JP2003154854A - Method and device for controlling sunroof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and a device for controlling a sunroof, capable of preventing an erroneous reversal or an increase in a pinching load, by preventing the erroneous reversal or the like of the sunroof occurring as a result of misjudgment as pinching when the rotational speed of the motor is changed by a shade or the like, and by detecting pinching with high accuracy irrespective of such properties as deformability of a thing that is pinched. SOLUTION: In detecting pinching by the sunroof lid, a plurality of rotational speed differences for different comparison times are calculated, and a number of sets of threshold value data corresponding to the same number of the rotational speed difference data are prepared. Determination as to whether pinching has occurred or not is made according to the elapsed time since the motor has started rotating or the moved distance of the sunroof lid after the starting, by determining whether a calculated rotational speed difference is larger or not than the corresponding threshold that decreases with the increase in the elapsed time or in the moved distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sunroof drive device for opening and closing a lid of a sunroof device arranged on a roof of a vehicle by a motor, and particularly to a foreign matter when the sunroof lid is operating in a closing direction. The present invention relates to a sunroof drive device that can detect the entrapment of a vehicle with high accuracy.

[0002]

2. Description of the Related Art A motor for driving a sunroof lid in a sunroof device is constrained in a fully closed position or a fully opened position due to a load caused by a deviation between inertial rotation of the armature and inertial movement of the lid after current supply is stopped. In order to absorb the load received in the case, with the output gear of the motor,
Since a damper made of resin or rubber is provided between the output shafts, immediately after the drive motor starts rotating, the damper may return, twist afterwards, or the temperature may change, causing disturbance in the motor rotation. May occur.

Therefore, the rotation speed (rotation speed) of the drive motor
When detecting that the number of rotations has decreased while the sunroof lid is moving in the closing direction, it is determined that pinching has occurred and the sunroof lid is inverted (drive in the opening direction). In a conventional sunroof device with a prevention function, in order not to mistakenly judge that a decrease in the motor rotation speed due to the above-mentioned damper is a trap of foreign matter, a certain time immediately after the drive motor is started or after the motor is started. There is a control for masking the detection of pinching until the sunroof lid moves by a predetermined distance.

[0004]

However, in a system that includes a shade and the sunroof lid (roof glass) closes together with the shade,
After the sunroof lid starts moving, it collides with the shade within a certain distance, so load fluctuations continue for a long time after the motor is started.Therefore, it is necessary to mask all of the time or distance during this period. However, there is a problem that the mask region, that is, the range in which the lid cannot be inverted becomes wide even if the entrapment should occur immediately after the operation of the lid starts.

Further, in detecting the entrapment, if the reduction (deceleration) of the motor rotation number is compared only between constant pulse counts, when entrapment occurs with a different elastic modulus immediately after the mask is finished, that is, a hard object is detected. There is a problem that the sandwiching load changes when a soft or soft object is sandwiched, which may cause erroneous reversal or a large sandwiching load. To solve these problems, the conventional sunroof device can be solved. It was a problem of the entrapment detection system in.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems in the conventional entrapment detection / control system, and does not malfunction even if there is a motor rotation varying element due to a shade or the like. An object of the present invention is to provide a sunroof control method and a sunroof control device capable of detecting a pinch with high accuracy regardless of the physical properties of a pinched object and preventing erroneous reversal and an increase in the pinching load.

[0007]

A sunroof control method according to the present invention detects a rotation speed of a drive motor for opening and closing a sunroof lid, stores a predetermined number of the rotation speeds, and saves the stored rotation speed data. A plurality of speed difference data with different comparison periods are calculated, and the same number of threshold values corresponding to this is calculated, and decreases as the elapsed time after the motor starts rotating or the movement distance of the sunroof lid increases. When a sunroof lid is operating in the closing direction, any one of the plurality of speed difference data indicates the elapsed time after the start of rotation of the motor or the sunroof. When the corresponding threshold value selected according to the travel distance of the lid is exceeded, the motor is stopped and then inverted to open the sunroof lid in the opening direction. In the sunroof control method, the control method is characterized in that the motor is stopped and the motor is stopped immediately after the motor starts to rotate. Such a configuration is used as a means for solving the above-mentioned conventional problems.

