JP2002174077A - Opening and closing controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening and closing controller capable of realizing bite preventing function having a lower bite load. SOLUTION: The opening and closing controller is so constituted that when an opening and closing body is at least closed, an impressed voltage of a motor is made to vary to principally execute speed control for keeping the speed of the motor in a target value (step S3), when a motor load or its differential is in excess of a first threshold, the speed control is stopped (steps S11 and S12) and when the motor load or its differential is in excess of a second threshold larger than the first threshold, it is decided that bite occurs, and the opening and closing controller is so constituted that bite preventing control is executed (steps S13 and S14).

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 body during closing. The present invention relates to an opening / closing control device having a pinching prevention function of forcibly stopping a closing movement of 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, when it is determined that entrapment has occurred when the current of the motor driving the opening / closing body exceeds a certain threshold,
Alternatively, when the cycle of a pulse signal output by a pulse generator for detecting the operation speed of the motor is equal to or longer than a threshold, it is determined that the motor is trapped (so-called absolute value determination method). In addition, the so-called differential determination for determining that the entrapment has occurred when a change amount (for example, a difference value) of the operation speed of the motor or the like exceeds a threshold value is relatively sensitive. The ones adopted are also known.

However, as described above, for example, in the method of performing the pinch determination by comparing the motor current with a fixed threshold value, the influence of the voltage fluctuation of the power source such as a vehicle-mounted battery is particularly easily affected. In order to prevent a malfunction due to a fluctuation of the power supply voltage, it is necessary to set the threshold value with a large margin, and it is impossible to detect a sensitive entrapment that achieves a small entrapment load. When the pulse period (motor speed data) is equal to or greater than a threshold value, a method of determining that the object is pinched is as follows.
Since the entrapment determination is performed by substantially detecting that the opening / closing member has stopped due to the entrapment, the entrapment determination is actually performed only when the entrapment state has already progressed considerably (when the entrapment state has been considerably increased). Again, the pinching load cannot be reduced.

Also, in a so-called differential determination method in which it is determined that pinching has occurred when the amount of change in the operating speed of the motor or the like exceeds a threshold value, a large margin is still required to cope with fluctuations in the power supply voltage. In this case, it is necessary to set the threshold value, and there is a problem that it is difficult to sufficiently reduce the sandwiching load. In addition, the entrapment load referred to here is a force applied to the object between which the opening / closing body is interposed until the entrapment is released,
A smaller value is required to reflect the higher level of safety required in the automobile market and the like.

In recent years, for example, Japanese Patent Application Laid-Open No. 8-165
As described in No. 842, by driving the motor by a PWM (pulse width modulation) method or the like and adjusting the voltage applied to the motor, the power supply voltage itself is directly applied and the motor is not driven. There has been proposed a configuration for performing speed control for controlling a motor speed to a small target speed. According to this configuration, as compared with the case where the speed control is not performed, the influence of the fluctuation of the power supply voltage is less likely to occur, and the sandwiching load can be reduced.

[0006]

However, even in the case of performing the above-described speed control, since the motor speed is conventionally always controlled to the target speed, there is a limit to the reduction of the entrapment load, and the softness is particularly low. It is not possible to sufficiently solve the problem that the determination of the entrapment is delayed when an object is interposed and the overrun of the opening / closing body is increased. FIG. 4 (a) is a diagram showing an example of changes in various parameters at the time of occurrence of pinching when such speed control is performed. It can be seen that the pinching load has increased accordingly. Therefore, an object of the present invention is to provide an opening / closing control device capable of realizing a pinching prevention function with a lower pinching load.

[0007]

SUMMARY OF THE INVENTION An opening / closing control device according to the present invention controls a motor for driving an opening / closing body to control the opening / closing operation of the opening / closing body. If it is determined that it has occurred, at least an opening and closing control device that performs an anti-jamming operation for forcibly stopping the closing movement of the opening and closing body, a driving unit for controlling the energized state and energized direction of the motor, Load detecting means for detecting a load applied to the motor, and controlling the driving means to control the speed of the motor (or the speed of the opening / closing body) to a predetermined target value at least when the opening / closing body is closed. Control means for executing speed control, wherein the control means, when the opening / closing member is closed, when the load detected by the load detection means or its differential value exceeds a first threshold value, When the control is stopped or the speed control is weakened and the load or its differential value exceeds a second threshold value larger than the first threshold value, it is determined that the jamming has occurred and the anti-jamming operation is performed. Is executed. The “differential value” here includes a difference value.

