JP2002327574A - Method for controlling determination as to whether anything is caught in closer determination control method for clip caught by closer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent an increase in catching load near the fully closed position of a closer. SOLUTION: The closer is controlled such that in a normal determination area S1 it is driven at high velocity VH; in a low-velocity determination area S2 near a fully closed position, it s driven at low velocity VL; and in an inhibition area S3 just in front of the fully closed position, its velocity is reduced toward the fully closed position. A threshold Vd for the detection of anything caught in the closer is used and a determination is made as to whether or not something is caught in the closer after the time during which the speed of rotation is not more than the threshold Vd has exceeded a first determination time Td1, for the area S1, and after the time has exceeded a second determination area Td2, for the area S2. Since initial velocity is low in areas near the fully closed position, a decrease in velocity caused by the object caught in the closer can be reduced; even if the determination time during the period when the speed of rotation is not more than the threshold is extended in order to prevent errors in determination in front of the fully closed position which may be caused by an increase in friction due to secular deterioration, an increase in load can be prevented when a determination that something is caught in the closer is made.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for judging whether an opening / closing member is pinched.

[0002]

2. Description of the Related Art In a window, a sunroof panel or a sliding door as an opening / closing body for a vehicle such as an automobile,
There is one that opens and closes automatically using an electric motor. In such an automatic opening / closing device, an entrapment prevention control such as inversion is performed when it is detected that a foreign object or the like is entrapped when closing the opening / closing body.

An example of a power window apparatus which performs the above-described anti-jamming control is shown below with reference to FIGS. 4 and 5. FIG. In this power window device, as schematically shown in FIG. 4, signals for opening and closing operations from an automatic operation switch 12 provided in a driver's seat and the like are input to the control unit 11, and the control unit 11 Controls the forward / reverse rotation of the motor 3 according to each operation signal. The window 8 connected to the motor 3 opens and closes, and a rotation sensor 9 for detecting the rotation of the motor 3 is provided. The rotation pulse signal is input to the control unit 11 to detect the behavior of the window 8. I have to.

FIG. 5 is a time chart for explaining the pinch determination control for preventing pinch in the power window device. In the entrapment determination control, when driving from the fully open side to the fully closed side, the normal determination section S1 on the fully open side and the low accuracy of a predetermined range (for example, 25 to 4 mm before the fully closed side) before the fully closed side. Determination section S2,
A determination prohibition section S3 from immediately before (e.g., 4 mm) fully closed to fully closed is provided, and the corresponding pinch detection is performed.

[0005] The entrapment is determined by the magnitude of the speed change. If the speed exceeds a predetermined speed change amount ΔV1 in the normal determination section S1, it is determined that an entrapment has occurred.
By making the speed change amount ΔV2 larger than V1, the determination is made slower, and in the prohibited section S3, the determination is not performed because the section is stopped by hitting when fully closed.

[0006]

As described above, the speed change amount ΔV2 used for the determination in the low-precision determination section S2 is set to be large to lower the determination accuracy because a weather strip or the like becomes closer as the vehicle approaches the fully closed position. This is to prevent the erroneous determination of the decrease in speed due to the increase in the friction due to the increase in the frictional area caused by the increase in the area of the sliding contact. It is not preferable to lengthen the prohibition section S3 so as to include the above-mentioned friction increase area, since foreign substances and the like are easily trapped.

However, in the above-described entrapment determination control, there is a problem that the entrapment load becomes large because the large speed change amount ΔV2 is used in the low-accuracy determination section S2.

[0008]

SUMMARY OF THE INVENTION In order to solve such a problem and to prevent an increase in a pinching load near a fully closed position, in the present invention, an opening / closing body is driven by a motor. In the pinching determination control method for an opening / closing body that determines the pinching of a foreign substance or the like when closing, the motor rotation speed is reduced in a predetermined section before fully closing.