A sunroof control device according to the present invention includes a motor having an armature shaft connected to a sunroof lid through a speed reducer, an open switch for generating an open command signal for moving the sunroof lid in an opening direction, and a sunroof lid. And a closing switch for generating a closing command signal for moving in a closing direction, and an opening driving signal is generated according to the opening command signal from the opening switch, and a closing driving signal is generated according to the closing command signal from the closing switch. And a drive current for giving rotation corresponding to the opening direction of the sunroof lid to the motor in response to the opening drive signal from the control means,
Driving means for supplying to the motor a drive current for giving rotation corresponding to the closing direction of the sunroof lid in response to the closing drive signal, and motor rotation detection for generating a pulse signal having a phase difference according to the rotation of the armature shaft of the motor In the sunroof control device including means, the control means generates a motor start counter that counts the number of pulse signals generated by the motor rotation detecting means after the armature shaft starts rotating, and a motor rotation detecting means. A rotation speed calculation block for calculating the rotation speed per unit time based on the pulse signal, and a predetermined number of rotation speed data per unit time calculated by the rotation speed calculation block are stored and saved. Based on the measured rotation speed data, multiple rotation speed difference data with different comparison periods are calculated and output. According to the count value of the re-blocking and the motor start counter, it is predetermined so as to decrease as the count value increases and is compared with a plurality of rotation speed difference data output from the rotation speed memory block. A plurality of sets of threshold value data stored in the threshold data ROM when a closing command signal is output from the closing switch. From the above, a set of threshold data is read according to the count value of the motor start counter, and a plurality of rotation speed difference data output from the rotation speed memory block are respectively compared with a corresponding same number of threshold data. When any one of the rotational speed difference data exceeds the corresponding threshold value, the output of the closing drive signal to the drive means is stopped. In a configuration including a control block that outputs an open drive signal, or a similar sunroof control device, the control means includes a motor start timer that counts an elapsed time after the armature shaft starts rotating, and the motor. A rotation speed calculation block for calculating the rotation speed per unit time based on a pulse signal generated from the rotation detection means, and a predetermined number of rotation speed data per unit time calculated by the rotation speed calculation block are stored. In addition, the rotation speed memory block that calculates and outputs a plurality of rotation speed difference data having different storage periods from the stored rotation speed data, and the count value increases according to the count value of the motor start timer. Therefore it is predetermined to decrease,
A threshold data ROM storing a large number of sets of threshold data of the same number that are respectively compared with a plurality of rotation speed difference data output from the rotation speed memory block, and a closing command signal is output from the closing switch. And, from a large number of sets of threshold value data stored in the threshold value data ROM, a set of threshold value data is read according to the count value of the motor start timer and is output from the rotation speed memory block. Each of the plurality of rotation speed difference data is compared with the corresponding threshold value data, and when any one of the rotation speed difference data exceeds the corresponding threshold value,
And a means for solving the above-mentioned conventional problem in the sunroof control device, which has a control block for stopping the output of the closing drive signal to the driving means and outputting the opening drive signal. It is characterized by having done.

In a preferred embodiment of the sunroof control device according to the present invention, the threshold value data ROM has a threshold value immediately after the start of rotation of the motor that is equal to or greater than a value that the rotation speed difference data can take. The feature is that it is saved.

[0010]

In the sunroof control method according to the present invention, when the jamming is detected, it is determined that the motor rotation speed for driving the sunroof lid (the rotation speed per unit time, that is, the rotation speed) is decreased and the jamming occurs. In addition, the determination is made based on a plurality of rotational speed difference values having different comparison periods, without making a determination based on a single speed difference value (for example, whether or not the time required for the armature shaft to make one rotation becomes longer than a predetermined threshold value). (For example, the time of one rotation of the armature shaft, the time of two rotations, the time of four rotations,
Whether or not the time of eight revolutions is longer than a predetermined time), a large number of sets of threshold data of the same number respectively corresponding to the plurality of rotational speed difference data are prepared, and the elapsed time from the start of rotation of the motor, Alternatively, depending on the movement distance (motor rotation amount) of the sunroof lid, the presence or absence of the entrapment is determined by whether the elapsed time or the threshold value set to decrease with the increase of the movement distance is greater than or equal to the threshold value. Therefore, for example, as shown in FIG. 1, the threshold value in the range immediately after the motor is started is made extremely large to form the mask area, and the area adjacent to the mask area collides with the shade. A high threshold region A or B in which the threshold value of the obtained range is set higher than the threshold value of the normal judgment, and the distance range other than these is set as the normal threshold value. By the band, rotation fluctuation and immediately after the start of rotation of the motor, it is not possible to determine the rotation fluctuation jamming caused by collision with the shade, so that the erroneous inversion of the sunroof lid is prevented.

Further, in the entrapment determination, the entrapment occurrence is determined by whether or not any value of the plurality of rotational speed difference data having different comparison periods exceeds the corresponding threshold value as described above. The pinch detection is performed with high accuracy regardless of the physical properties of the pinched object, erroneous reversal is eliminated, and the load at the time of pinching is reduced. In FIG. 1, the rotation fluctuation A is
It is a plot of the output shaft rotation speed difference between 32 pulse counts in the pulse signal for motor rotation detection,
The rotation fluctuation B is compared with the threshold value A in the figure, and is a plot of the output shaft rotation speed difference between eight pulse counts, and is compared with the threshold value B. Then, when at least one of these exceeds the respective threshold value, it is determined that entrapment has occurred.