In a preferred aspect of the present invention, there is provided a voltage detecting means for detecting an applied voltage of the motor or a current detecting means for detecting a current of the motor. When the load detected by the load detecting means or its differential value exceeds a first threshold value, the speed control is stopped, and the applied voltage or current detected immediately before stopping the speed control remains unchanged. The driving means is controlled so as to be maintained.

[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 as an embodiment of the present invention with reference to the drawings. FIG. 1 is a diagram showing a configuration of a power window device of the present embodiment (mainly a configuration of a control unit). FIG. 2A or 2B is a functional block diagram mainly showing the main configuration of the power window device of the present example. (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 FIG. 1, for example, a motor 2 is provided inside a door 1 of a vehicle, and the rotation of an output shaft of the motor 2 is performed by a carrier plate (not shown) supporting a window glass 3 (opening / closing body). The motor 2 is operated in one direction, the window glass 3 is closed, for example (ie, moves in the ascending direction), and the motor 2 is operated in the other direction.
Are, for example, opened (that is, actuated in the descending direction). Here, the motor 2 is a DC motor, and the supplied voltage and its rotation speed (rotation speed) are in a proportional relationship. Further, the motor 2 is provided with a pulse generator 4 for outputting a pulse signal at a cycle inversely proportional to the operation speed.

(Structure of Opening / Closing Control Device) Next, a control unit 1 serving as an opening / closing control device for controlling the power window.
An example of 0 will be described with reference to FIG. 1 and FIG. A. Hardware Configuration As shown in FIG. 1, the control unit 10 of the present embodiment includes a control circuit 11, a voltage detection circuit 12, a current detection circuit 13,
The motor drive circuit 14 and the like are provided. Here, the control circuit 1
Reference numeral 1 denotes a circuit including a microcomputer (hereinafter, referred to as a microcomputer) that controls the window driving motor 2 according to input signals from various sensors and operation switches, and corresponds to control means of the present invention. This control circuit 11
ROM or R which has a CPU not shown and stores or temporarily stores an operation program, various set values, and the like.
A memory such as an AM is provided.

The voltage detection circuit 12 is a circuit for detecting the power supply voltage supplied to the motor drive circuit 14, and the control circuit 11 outputs the output of the voltage detection circuit 12 (the detection value V of the power supply voltage). Is multiplied by the duty ratio of the PWM drive, which will be described later, to obtain the voltage Vm applied to the motor 2.
Is detected. In this case, the function of calculating the motor application voltage in the control circuit 11 and the voltage detection circuit 12
These constitute the voltage detecting means of the present invention. The current detection circuit 13 inputs a signal corresponding to a voltage drop of the shunt resistor 13a connected in series to the ground-side conducting line of the motor drive circuit 14 to the control circuit as a detection value of the motor current. It constitutes the current detecting means of the present invention.

Next, the motor drive circuit 14 includes relays 15 and 16 for connecting each terminal of the motor 2 to a ground side or a high potential power supply side (a so-called + B potential power supply line), and a coil 15a of these relays 15 and 16. , 16a, and a switching element 19 such as an FET (field effect transistor) that opens and closes a ground-side energizing line (upstream of the shunt resistor 13a). When the coil 15a of the relay 15 is excited, the contact 15b of the relay 15 switches from a state in which one terminal of the motor 2 is connected to the ground side to a state in which the terminal is connected to the high-potential power supply side. (In this case, the window glass 3 is closed). When the coil 16a of the relay 16 is excited, the contact 16b of the relay 16 switches from a state in which the other terminal of the motor 2 is connected to the ground to a state in which the other terminal is connected to the high-potential power supply,
The motor 2 operates in the other direction (in this case, the window glass 3 opens). As described above, the switching element 19 is driven at a predetermined duty ratio by the PWM drive signal output from the control circuit 11 when the drive of the motor 2 is controlled in any direction, as described above. This is for adjusting the applied voltage by the PWM driving method.

