JP2001082028A - Drive control method of opening/closing body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a bite from being erroneously determined in drive control of an opening/closing body. SOLUTION: In this drive control method in which an averaged period tar (n) obtained from rotating speed detected signal weighted mean is compared with a rotation period t (n), and when the condition of the rotation period t (n) longer than the averaged team tav (n) is continued over a fixed section B (number of control cycle), it is judged to be in a bite and bite preventing process is performed, the initial value tav (o) of the averaged period is added to the initial rotation period t (o) by a fixed value d, and the computed value of the averaged period tav (o) in the section of some extent immediately after starting is swelled bulk. Even when the rotation period t (n) increases directly after starting by a flat high load or the like, because the section of the rotation period t (n) exceeding the averaged period is short, and increase of the rotation period t (n) due to a high load or the like immediately after starting is not erroneously judged to be in a bite, the drive control of an opening/closing body judging the bite can be made to be of higher quality.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control method for an opening / closing body which is particularly suitable for controlling opening / closing bodies such as a power window and a sunroof provided in an automobile.

[0002]

2. Description of the Related Art Conventionally, there is a power window device which automatically opens and closes a side window or the like as an opening / closing body of an automobile. In such a vehicle, foreign matter is caught when the window is fully closed. In order to prevent abnormalities such as when the motor components are damaged or dropped, control is performed to determine such abnormalities. For example, a pulse generator that is generated according to the rotation of the motor is provided, and if the rotation cycle of the motor calculated based on the signal is equal to or longer than the determination value and continues for a predetermined time, it is determined that the foreign matter is pinched abnormally. In such a case, the fully closing operation of the motor is stopped and reversed.

[0003] For example, an averaging cycle calculated from a weighted average of the rotation cycle in the current control cycle and the averaging cycle in the previous control cycle is used as the determination value, and a state where the rotation cycle exceeds the averaging cycle is used. It is conceivable that it is possible to determine the entrapment only in a predetermined section, and to determine the entrapment when a rapid change in the rate of increase of the cycle t (n) or an increase equal to or more than a predetermined value continues a predetermined number of times in this section. By doing so, it is possible to eliminate as much as possible the effect of the period change due to the friction fluctuation of the opening / closing body, and it is possible to perform more accurate entrapment determination.

[0004]

For example, FIG. 5 shows a typical change between the rotation period and the averaging period in a normal state immediately after starting. In the normal state shown in FIG. 5, the rotation speed is momentarily reduced due to a large load at the start of operation due to a large load until the motor starts to move, and when the motor starts to move, the accumulated power is released and the motor rotation speed increases at a stretch. (Rotation cycle t (n) becomes short) It tends to be overshoot, and then returns to a steady state, and the opening and closing body is driven at a substantially constant rotation speed. The averaging period tav (n)
By the following equation (1), the averaging period tav (n) changes as shown by the imaginary line in the figure.

Tav (n) = {b * tav (n−1) + c * t (n)} / a (1) Here, a = b + c and b> c.

In the normal state shown in FIG.
Even if a change in (n) occurs (in a direction in which the rotation cycle t (n) increases), this state is a section where the rotation cycle t (n) does not exceed the averaging cycle tav (n). No erroneous detection is caused because the entrapment determination is not performed. Then, in a section where the rotation cycle t (n) exceeds the averaging cycle tav (n), there is no large change in the rotation cycle t (n), and an erroneous judgment of entrapment occurs in the section where the entrapment can be determined. Nothing. Therefore, it is possible to perform appropriate pinch determination at the start of activation.

On the other hand, FIG. 6 shows an example of a change between the rotation cycle and the averaging cycle at the time of high load or low output driving immediately after startup. At the time of high load or the like shown in FIG.
The change of the rotation cycle t (n) is similar to that of the above, but when the opening / closing body starts to move under a state of a high load or the like, the motor rotation speed increases once and then largely decreases, and in this reduced state, the rotation cycle t (n) Immediately increases beyond the averaging period tav (n), and the rotation period t (n) rapidly increases at the increased interval, or the rotation period t (n) continues to increase rapidly. Therefore, there is a problem that an erroneous determination that the object is a pinch is made.

[0008]

SUMMARY OF THE INVENTION In order to solve such a problem and to prevent erroneous determination of entrapment in opening / closing body drive control, in the present invention, the opening / closing body is driven to open / close. The rotation period and the averaging period of the motor are calculated based on the period change of each predetermined control cycle of the rotation speed detection signal proportional to the rotation speed of the motor, and it is determined that the rotation period is larger than the averaging period. A drive control method for an opening / closing body configured to perform a pinch prevention process in a case, wherein the averaging cycle is calculated from a weighted average of the rotation cycle in a current control cycle and the averaging cycle in a previous control cycle. In addition, the initial value of the averaging cycle is a value obtained by adding a predetermined value to the initial value of the rotation cycle.