A sunroof control device according to the present invention is a motor for driving a sunroof lid, an opening / closing switch, a control means, and a drive for supplying a drive current to the motor based on an open drive signal or a close drive signal from the control means. A motor start counter that counts the number of pulse signals from the motor rotation detection means after the start of rotation, or a motor start timer that counts the elapsed time after the start of rotation, A rotation speed calculation block that calculates the rotation speed per unit time and a rotation speed that stores a predetermined number of rotation speed data per unit time and calculates and outputs multiple rotation speed difference data with different comparison periods. Several memory blocks and decrease as the count value of the motor start counter or motor start timer increases. When a closing command signal is output from the closing switch, the threshold value data ROM stores a large number of sets of the same number of threshold value data that are predetermined to be compared with the plurality of rotation speed difference data. From a large number of sets of threshold data stored in the threshold data ROM, a set of threshold data is read according to a count value of a motor start counter or a motor start timer,
This is compared with the rotation speed difference data respectively, and when any one of the rotation speed difference data exceeds the corresponding threshold value, the control of stopping the output of the closing drive signal and outputting the open drive signal. Since the block is provided, similar to the control method described above, the pinch detection is performed with high accuracy regardless of the physical properties of the pinched object, and erroneous reversal of the sunroof lid and increase in the pinch load are prevented.

As a preferred embodiment of the present invention, by setting a value equal to or larger than a value that the rotation speed difference data can take as a threshold value immediately after the rotation of the drive motor is started, it is determined that the trapping occurs immediately after the motor is started. Even if the rotation of the motor fluctuates due to the return of the damper or the like, this range is not masked, and it is not determined that the motor is pinched, and erroneous inversion of the lid is prevented.

[0014]

EXAMPLES The present invention will be described in more detail based on the following examples.

FIG. 2 is a block diagram showing the structure of the sunroof control device according to the present invention. The sunroof control device 1 shown in the drawing is an actuator AC having an open switch 2, a close switch 3 and a motor 4. The actuator AC has two holes I
Motor rotation detecting means 5 including C, IC1 and IC2
Output circuit (driving means) 6 and control means MCU (micr
oprogram control unit) is incorporated. The control unit MCU includes an edge detection block 7, a post-motor pulse counter (motor start counter) 8, a sunroof lid position counter 9, an output shaft rotation speed calculation block (rotation speed calculation block) 10, and a rotation speed memory block 1.
1, a threshold data ROM 12, an input block 13, a control block 14 and an output block 15 are built in.

The open switch 2 is turned on when the sunroof lid L is opened (slide open), and an open command signal is generated by the on operation. Further, the closing switch 3 is turned on when the sunroof lid L is closed (sliding closed), thereby generating a closing command signal. The open command signal or the close command signal generated by operating these switches 2 and 3 is supplied to the input block 13 of the control means MCU.

The motor 4 has an armature shaft 4a,
The armature shaft 4a is connected to the output shaft 4b via a speed reducing mechanism including a worm and a worm wheel, and the output shaft 4b is connected to the sunroof lid L via a lid driving mechanism (not shown). The sunroof lid L is opened and closed by the forward and reverse rotations of the armature shaft 4a and the output shaft 4b based on the supply of.

The motor rotation detecting means 5 is composed of two Hall ICs as described above, and these Hall ICs 1 and IC2 are brought into non-contact with each other by 90 degrees relative to the peripheral portion of the magnet attached to the armature shaft 4a. It is arranged.

The Hall IC1 and IC2 of the motor rotation detecting means 5 respectively generate pulse signals having a phase difference of 90 degrees from each other, as shown in FIG. 3, according to the rotation of the armature shaft 4a of the motor 4. The pulse signals generated by the Hall IC1 and the Hall IC2 are respectively applied to the edge detection block 7 of the control means MCU.

The edge detection block 7 detects the rising / falling edges of the input signals from the Hall IC 1 and the Hall IC 2 of the motor rotation detection means 5, and outputs the output shaft rotation speed calculation block 10 to the output shaft rotation speed calculation block 10 of the motor 4. Prompt to start calculation of the rotation speed of the output shaft 4b. Further, it becomes a counting factor of the counter 8 after starting the motor and the sunroof lid position counter 9.

After the motor is started, the counter 8 outputs a rising / falling signal detected after the motor 4 starts rotating from a stopped state based on the Hall IC signal from the edge detection block 7 to 1 / m of the armature shaft 4a. Count every 4 rotations. The count data counted by the counter 8 after the motor is started is stored in the threshold data ROM.
Reference numeral 12 is referred to when reading the threshold data.

The sunroof lid position counter 9 similarly counts the rising / falling signals of the pulse signal of the Hall IC signal from the edge detection block 7, and when the armature shaft 4a rotates in the opening direction of the sunroof lid L, the count value is obtained. When incremented and rotated in the closing direction, the count value is decremented. The count value of the sunroof lid position counter 9 is the sunroof lid L.
Is set to take a "0" value when the vehicle is in the front closed position, and the count value indicates the current position of the sunroof lid L. Further, the count data of the sunroof lid position counter 9 is given to the control block 14.

The output shaft rotation speed calculation block 10 measures the time between edges each time an edge is detected, based on the rising / falling signal of the Hall IC signal from the edge detection block 7, and measures the time between the edges. The number of revolutions is calculated (that is, in this embodiment, the time between two pulse signal edges generated from the motor revolution detecting means 5 is four, which corresponds to one revolution of the armature shaft). The rotation speed (rotation speed) of the output shaft 4b per unit time multiplied by the reduction ratio between the shaft 4a and the output shaft 4b.
To calculate. The calculation result of the output shaft rotation speed calculation block 10 is input to the rotation speed memory block 11.