The output signal of the above-described pulse generator 4 is input to the control circuit 11 via the interface circuit 11a, whereby the amount of rotation of the motor 2 (the amount of operation of the window glass 3) and the operating speed are controlled. Can be determined. The output signal of the pulse generator 4 includes two pulse signals PLSA and PLSB having different phases.
Is output, and the control circuit 11 can detect the rotation direction of the motor 2 from the phase relationship between these pulse signals. Note that the function of the control circuit 11 for detecting the magnitude and direction of the motor speed in this way is expressed as a speed detection unit 31 in FIG. Further, an operation signal of an up switch 21, a down switch 22, and an auto switch 23, which are operation switches, is input to the control circuit 11 via an interface circuit 11b. In these operation switches, contacts are operated in response to operation of an operation unit (not shown). In this case, when a so-called manual up operation is performed, only the up switch 21 is operated and a manual down operation is performed. Then, down switch 2
Only 2 works. When the so-called auto-up operation is performed, the up switch 21 and the auto switch 2 are turned on.
When the auto-down operation is performed by operating 3, the down switch 22 and the auto switch 23 are operated.

When only an operation signal of the up switch 21 or the down switch 22 is input, the control circuit 11 operates one of the transistors 17 and 18 to operate the motor 2 in a predetermined direction. The opening and closing operation of the window glass 3 by manual operation is realized. When an operation signal of the auto switch 23 is input in addition to the operation signal, the control circuit 11 automatically operates the motor 2 in a predetermined direction until the window glass 3 is fully closed or fully opened. It has a processing function to realize down. In this example, at least in this auto-up operation, P
A speed control by the WM drive and an anti-jamming function by, for example, differential determination are realized. The processing contents of the control circuit 11 including the anti-jamming function will be described later.

Although not shown, the sensors and switches connected to the control circuit may include an ignition switch and a limit switch. this house,
The ignition switch functions as a power-on switch for supplying power to the control unit 10 by its operation. The limit switch is a so-called fully-closed switch in which the contact is activated by detecting that the window 3 has been operated to near the fully-closed position.

B. Next, the operation of the control unit 10 (opening / closing control device) of the present embodiment (mainly the control processing of the control circuit 11) will be described. When the power is supplied by operating the ignition switch, the control circuit 11 is activated, and the manual operation is realized by the following processing. That is, first, it is determined whether or not only the down switch 22 is operating, and if so, the motor 2 is operated in the direction in which the window glass 3 opens. Next, it is determined whether or not only the up switch 21 is operating, and if it is operating, the motor 2 is operated in a direction in which the window glass 3 is closed. After the opening or closing of the window glass 3 is started by this manual operation, the down switch 22 or the up switch 2
The window glass 3 (motor 2) is stopped when 1 returns to the non-operating state. In addition, the PW of the switching element 19 at the time of opening or closing by this manual operation is
The M drive signal (duty ratio) is a constant value (for example, 10
0%), but for example, a mode in which the operating speed is changed as needed so as to reach a predetermined target value (that is, a mode in which speed control is executed) may be used.

The control circuit 11 repeatedly executes a series of processes shown in FIG. 3 at a predetermined timing separately from the above-described process for manual operation to execute an auto-up or auto-down operation. Achieves the function of preventing pinching in up-up. First, step S1
It is determined whether the auto switch 23 is on or not.
If it is on, the process proceeds to step S2, and if it is not on, a series of processes ends. When a series of processing is completed, the processing is repeated from step S1 at the next timing (the same applies hereinafter).

Next, in step S2, it is determined whether the automatic up or the automatic down is instructed (that is, whether the up switch 21 or the down switch 22 is on), and the next step S3 is performed.
Thus, a control signal for operating the motor 2 in a direction corresponding to the command is output. That is, in step S3, a signal for driving one of the transistors 17 and 18 and the switching element 19 is output. At this time, at least in the case of auto-up (when driving the transistor 17), the switching element 19 is switched to the PW at a predetermined duty ratio.
By performing the M drive, speed control for maintaining the motor operation speed at the target speed is executed. The duty ratio of the speed control is determined by, for example, a difference (deviation) between data (feedback value) of the actual operating speed of the motor 2 detected by the pulse generator 4 and a target speed (command value). It is obtained at any time based on the result of multiplication by a coefficient (gain). However, the speed control is not limited to the feedback control based on such a proportional operation, and it goes without saying that, for example, an integral operation or a differential operation may be combined with the proportional operation. In addition, the function of the control circuit 11 for generating the duty ratio and executing the speed control of the motor 2 via the drive circuit 14 is described in FIG. 2 by the speed control unit 32 and the PWM generation unit 33.
It is expressed.