According to this, since a value obtained by adding a predetermined value to the initial value of the rotation cycle is set as the initial value of the averaging cycle, the added value affects the calculation of the averaging cycle immediately after the start. Since the value of the normalization cycle is increased for a while immediately after the start, even if the rotation cycle increases immediately after the start due to a high load or the like, the section where the rotation cycle exceeds the averaging cycle is shortened. In addition, an increase in the rotation cycle due to a high load or the like immediately after the start-up does not cause erroneous determination as pinching.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to specific examples shown in the accompanying drawings.

FIG. 1 is a schematic diagram of a control unit of a power window device for an automobile to which the present invention is applied. In the figure, the control circuit has a C for performing control based on the present invention.
PU1 is provided, and a power supply terminal Vcc of the CPU1 is provided.
The power supply voltage of the battery BT to the ignition switch I
GN, and supplied to the first, second, third, and fourth input ports P1, P2, P3, and P4 to an up switch SWU, a down switch SWD, an automatic up switch SWAU, and an automatic down switch Each switch signal of the switch SWAD is input.

The output ports P5 and P6 of the CPU 1 are connected to a motor 2 as a drive source of the power window device. The input ports P1, P2, P3 and P4
From each output port P5 / P6 in response to a signal to
And a side window (not shown) is opened and closed by the forward / reverse rotation of the motor 2. Also,
A pulse signal from a pulse transmitter (not shown) mounted on the motor 2 is input to the input port P7 of the CPU 1 via the pulse input circuit 3 as a rotation speed detection signal. Then, in the CPU 1, a rotation cycle t (n) of the motor 2 at that time (n-th pulse) is calculated from the time between the previous pulse signal input and each time the pulse signal is input as a control cycle. And store it in a memory (an external memory is also acceptable).

Next, control based on the present invention applied to the power window device configured as described above will be described below. For example, if a foreign object is caught during the window closing operation, the rotation of the motor 2 is slowed and stopped, so that the period t (n) is approached toward the stop state (the pulse signal input interval is lengthened). ) Becomes longer (increases).

Normally, the averaging period tav (n) and the rotation period t (n) obtained from the weighted average by the equation (1) described in the conventional example are used.
In the section (the number of control cycles) in which the rotation cycle t (n) is longer than the averaging cycle tav (n), and the sharpness of the rotation cycle t (n) is allowed in this section. If the increase or the predetermined amount continues to increase, it is determined that a jam has occurred, and anti-jam processing is performed.

In the sandwiching state, the rotation period t (n) rapidly increases even after exceeding the averaging period tav (n), and the rapid increase continues continuously. On the other hand, when the period fluctuates due to some kind of friction or the like, the rotation period t (n) once rises and then starts to fall, and the rise at this time is such that the rotation period t (n) becomes equal to the averaging period tav ( n) increase within the range not exceeding. Even if the rotation period t (n) exceeds the averaging period tav (n), the increase is small and not continuous.

In this manner, when the rotation period t (n) exceeds the averaging period tav (n), the period is set as a sandwiching determination period, and whether the rotation period t (n) rapidly increases in the determination period is determined. The entrapment is determined only when the increase exceeding the value (threshold) continues, and the rotation cycle t (n) is changed to the averaging cycle ta.
In the rotation period t (n) of the section not exceeding v (n), the determination of the entrapment is not performed.

The present invention further provides a rotation cycle t immediately after startup.
An entrapment determination process capable of coping with a large change in (n) can be performed. The control procedure will be described below with reference to the flowchart of FIG.

First, in a first step ST1, a predetermined value d is added to the initially calculated rotation period t (0) immediately after the start to obtain an initial value tav (0) of the averaging period. S
At T2, the averaging cycle tav (n) of this time (n-th cycle) is calculated by the above equation (1).

Then, in a third step ST3, it is determined whether or not the rotation period t (n) is equal to or longer than the averaging period tav (n).
When the rotation period t (n) is smaller than the averaging period tav (n), the process proceeds to the fourth step ST4. In the fourth step ST4,
It is determined whether or not the entrapment determination flag F is set,
If the flag F is not set, the entrapment count value AE is reset in a fifth step ST5. When the entrapment determination flag F is on or in the fifth step ST5
After that, the process proceeds to the sixth step ST6, where the flag F is reset, and the current cycle ends.

If it is determined in the third step ST3 that the rotation period t (n) is equal to or longer than the averaging period tav (n), the operation proceeds to a seventh step ST7. In a seventh step ST7, it is determined whether or not the rate of increase t (α) of the rotation cycle t (n) has increased beyond a predetermined value t (a). The AE is incremented, and the process proceeds to the ninth step ST9. In the ninth step ST9, it is determined whether or not the entrapment count value AE has become equal to or greater than the determination count value CE. 9th step S
If it is determined at T9 that the count value CE has not been reached, the process proceeds to the tenth step ST10. When the process proceeds to the tenth step ST10, there is a possibility of being pinched by the determination in the third step ST3, so that the tenth step S10 is performed.
At T10, the entrapment determination flag F is set, and the current cycle ends. It should be noted that, even if it is determined in the seventh step ST7 that the increase rate t (α) of the rotation period t (n) has not increased beyond the predetermined value t (a), the tenth step ST10
The flag F is set during entrapment determination.