The rotation speed memory block 11 stores the output shaft rotation speed (rotation speed) data calculated by the output shaft rotation speed calculation block 10 by a predetermined number (33 in this embodiment), and inserts it. As the deceleration width of the motor rotation to be monitored in the detection, a plurality of rotation speed difference data having different comparison periods, in this embodiment, 4
Four types of rotation speed difference data between pulse counts, 8 pulse counts, 16 pulse counts and 32 pulse counts are calculated and output to the control block 14. In addition,
These numbers are 8-bit values and can range from 0 to 255. Further, the 33 pieces of output shaft speed data stored in the memory block 11 are sequentially updated to the latest data each time a rising / falling edge of the Hall IC signal is detected and a new speed is calculated. Is
The four types of rotation speed difference data having different comparison periods (pulse intervals) are output each time.

The threshold data ROM 12 stores a threshold table as shown in FIG. That is, the four threshold values corresponding to the four types of rotation speed difference data (4, 8, 16 and 32 pulse count difference) calculated in the rotation speed memory block 11 are the count values of the motor-started counter 8, that is, A large number of sets (7 sets in this embodiment) are stored according to the moving distance of the sunroof lid L after the motor 4 is started. As is clear from this figure, each threshold value is the counter 8 after the motor is started.
Is set so as to decrease stepwise as the count value increases, and when the count value is in the range of 0 to 10 immediately after the motor 4 is started, all the threshold values exceed the rotational speed difference data. It is set to "255", which is not possible, and no matter how the rotation speed of the motor 4 fluctuates in this range, the sunroof lid L is not judged to be caught and the sunroof lid L does not reversely operate, and it becomes a mask area. There is.

The input block 13 performs a filtering process and a prohibiting process on these input signals based on the input of the open command signal from the open switch 2 or the close command signal from the close switch 3, and then the control block 14 Send to.

The control block 14 controls the operation of the entire system. That is, based on the open command signal input from the open switch 2 via the input block 13,
The output drive signal is supplied to the output circuit 6 by the output block 15. When a closing command signal is input from the closing switch 3 via the input block 13, a closing drive signal is supplied to the output circuit 6 via the output block 15 to operate the sunroof lid L in the closing direction. Then, the trapping detection is started, and a set of threshold data corresponding to the moving distance of the sunroof lid L after the motor is started is referred to by referring to the count value of the pulse counter 8 after the motor is started.
No. 2 ROM table (FIG. 4) and four types of rotation speed difference data input from the rotation speed memory block 11 are compared with corresponding threshold values, and all the rotation speed difference data have corresponding threshold values. If it does not exceed the threshold value, the output of the closing drive signal is continued, and if any one of the four types of rotation speed difference data exceeds the corresponding threshold value, it is determined that entrapment has occurred and the closing drive signal is output. Is stopped, and an opening drive signal is supplied from the output block 15 to the output circuit 6 to control the sunroof lid L to be inverted.

The output block 15 receives the output signal from the control block 14 and supplies an open drive signal or a close drive signal for rotating the motor 4 forward and backward to the output circuit 6.

The output circuit 6 includes a relay or a transistor, and operates the motor 4 in the forward and reverse directions to open and close the roof lid L in response to the open drive signal or the close drive signal provided from the output block 15. The drive current is supplied to the motor 4 or stopped.

In the sunroof control device 1 having such a structure, the movement of the sunroof lid L is based on the normal operation routine (main routine) shown in FIG. 5 and the rotation fluctuation determination (pinching determination) subroutine shown in FIG. Controlled.

With respect to steps 101 to 107 in the main routine shown in FIG.
The present invention relates to initial setting performed when an actuator AC equipped with a CU is mounted on a vehicle together with switches and a sunroof device main body, and shows a count value of a sunroof lid position counter 8 when a sunroof lid L is at a fully closed position. This is for accurately adjusting to "0".

That is, when the key switch is turned on while the sunroof system is mounted on a vehicle, first, at step 101, an initial operation flag FG_INIT is set, and then at step 102, a flag FG_SAFE indicating that entrapment has occurred is set. Is determined. At this point, the sunroof lid L is not substantially in operation yet, and the flag is not set (NO), so steps 102 to 103 and 104 are performed.
Then, the presence or absence of input from the slide close switch 3 is determined.

If the closing switch 3 is turned on (YES), the control proceeds to step 104, where the state of the initial operation flag FG_INIT is determined. The initial operation flag FG_INIT is set in step 101 (Y
ES), the process proceeds to step 105
After the lid position counter GPC (sunroof lid position counter 9) is cleared (GPC ← 0) in step 1, it is determined in step 106 whether the motor is locked, that is, whether the sunroof lid L has reached the fully closed position.

If the motor is not locked (NO),
The process proceeds to step 108, the drive current in the slide closing direction is supplied to the motor 4, the lid L moves toward the fully closed position, reaches the fully closed position, and the motor lock is detected in step 106. When these steps are repeated and the motor lock is detected in step 106, the initial operation flag FG_INIT is detected in step 107.
Is reset. Then, the lid position counter GPC is reset each time the step 105 is passed during this period, so the count value of the lid position counter GPC when the sunroof lid L is at the fully closed position is adjusted to "0",
Initialization is complete. After the initial setting is completed, the initial operation flag FG_INIT is not set, and step 105
~ 107 are never executed.