After that, the control circuit 11 halts the progress of the process for an appropriate start-up period (a period from the start of the motor 2 to the steady state) in step S4, and then in step S5
Then, various detection signals necessary for the subsequent processing (steps S8 and S10) are read and stored as time-series data. In this case, the output signal of the current detection circuit 13 (motor current I),
The cycle T of the pulse signal detected from the output of the pulse generator 4 and the latest value of the motor applied voltage Vm detected by the voltage detection circuit 12 are read, and the current I or the cycle T is read.
And the voltage Vm are stored as time-series data. Next, the control circuit 11 executes the branching process of step S6, and proceeds to step S7 in the case of auto-up, and proceeds to step S8 in the case of auto-down. In step S7, it is determined whether or not the above-described limit switch (fully closed switch) is on. If it is on, the process proceeds to step S8, and if not, the process proceeds to step S10.

In step S8, the pulse generator 4
It is determined whether or not the value of the latest cycle T read from the output signal has exceeded a threshold value for judging the stop due to the fully closed state or the fully opened state. If it does, the process proceeds to step S9, and if it does not, the process returns to step S5 and repeats the process from there. Next, in step S9, the drive output of the motor 2 is stopped, and the window glass 3 is driven (opening or closing).
Is stopped, and a series of processing ends.

In the next step S10, a judgment target value (motor load or its differential value) for entrapment judgment is calculated. In this case, the applied voltage V to the motor
The differential value ΔI of the motor current I after the voltage correction is obtained for the differential determination in consideration of the fluctuation of m. A specific calculation method will be described later. In step S10, the voltage correction value Ih of the motor current I is calculated and stored in time series in the process of obtaining the difference value ΔI of the motor current, as described later. Of the plurality of past currents Ih, the latest one is called current Ih (0), and the one calculated and stored at the previous timing is
The current Ih (1) is set as the current Ih (1),
h (2). Next, step S11
Then, it is determined whether or not the data of the determination target value obtained in step S10 (in this case, ΔI to be described later) exceeds a preset first threshold value for differential determination. If it has exceeded, it is determined that pinching may have started, and the process proceeds to step S12.
Return to Here, the first threshold value is a second threshold value to be described later.
A value slightly smaller than the threshold value is set so as to be sensitive to a slight change in load, which has not been conventionally determined to be a pinch with a slight difference.

Next, at step S12, the speed control of the motor 2 is stopped. That is, the switching element 1 is used to maintain the operating speed of the motor 2 in the closing direction at a predetermined target speed.
The operation of adjusting the duty ratio of the PWM drive of No. 9 is stopped. After the speed control is stopped, for example, the switching element 19 may be driven at a preset constant duty ratio, or the power supply voltage may be set to achieve a preset constant motor application voltage. The duty ratio may be adjusted in accordance with the value of, but in any case, the control content should be such that the duty ratio does not increase and the pinching load does not increase. As a preferable mode, there may be a configuration in which the duty ratio is adjusted according to the value of the power supply voltage so that the motor applied voltage at the time when the determination in step S11 becomes affirmative is maintained as it is. Further, as a more preferable aspect, step S11
The duty ratio may be feedback-controlled in accordance with the motor current detection value I so as to maintain the motor current at the time when the determination is positive.

Next, in step S13, step S10
It is determined whether or not the data of the determination target value obtained in (1) has exceeded a preset second threshold value for differential determination. If it exceeds, it is determined that pinching has occurred, and step S1 is performed.
Go to step S4, and if not, return to step S5. Here, the second threshold value is set to a minimum value within a range in which erroneous detection does not occur based on experiments and the like. The functions mainly achieved by the processing of the above steps S10 to S13 (the functions of stopping the speed control based on the motor load and performing the pinch determination) are described in FIGS. 2 (a) and 2 (b). This is indicated by the pinch determination unit 34 and the voltage control unit 35 or the current control unit 36. Here, the voltage control unit 35
Is a function of maintaining the motor voltage as it is after stopping the speed control, and the current controller 36 is a function of maintaining the motor current as it is after stopping the speed control.

In step S14, a control operation for preventing pinching is executed. That is, first, the operation of the motor 2 in the closing direction is forcibly stopped, a control signal for rotating the motor 2 in the reverse direction (to open the window glass 3) is output for a predetermined time, and then the drive output of the motor 2 is stopped. 3 is reversed (opened) by a predetermined distance and stopped, and a series of processing ends.