According to this, the motor output is reduced by lowering the motor rotation speed immediately before full closing where it is desirable to perform the entrapment determination with high accuracy, and the motor output is reduced, and the margin for the target torque for the deadline (the torque increase width ) Is increased, so that the threshold value (for example, the magnitude of the speed change amount) of the entrapment determination can be reduced.

When the motor rotation speed decreases immediately before the fully closed position and falls below a specified value, the output of the motor is increased. Even if the closing force of the body decreases, the opening / closing body can be reliably closed with a large closing force by a high motor output thereafter.

[0011]

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 block diagram showing an example of a power window device to which the present invention is applied. The same parts as those in FIG. 4 shown in the conventional example are denoted by the same reference numerals, and detailed description thereof will be omitted. As shown in the figure, the control unit 1 includes an automatic control circuit 1a that outputs an automatic or manual open / close control signal in accordance with each open / close operation signal of an automatic operation switch 2a and a manual operation switch 2b provided in a driver's seat or the like. And the motor 3 according to the open / close control signal.
Drive circuit 4 for controlling the forward and reverse rotation of the
A determination circuit 5 that outputs a pinch determination signal and an angular velocity calculation circuit 6 that outputs an angular velocity signal to the determination circuit 5 are provided.

Then, the motor 3 rotates forward and backward in response to a drive signal from the drive circuit 3, and the window 8 opens and closes.
In addition, a rotation sensor 9 for detecting the rotation of the motor 3 is provided, and a rotation pulse signal from the rotation sensor 9 is input to the determination circuit 5 and the angular velocity calculation circuit 6. Note that the automatic control circuit 1a outputs a continuous open / close control signal when the open / close signal of the automatic operation switch 2a is input, and outputs a continuous open / close control signal when the open / close signal of the manual operation switch 2b is input. Only the open / close control signal is output.

Next, an example of the pinch determination control by the power window device configured as described above will be described below with reference to FIG. The upper part of FIG. 2 shows the output waveform of the PWM control by the drive circuit 3, and the lower part shows the change in the rotation speed of the motor 3.

As shown in the figure, in the present control, in a normal determination section S1 which may be in the same range as the conventional example, PWM duty control for obtaining a rated output is performed, and a low level as a predetermined section before fully closing is performed. A speed determination section S2 is provided, and in the low speed determination section S2, control is performed with the duty ratio lowered.
Then, a section between the low speed determination section S2 and the fully closed position is set as a prohibited section S3 similar to the conventional example, and the prohibited section S3 is set.
At 3, control is performed to reduce the duty ratio at a predetermined reduction rate so as to reduce the speed toward the fully closed position. Accordingly, the motor 3 rotates at the high speed VH in the normal determination section S1 and at the low speed VL in the low speed determination section S2, and the closing speed is changed accordingly to close the window 8.

According to the present invention, since the magnitude of the speed reduction at the time of pinching is greater than at the time of the speed reduction due to friction or the like, the pinching determination is performed based on the magnitude of the change in the rotation speed. For example, as shown by the imaginary line in FIG. 2, when the magnitude of the speed change amount ΔV when the rotation speed is reduced is equal to or larger than the threshold value, it is determined that the object is trapped. For this speed change amount ΔV, the determination time
As a change in speed per (Δt), a difference (= V (n) −V (n−1)) between each detection value between the current time and the previous time is observed, and the rate of change (= V (n) / V ( n-1)).
Then, as shown in the figure, in the low speed determination section S2,
Since the speed is reduced with respect to the normal determination section S1,
In this case, the torque-rotation speed curve is VH in FIG.
Since the state indicated by changes to the state indicated by VL, the output of the motor 3 decreases.

Thus, the entrapment load is reduced to the target torque T
In the case of o, the margin ΔTl for the target torque To at the low speed VL is larger than the margin ΔTh for the target torque To at the high speed VH. That is, by reducing the speed from the high speed VH to the low speed VL, it is possible to prevent the entrapment load from increasing even if the threshold speed change amount ΔV in the low speed determination section S2 is set to be large. Since the motor output also decreases, the target torque To as the pinching load can be reduced.

