T pulse period (operation speed data) Th pulse period ΔT difference value (change amount) ΔTh difference value (change amount) V power supply voltage

Continued on the front page F-term (reference) 2E052 AA00 AA09 BA02 CA06 DA03 DA05 DB03 DB05 EA14 EA15 EB01 EC01 GA03 GA05 GA08 GA10 GB06 GB12 GB15 GD09 HA01 KA01 KA08 KA12 KA13 KA16 3D127 AA02 DF04 DF20 DF20 DF35 DF20

Claims (3)

[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 the opening / closing body, comprising: an opening / closing body operation sensor for detecting an operation amount of the opening / closing body or a motor for driving the opening / closing body; Voltage detecting means for detecting a power supply voltage; and at least when the opening / closing body is closed, the amount of change in operating speed data relating to the operating speed of the opening / closing body or the motor is determined from a detection output of the opening / closing body operation sensor. And an estimation process of estimating a variation of the variation due to the variation of the power supply voltage from a detection output of the voltage detecting means, and calculating a variation obtained by the estimation process. When the amount of change corrected by the above exceeds a set threshold,
An opening / closing control device, comprising: a control processing unit configured to execute the differential determination for determining that the entrapment has occurred as the entrapment determination. 2. The control processing means has a first-order lag element for the estimation process, and assumes that the operating speed data changes with a first-order lag response characteristic due to a change in the power supply voltage. The opening / closing control device according to claim 1, wherein 3. The opening / closing member operation sensor is a pulse sensor that outputs a pulse signal proportional to the rotation amount of the motor, and the operation speed data is a period of the pulse signal of the pulse sensor. The opening / closing control device according to claim 1 or 2, wherein