C. Calculation of Determination Target Value Next, calculation processing of the determination target value (motor load or its differential value) in step S10 described above will be described. As the data of the motor load, specifically, data such as the operating speed (for example, pulse cycle T) of the motor, the motor current, and the torque of the motor can be used. However, it is preferable that the detected value of the data is corrected and used in consideration of the fluctuation of the voltage Vm applied to the motor. To use as an index for pinch determination (that is, a value to be determined), the absolute value of the data may be used (that is, absolute value determination may be performed). A configuration that performs differential judgment using values (including difference values) (or a configuration that performs both differential judgment and absolute value judgment)
Is better. Hereinafter, an example in which the difference value of the voltage-corrected motor current is obtained as the determination target value will be described in detail.

In order to obtain the difference value ΔI of the voltage-corrected motor current I, first, a current correction value Ie based on an applied voltage is obtained from the motor applied voltage Vm. Specifically, a motor model calculation is performed on the given value of the applied voltage Vm, a current estimated value based on the applied voltage at that time is obtained, and this is stored as a current correction value Ie. Next, the motor current value I is voltage-corrected by subtracting the value of the corresponding current correction value Ie from the actually measured motor current value I read from the current detection circuit 13, and the value obtained as a result of this correction operation ( I
-Ie) is stored in a time series as the motor current value Ih after the voltage correction (for example, the above calculation is performed and stored each time steps S5 and S10 are repeated). Note that the obtained motor current value Ih after voltage correction is a current value due to disturbance torque. Then, for example, the following equation (1)
To obtain the difference value ΔI. ΔI = Ih (0) −Ih (N) (1) That is, a difference value ΔI is obtained by subtracting Nth previous data Ih (N) from the latest data Ih (0) of the motor current value.
The value of N is set to a predetermined value (for example, N = 8) in advance.

According to the above control operation, the normal operation of the auto-up and the auto-down is realized, and at the time of the auto-up, the speed control is executed in step S3, and the processes after step S7 are executed. Accordingly, an accurate and lower load anti-jamming function is realized in a region where the limit switch is off. That is, during the period until the limit switch is turned on at the time of closing, the process proceeds to step S10 and subsequent steps in the branching process of step S7, so that the determination target value is calculated in step S10, and the determination target value is the first threshold. If it exceeds the value, the speed control started in step S3 is stopped, and, for example, constant voltage control for maintaining the motor applied voltage as it is (or constant current control for maintaining the motor current as it is) is executed (step S3). S11, S1
2). When the value to be determined further increases due to the pinching and exceeds the second threshold value, it is determined that the pinching has occurred, and the control of the pinching prevention operation is executed (step S14). That is, the speed control for maintaining the motor speed at the target speed is stopped before the determination target value increases to such an extent that the entrapment can be definitely determined. For this reason, it is possible to avoid an increase in the pinching load due to the speed control, and to reduce the pinching load by that much as compared with the conventional case.

FIG. 4 shows the above operation and effect in comparison with the conventional example. That is, for example, as shown in FIG. 2C, in the conventional configuration including the entrapment determination unit 34a that determines the entrapment and simply stops the motor drive (a configuration in which the speed control is continued until the time when the motor drive is forcibly stopped). If there is a pinch, the voltage operation amount increases as shown in FIG. 4A, and the pinch load increases relatively large. On the other hand, for example, in the case of the configuration of the present embodiment in which the constant voltage control is performed (the configuration of FIG.
Since the speed control is stopped before the entrapment determination is made, and thereafter the motor application voltage is controlled so as not to increase, the increase in the entrapment load is suppressed as compared with the related art as shown in FIG. Further, in the case of the configuration of the present embodiment in which the constant current control is performed (the configuration of FIG. 2B), if there is a pinch, the speed control is stopped before the pinch determination is performed.
Thereafter, control is performed so that the motor current does not increase (the voltage applied to the motor is rather suppressed).
As shown in (2), the increase in the sandwiching load is further suppressed. That is, if the motor speed decreases due to pinching, even if the applied voltage is kept constant due to an increase in the output torque at the time of the speed decrease (that is, an increase in the current), which is a characteristic of the motor,
Although a considerable increase in the entrapment load occurs, such an increase in the entrapment load can be suppressed by keeping the current constant.