Next, the control of the sunroof control device 1 during normal operation will be described. When the above initialization is completed, control returns to step 102.

At step 102, the state of the flag FG_SAFE indicating that the entrapment has occurred is determined. At this point, however, the sunroof lid L is in the fully closed position and is substantially inactive, so the above flag is set. If it is not set (NO), the process proceeds from steps 102 to 103 and 109, and it is determined whether there is an input from the slide close switch 3 or the slide open switch 2. When neither the open switch 2 nor the close switch 3 has been operated, step 103 (NO) and step 109
From (NO) to step 110, step 110
In step 111, the motor output counter MPC (pulse counter 8 after motor startup) that counts the number of pulse interrupts immediately after the motor startup is cleared, and then the motor output (in this case, it is not output from the beginning) is stopped in step 111. Then, the process proceeds to step 112.

In step 112, the Hall IC
1, it is determined whether or not the Hall IC 2 has an edge input, that is, whether or not the motor is rotating. In this case, since the motor is not rotating and there is no edge input (NO),
The process proceeds to step 113, the edge input flag FG_EDGE is reset, and the process returns to step 102. Then, until the slide opening switch 2 is turned on, the above step 10 is performed.
The loop of 2 to 103 and 109 to 113 is repeatedly executed.

When the slide opening switch 2 is turned on, a switch input is made in step 109 (YE
S), the process proceeds to step 114, the open drive signal is output to the output circuit 6, and the drive current from the output circuit 6 causes the motor 4 to operate in the sliding open direction of the sunroof lid L. When an edge input occurs in the Hall IC1 and the Hall IC2 of the motor rotation detecting means 5 based on the rotation of the motor 4, the process proceeds from step 112 (YES) to step 115 to set the edge input flag FG_EDGE, and then step 116. In step 117, the motor start counter MPC is incremented, and the edge directions of both pulse signals output from the Hall IC1 and IC2 in step 117 (whether the other pulse signal is H or L when a rising edge is detected in one pulse signal). The moving direction of the sunroof lid L is determined based on. In this case, since the sunroof lid L is moving in the slide opening direction (NO), the routine proceeds to step 118, where the lid position counter GPC is incremented. Thus, while the slide opening switch 2 is being turned on, step 1
The loop of 02 to 103, 114, 112, 115 to 118 is repeated, and the sunroof lid L continues to move toward the fully open position.

When the finger is released from the slide opening switch 2 (OFF operation), step 109 (NO) to step 110.
After clearing the pulse counter MPC after startup by activating, the open drive signal is stopped in step 111,
Since the current supply to the motor 4 is stopped, the sunroof lid L can be stopped at a desired position. And
When the edge input of the pulse signal from the Hall ICs 1 and 2 is eliminated, the process proceeds from step 112 (NO) to step 113, the edge input flag FG_EDGE is reset, and the process returns to step 102.

Then, with the sunroof lid L open, the slide close switch 3 is pushed (ON operation).
Then, the process proceeds from step 102 (NO) to step 103 and then to step 104, where the initial operation flag FG_INIT
Is determined. Since the initial operation flag FG_INIT has been reset in step 107 (NO) at the end of the initial setting, the process proceeds from step 104 (NO) to step 200 and shifts to the rotation fluctuation determination subroutine.

In the rotation fluctuation determination subroutine shown in FIG. 6, first, at step 201, it is determined whether or not the motor 4 is operating. In this case, the motor 4 has not been started yet (NO). ), The process proceeds from step 201 to step 202, and after clearing the contents of the rotation speed memory block 11 in step 202, the process proceeds to step 203, resets the inversion operation flag FG_SAFE by determining that no trapping has occurred, and executes the main routine. Return to.

In step 119 returned from the rotation fluctuation determination subroutine 200, the reversing operation flag FG_SAFE
Is determined. Here, it is reset in step 203 of the rotation fluctuation determination subroutine (N
O), the routine proceeds to step 108, where a closing drive signal is output to the output circuit 6 and the drive current from the output circuit 6 operates the motor 4 in the sliding closing direction of the sunroof lid L.

Even when the motor 4 starts operating, the process returns from step 112 to step 113 and back to step 102 until an edge input is generated from the hall IC1 and hall IC2 forming the motor rotation detection means 5, and then step 102.
The rotation fluctuation determination subroutine 200 is executed again after the steps from to 104.

In the rotation fluctuation determination subroutine, the routine proceeds from step 201 (YES) to step 204, but from step 204 (NO) to step 203 until the edge input from the motor rotation detecting means 5 occurs, and the rotation is reversed. The operation flag FG_SAFE is kept reset and the process returns to the main routine to maintain the output of the closing drive signal. When an edge input is generated in the Hall IC1 and Hall IC2 of the motor rotation detecting means 5 based on the rotation of the motor 4, the process proceeds from step 112 to step 115 to set the edge input flag FG_EDGE, and at step 116 the motor is started. The counter MPC is incremented, and in step 117, the sunroof lid L
Is determined. At this time, since the sunroof lid L is moving in the slide closing direction (YES), the process moves to step 120 to decrement the lid position counter GPC and then returns to step 102. And
The rotation variation determination subroutine 200 is executed through steps 102 to 104.