When switching from the normal determination section S1 to the low speed determination section S2, the speed decreases from the high speed VH to the low speed VL. In response to this, for example, the amount of change in the threshold speed during the switching (from high speed VH to low speed VL) is increased, or the speed is slowly lowered from high speed VH to low speed VL. This can prevent erroneous determination.

Next, when the operation shifts from the low speed determination section S2 to the prohibition section S3 in the normal closing operation, the rotation speed is reduced by reducing the duty ratio at a predetermined reduction rate, and the rotation speed is reduced to the specified value Va. When the value becomes below, the duty ratio is increased (for example, 100%) to increase the output of the motor, and the motor 3 is driven to the fully closed position at the high duty ratio. By doing so, the window 8 can be closed with a larger closing force as compared with the case where the vehicle is decelerated immediately before the fully closed position, and even if friction due to a weather strip or the like is large, the window 8 can be closed.
Can be completely closed to the fully closed position.

Note that the output increase amount of the motor 3 in the prohibited section S3 is not limited to the above-described duty ratio of 100%, but may be any output that can surely close the window 8 to the fully closed position. Further, the rotation speed is decreased toward the fully closed position in the prohibition section S3. However, the drive is performed at the low speed VL, and it is detected that the rotation speed has decreased due to the increase in friction, and the process proceeds to the output increase control. You may do it.

[0021]

As described above, according to the present invention, since the motor rotation speed is reduced in a predetermined section before full closing, the motor output is also reduced due to the speed reduction in that section. For this reason, the margin for the target torque, which is the entrapment load, becomes large, so that even if the threshold value for judging the entrapment is set large (dull) to prevent erroneous determination due to an increase in friction, the entrapment load is prevented from becoming large. can do.

When the motor rotation speed decreases immediately before the fully closed position and falls below a specified value, the output of the motor is increased. , The open / close body can be reliably closed by the high motor output.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an example of a power window device to which the present invention has been applied.

FIG. 2 is a time chart showing a control procedure based on the present invention.

FIG. 3 is an explanatory diagram showing a pinch determination procedure based on a speed decrease.

FIG. 4 is a block diagram showing an example of a conventional power window device.

FIG. 5 is an explanatory diagram showing a conventional control procedure.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Control part 2a Automatic operation switch, 2b Manual operation switch 3 Motor 4 Drive circuit 5 Judgment circuit 6 Angular velocity calculation circuit 8 Window 9 Rotation sensor 11 Control part 12 Automatic operation switch

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Nariko Kobori 1-2681, Hirosawa-cho, Kiryu-shi, Gunma Co., Ltd. (72) Inventor Hiroshi Ono 1-2681-1, Hirosawa-cho, Kiryu-shi, Gunma Co., Ltd. (72) Inventor Takao Arai 1-2681, Hirosawa-cho, Kiryu-shi, Gunma Inside Mitsuba Co., Ltd. (72) Inventor Yoshio Morishima 1-2681-1, Hirosawa-cho, Kiryu-shi, Gunma F-term in Mitsuba Co., Ltd. CA06 DA01 DB01 EA11 EB01 GA07 GB06 GC06 GD07 HA01 KA01 3D127 AA02 BB01 CB05 CC05 DF04 FF03

Claims (2)

[Claims] 1. A method for controlling the pinching of an opening / closing body for determining the pinching of a foreign substance or the like when the opening / closing body is driven to be closed by a motor, wherein the motor rotation speed is reduced in a predetermined section before the fully closed state. Control method for determining whether the opening / closing body is caught. 2. The method according to claim 1, wherein the output of the motor is increased when the motor rotation speed decreases immediately before the fully closed position and falls below a specified value.