In particular, in the case of the configuration of the present embodiment (the configuration of FIG. 2A) in which the above-described voltage constant control is performed, in addition to the effect of reducing the pinching load as compared with the related art as described above, There are such advantages. That is, even if the judgment target value exceeds the above-described first threshold value even though no pinching occurs due to an increase in the sliding resistance of the window glass 3 due to a change in temperature or the like, the motor applied voltage at that time (Or at least the motor current) is maintained, so that the closing movement of the window glass 3 can be reliably completed by continuing the closing movement of the window glass 3 as it is. Also, as described above, the voltage-corrected difference value is used as the data of the determination target value for the entrapment determination,
In the case of the configuration in which the pinch determination is realized by the differential determination in consideration of the voltage fluctuation, the pinch can be detected more accurately and responsively with less influence of the power supply voltage fluctuation.

The present invention is not limited to the above embodiment. For example, when the determination target value exceeds the first threshold value, the speed control may be weakened (for example, the gain of the speed control may be reduced) instead of stopping the speed control. Even in such an embodiment, it is possible to suppress an increase in the pinching load due to the speed control. It is also possible to adopt a configuration in which the pinching prevention function of the present invention operates even when the opening / closing body is closed by manual operation. In the above embodiment, the motor applied voltage is obtained from the output value of the voltage detection circuit 12 for detecting the power supply voltage. However, a circuit for directly detecting the motor applied voltage (motor terminal voltage) may be provided.

[0031]

According to the present invention, when the motor load increases when the opening / closing body is closed, the motor speed is maintained at the target speed before the motor load increases to such an extent that pinching can be determined definitely. The speed control to be performed is stopped or the speed control is weakened. For this reason, it is possible to avoid an increase in the pinching load due to the speed control, and to reduce the pinching load by that much as compared with the conventional case. In particular, in the case where control is performed to maintain the motor current as it is after the speed control is stopped when the opening / closing member is closed, an increase in load due to a decrease in the motor speed can be suppressed, and the pinching load can be significantly reduced. In addition, after the speed control is stopped at the time of closing the opening / closing body, especially when performing control to maintain the motor applied voltage as it is, the closing movement of the opening / closing body can be reliably completed, and the operation reliability is improved. Can be maintained.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a power window device.

FIG. 2 is a block diagram illustrating a configuration of a power window device.

FIG. 3 is a flowchart illustrating a control process of the power window device.

FIG. 4 is a diagram illustrating an effect of reducing a sandwiching load.

[Explanation of symbols]

 2 Motor 3 Window glass (opening / closing body) 4 Pulse generator 10 Control unit (opening / closing control device) 11 Control circuit (control means) 12 Voltage detection circuit (voltage detection means, load detection means) 13 Current detection circuit (current detection means, Load detection means) 14 drive circuit (drive means)

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) H02P 3/08 B60J 1/17 A F term (reference) 2E052 AA09 BA02 CA06 EA14 EB01 EC01 GA03 GA08 GA10 GB12 GB13 GB15 GC06 GD03 GD06 HA01 KA12 KA13 3D127 AA02 BB01 CB05 DF04 FF08 FF20 5H001 AB10 AD05 5H530 AA12 BB19 CC24 CD32 CD34 CF05 CF15

Claims (3)

[Claims] An opening / closing operation of the opening / closing body is controlled by controlling a motor for driving the opening / closing body, and when it is determined that a foreign object has been caught in the opening / closing body during closing movement, at least the opening / closing body is controlled. An opening / closing control device that performs an anti-jamming operation for forcibly stopping a closing operation, comprising: a driving unit configured to control an energization state and an energization direction of the motor; and a load detection unit configured to detect a load applied to the motor. At least at the time of closing the opening / closing body, control means for controlling the driving means to execute speed control for controlling the speed of the motor to a predetermined target value; If the load detected by the load detecting means or its differential value exceeds a first threshold value, the speed control is stopped or the speed control is weakened, and the load or its differential value becomes Beyond the larger second threshold value than the threshold value, opening and closing control apparatus characterized by performing a control of the anti-entrapment operation determines that the entrapment occurs. And a voltage detecting means for detecting a voltage applied to the motor, wherein the control means detects a load detected by the load detecting means or a differential value thereof when the opening / closing member is closed. When the value is exceeded, the speed control is stopped, and the driving means is controlled so that the applied voltage detected by the voltage detection means is maintained as it is immediately before the speed control is stopped. The opening / closing control device according to claim 1. 3. A current detecting means for detecting a current of the motor, wherein the control means detects a load detected by the load detecting means or a differential value thereof when the opening / closing member is closed, by a first threshold value. When the speed exceeds the threshold, the speed control is stopped, and the driving means is controlled so that the current detected by the current detection means is maintained as it is immediately before the speed control is stopped. An opening / closing control device according to claim 1.