In the rotation fluctuation determination subroutine, the routine proceeds from step 201 (YES) to step 204, and at step 204 the edge input flag FG_EDGE
Is set (YES), that is, it is determined that a pulse interruption has occurred, and the routine proceeds to step 205.

Edge input flag in step 205
After resetting FG_EDGE, in step 206, the timer PLS_TM which is built in the output shaft rotation speed calculation block 10 and measures the time between the edges of the two pulse signals output from the Hall IC1 and Hall IC2 of the motor rotation detection means 5 Is loaded as PT4, the pulse width timer PLS_TM is cleared in step 207, and the process proceeds to step 208.

At step 208, the time AT required for one rotation of the armature shaft 4a is obtained by adding the time values PT3, PT2, and PT1 loaded at the time of the edge detection at the previous time, two times before and three times before to the time value PT4 between edges. To calculate. Then, in step 209, the time per revolution (AT) obtained in step 208 is multiplied by the reduction ratio RAT of the armature shaft 4a and the output shaft 4b, and the product is divided by 60 to obtain the output per unit time (1 minute). The rotation speed Rin (n) of the shaft 4b is calculated.

Next, the control shifts to step 210, and the rotation speed shift operation is performed. That is, the rotation speed data REV (0) to REV (M) stored up to the previous time are respectively shifted by one in the rotation speed RAM area in the rotation speed memory block 11, and the latest rotation speed obtained in step 209 is obtained. Save Rin (n) in the latest data location RAM (0) in the RAM area. In this embodiment, M = 3
It is 2. Control proceeds to step 211.

In step 211, the count value of the motor starting counter MPC at that time is referred to and read from the ROM table (FIG. 4) in the threshold value data ROM 12 to 4.
The threshold value BRD (4) for the pulse count difference is read. For example, the count value of the pulse counter MPC is 0
In the case of -10, "255", the count value is 11-20
In this case, "15" is read, and when the count value is 21 or more, "5" is read.

Then, in step 212, the rotational speed difference REV (4) − when the comparison period is 4 pulse counts
REV (0) is calculated, and this is compared with the threshold value BRD (4) read from the ROM table of FIG. This 4-pulse count rotation speed difference REV (4) -RE
If V (0) does not exceed the threshold value BRD (4) (NO), the routine proceeds to step 213, and similarly, the count value of the motor start counter MPC at that time is referred to, and the threshold data ROM 12 is stored. The threshold value BRD (8) for the 8-pulse count difference is read from the ROM table. For example, the count value of the pulse counter MPC is 0 to
When the count value is 10, "255", when the count value is 11 to 20, "25", when the count value is 21 to 80, "15", and when the count value is 81 or more, "10" Each is read, and the process proceeds to step 214.

In step 214, the rotational speed difference REV (8) -REV when the comparison period is 8 pulse count
(0) is calculated, and this is compared with the threshold value BRD (8) read from the ROM table. If this 8-pulse count rotational speed difference REV (8) -REV (0) does not exceed the threshold value BRD (8) (NO), the routine proceeds to step 215 not shown, and the count of the motor start counter MPC at that time. Threshold data R based on the value
The threshold value BRD (16) for 16-pulse count difference is read from the ROM table in the OM 12, and in step 216 (not shown), the rotational speed difference REV (16) -REV (0) when the comparison period is 16-pulse count. Is calculated, and this is similarly compared with the threshold value BRD (16) read from the ROM table.

This 16-pulse count rotation speed difference REV
If (16) -REV (0) does not exceed the threshold value BRD (16) (NO), the process proceeds to step 217, and 32 (from the ROM table is read according to the count value of the motor start counter MPC at that time. = M) The threshold value BRD (32) for the pulse count difference is read. For example,
When the count value of the pulse counter MPC is 0 to 10, "255", and when the count value is 11 to 20, "4"
0 "," 25 "when the count value is 21 to 120,
When the count value is 121 to 150, “20” is read, and when the count value is 151 or more, “17” is read, and the process proceeds to step 218.

In the determination in step 218, the rotation speed difference REV when the comparison period is 32 pulse counts
(32) -REV (0) is calculated, and this is compared with the threshold value BRD (32) read from the ROM table in the same manner, and the rotational speed difference REV (32) -REV (0) is the threshold value. If it does not exceed BRD (32) (NO),
In step 207, the inversion operation flag FG_SAFE is reset assuming that no trapping has occurred, and the process returns to the main routine.

At step 119 returned from the rotation fluctuation determination subroutine 200, the state of the reversal operation flag FG_SAFE is determined (NO), the routine proceeds to step 108, where the closing drive signal output to the output circuit 6 is maintained, and the motor 4
Continues the operation of the sunroof lid L in the slide closing direction.