If it is determined in the ninth step ST9 that the entrapment count value AE has become equal to or greater than the entrapment determination count value CE, the operation proceeds to an eleventh step ST11. In this case, since the state in which the rotation period t (n) has increased beyond the averaging period tav (n) has continued for a predetermined section, it can be regarded as a behavior at the time of pinching.
Then, the reversal mode for performing the process of reversing the motor as the entrapment process is set, and the cycle ends.

The control procedure in the case of high load or low output drive, for example, immediately after startup in the present invention thus configured will be described below with reference to FIG. FIG.
In FIG. 2, the solid line indicates the rotation period t (n), and the imaginary line indicates the averaging period tav (n). With respect to time, the decrease in the rotation speed in the constant speed (stable operation) state is larger than the increase value of the rotation speed immediately after the startup.

Therefore, when the calculated averaging period tav (n) as in the conventional example is used as it is, the averaging period tav (n) in that case is shown by a broken line, and the rotation period Since the state in which t (n) is longer than the conventional averaging cycle tav (n) continues for a long time, the determination of entrapment is performed based on the above control flow.

On the other hand, according to the present invention, when obtaining the initial value tav (0) of the averaging period tav (n), the predetermined value is added to the initial rotation period t (n) without using the equation (1). Since the value obtained by adding d is used, the averaging cycle tav (n) subsequently calculated by using the equation (1) changes with a relatively increased value as shown in FIG. . Therefore, the rotation cycle t
(n) does not easily exceed the increased averaging period tav (n), and even if it does, the section A is short as shown in the figure.
Can be prevented from becoming equal to or greater than the determination count value CE (for example, becoming longer than the section B), and an increase in the rotation cycle t (n) due to a high load or the like immediately after the start affects the entrapment determination, and the entrapment is erroneously determined. Can be suitably prevented.

According to the present invention, the initial value tav (0) of the averaging cycle tav (n) is raised.
It only affects the calculation of av (n), and when the vehicle enters a constant speed (stable operation) state as in the illustrated example, the effect becomes extremely small, so that there is no inconvenience in the control thereafter. .

In this embodiment, an example in which the present invention is applied to a power window device for an automobile is shown. However, according to the present invention, the present invention is not limited to a power window device.
It can be applied to drive control of an opening / closing body such as a sunroof.

[0027]

As described above, according to the present invention, since the initial value of the averaging cycle becomes an increased value, the value of the normalization cycle is increased for a while immediately after the start-up, so that a high load or the like is obtained. Therefore, even if the rotation cycle increases immediately after startup, the section in which the rotation cycle exceeds the increase averaging cycle is short, so that an increase in the rotation cycle due to a high load or the like immediately after startup is not erroneously determined as being trapped. Therefore, the drive control of the opening / closing body for performing the entrapment determination can be further improved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a control unit of a power window device for a vehicle to which the present invention is applied.

FIG. 2 is a diagram illustrating a change in a rotation cycle and an averaging cycle of a motor immediately after startup in a normal state.

FIG. 3 is a control flow diagram based on the present invention.

FIG. 4 is a diagram corresponding to FIG. 2 at the time of high load or the like.

FIG. 5 is a diagram showing a change in a rotation period and an averaging period of a motor immediately after startup in a conventional normal state.

FIG. 6 is a diagram corresponding to FIG. 5 at the time of conventional high load and the like.

[Explanation of symbols]

 1 CPU 2 Motor 3 Pulse generation circuit

Continued on the front page (72) Inventor Narumi Kobori 1-2681, Hirosawa-cho, Kiryu-shi, Gunma F-term in Mitsuba Co., Ltd. (Reference) 2E052 AA09 BA02 CA06 EA14 EA16 EB01 EC01 GA10 GB06 GC06 GD03 HA01 KA12 KA13 3D127 AA02 BB01 CB01 DF04 DF33 FF02 FF20

Claims (1)

[Claims] And calculating a rotation period and an averaging period of the motor based on a period change of a rotation speed detection signal in proportion to a rotation speed of a motor for opening and closing the opening and closing body for each predetermined control cycle. Is a drive control method for an opening / closing body that performs an anti-jamming process when it is determined that the average period is larger than the averaging period, wherein the averaging period is the rotation period in a current control cycle and the previous control cycle. A drive control method for an opening / closing body, characterized in that it is calculated from a weighted average with the averaging cycle and the initial value of the averaging cycle is a value obtained by adding a predetermined value to the initial value of the rotation cycle.