Then, through step 112 (YES)
In step 115, the edge input flag FG_EDGE is held in the set state in step 115, the motor start counter MPC is incremented in step 116, the process proceeds from step 117 (YES) to step 120, and the lid position counter in step 120. After decrementing the GPC, step 102
Return to.

In this way, if the ON operation of the slide opening switch 3 continues, steps 102 to 104, the rotation fluctuation determination subroutine 200, steps 118, 108, 1
12, 115 to 117 and 120 are repeated, the operation of the sunroof lid L is restricted by some obstacle, and step 21 of the rotation fluctuation determination subroutine is executed.
2, 214, 216 (not shown) or 218, the rotation speed of the motor 4 has decreased (YES).
Unless it is determined that the closed drive rotation of the motor 4 continues,
The sunroof lid moves toward the fully closed position. Of course, when the sunroof lid L is in the desired position,
If the operation of the close switch 3 is interrupted (turned off), step 1
03 (NO), step 109 (NO) to step 1
After shifting to 10 and clearing the pulse counter MPC after startup, the closing drive signal output is stopped in step 116, so the sunroof lid L stops at that position.

For some reason, the movement of the sunroof lid L is restricted, and the smooth rotation of the motor 4 is hindered.
4, 216 and 218, the motor 4
If it is determined that the rotation speed of (1) has decreased (YES), it is determined that entrapment has occurred, the process proceeds to step 219, the reversal operation flag FG_SAFE is set, and the process returns to the main routine.

In step 119 after returning from the rotation fluctuation determination subroutine 200, the reversing operation flag FG_SAF
The state of E is determined, and in this case, the reversal operation flag FG_SAFE is set in step 219 of the subroutine (YES), so the control shifts to 110. Then, in step 110, the motor start counter MP
C is cleared, the output of the closing drive signal is stopped in step 111, and the supply of the drive current to the motor 4 is stopped.

When the rotation of the motor 4 is stopped and there is no edge input from the Hall IC of the motor rotation detecting means 5, the routine proceeds from step 112 (NO) to step 113 to reset the edge input flag FG_EDGE and then step 1
Return to 02.

At step 102, it is determined that the reversing operation flag FG_SAFE is set (YES), the routine proceeds to step 121, and at step 121, the count value of the lid position counter GPC at that time is predetermined lid. The position data is compared with XSAFE. Since the position data XSAFE is set to a relatively large value close to the fully open position, the routine proceeds from step 121 (NO) to step 114, and the open drive signal is supplied to the output circuit 6 in step 114, so the motor 4 Starts rotating in the opening direction of the sunroof lid L.

If there is an edge input from the motor rotation detecting means 5 based on the rotation of the motor 4, step 112 (YE
S) to step 118 via steps 115, 116, 117 (NO), and the lid position counter GP
After C is incremented, the process returns to step 102. Then, when the count value of the lid position counter GPC exceeds the lid position data XSAFE and the lid L is sufficiently opened, step 121 (YES) to step 1
22, the operation of the slide open switch 2 or the close switch 3 is confirmed in step 122.

With the closing switch 3 still turned on,
Alternatively, if the open switch 2 is pressed again while the motor 4 is operating in the opening direction, step 122 (YE
The process proceeds from step S) to step 123, and the output of the open drive signal to the output circuit 6 is stopped, so that the lid L stops with the sunroof fully opened.

Then, the close switch 3 and the open switch 2
When the finger is released from, the reversing operation flag FG_SAFE is reset in step 124, the trapping detection and the reversing operation control are completed, and the process returns to step 102 to close the switch 3.
When is operated again, the pinch detection is newly started.

That is, in the sunroof control device 1 according to this embodiment, the reduction range of the rotation number (rotational speed) of the motor monitored when detecting the entrapment is 4, 8, 16,
Since it is calculated by four types of time difference of 32 pulse counts and these time differences are compared in correspondence with the threshold values set respectively, highly accurate entrapment detection regardless of the hardness or deformability of the entrapped object. It is possible to prevent erroneous reversal and increase of the sandwiching load. In addition, a threshold value corresponding to the moving distance is prepared by preparing a large number of sets of threshold values that gradually decrease according to the count value of the pulse counter after starting the motor, that is, the moving distance after the motor 4 starts operating. The threshold value is set to 255 especially in the range where the count value immediately after the start of operation is 10 by comparing with the value, so that the rotational speed difference does not exceed this and the damper is It is possible to mask the area immediately after the start of the operation in which the rotation fluctuation of the motor 4 is maximized due to the influence of the above, and to reliably prevent erroneous reversal based on erroneous detection. In addition, since the threshold value of the range in which the shade can collide is set higher than usual, it is possible to avoid erroneously determining that the decrease in the rotation speed due to the collision with the shade is the entrapment of foreign matter.

In the above embodiment, the motor start counter MPC (pulse counter 8 after motor start) refers to the moving distance from the start of rotation of the motor 4,
Although the example in which the threshold value is decreased with the increase of the moving distance is shown, the motor 4 is started by providing a motor start-up timer for counting the elapsed time after the motor 4 starts rotating, instead of the counter 8. Needless to say, even if the threshold is determined with reference to the time after that, exactly the same action and effect can be obtained.

[0066]

As described above, in the sunroof control method and the sunroof control device according to the present invention, in the above configuration, that is, when detecting the entrapment, a plurality of rotation speed differences corresponding to different comparison periods are respectively provided. It is judged by comparing with the threshold value, and a large number of sets of the same number of threshold data corresponding to the respective plurality of rotational speed difference data are prepared, and the elapsed time from the start of the motor rotation or the sunroof after the start Depending on the travel distance of the lid, the presence or absence of pinching is determined by whether it is greater than a threshold value that decreases as the elapsed time or the travel distance increases. Increase the threshold value of the area where By setting the threshold value to a high threshold value region that is higher than the threshold value for normal judgment, and setting the other range as the normal threshold value region, the fluctuation of rotation immediately after the start of rotation of the motor and the collision with the shade may occur. It is possible to prevent the erroneous reversal of the sunroof lid from being erroneously determined as the occurrence of the pinch of the rotation fluctuation. Further, in the entrapment determination, the entrapment occurrence is determined by whether or not any value of the plurality of rotation speed difference data having different comparison periods exceeds the corresponding threshold value.
The pinching detection can be performed with high accuracy regardless of the rigidity of the pinched object, and it is possible to prevent an erroneous reversal and an increase in the load at the time of pinching, which is an extremely excellent effect.

[Brief description of drawings]

FIG. 1 is an explanatory view schematically showing the content of a sunroof control method according to the present invention.

FIG. 2 is a block diagram showing a configuration of a sunroof control device according to the present invention.

FIG. 3 is an explanatory diagram showing a shape of a pulse signal output from two Hall ICs of the motor rotation detecting means shown in FIG. 2 and a method of calculating a rotation speed of an armature shaft.

4 is a diagram showing the contents of threshold data stored in a threshold data ROM shown in FIG.

FIG. 5 is a flowchart showing a main routine of control in the sunroof control device shown in FIG.

FIG. 6 is a flowchart showing a rotation variation determination subroutine in control of the sunroof control device shown in FIG.

[Explanation of symbols]

1 sunroof control device 2 open switch 3 close switch 4 motor 4a armature shaft 5 motor rotation detection means 6 output circuit (driving means) 8 pulse counter after motor startup (motor startup counter) 10 output shaft rotation speed calculation block (rotation speed calculation block) ) 11 rotation speed memory block 12 threshold data ROM 14 control block MCU control means L sunroof lid

Continued front page    F-term (reference) 2E052 AA09 BA07 BA10 CA06 DA05                       DB05 EB01 GA08 GA09 GA10                       GB06 GC06 GD09 HA01                 5H530 BB17 BB18 CC14 CC24 CD10                       CD23 DD01

Claims (5)

[Claims] 1. A rotational speed of a drive motor for opening and closing a sunroof lid is detected and stored in a predetermined number, and a plurality of speed difference data having different comparison periods are calculated from the stored rotational speed data. , A plurality of sets of threshold data having the same number of threshold values that decrease with the elapsed time after the motor starts rotating or the movement distance of the sunroof lid are prepared. Is operating in the closing direction, one of the values of the plurality of speed difference data corresponds to the value selected according to the elapsed time after the start of rotation of the motor or the movement distance of the sunroof lid. When exceeding a threshold value, the sunroof control method is characterized in that after the motor is stopped, the motor is reversed and the sunroof lid is operated in the opening direction. 2. The sunroof control method according to claim 1, wherein stop and reversal of the motor is prohibited immediately after the start of rotation of the motor. 3. A motor having an armature shaft connected to the sunroof lid via a reduction gear, an open switch for generating an open command signal for moving the sunroof lid in the opening direction, and a closing switch for moving the sunroof lid in the closing direction. A closing switch that generates a command signal; a control unit that generates an opening drive signal in response to the opening command signal from the opening switch; and a control unit that generates a closing drive signal in response to the closing command signal from the closing switch; The motor is supplied with a drive current that provides rotation corresponding to the opening direction of the sunroof lid in response to the open drive signal from the means, and the motor is provided with a drive current that provides rotation corresponding to the closing direction of the sunroof lid in the closing direction. A driving means for supplying the motor and a motor rotation detecting means for generating a pulse signal having a phase difference according to the rotation of the armature shaft of the motor are provided. In the sunroof controller, the control means counts the number of pulse signals generated by the motor rotation detection means after the armature shaft starts rotating, and a pulse signal generated by the motor rotation detection means. A rotation speed calculation block for calculating the rotation speed per unit time based on the above, and a predetermined number of rotation speed data per unit time calculated by the rotation speed calculation block are saved, and the saved rotation speed is also stored. A rotation speed memory block that calculates and outputs a plurality of rotation speed difference data having different comparison periods from the data, and is predetermined according to the count value of the motor start counter so as to decrease as the count value increases. , A plurality of rotation speed difference data output from the rotation speed memory block, respectively. A plurality of sets of threshold value data stored in the threshold data ROM when a closing command signal is output from the closing switch. From the above, a set of threshold data is read according to the count value of the motor start counter, and a plurality of rotation speed difference data output from the rotation speed memory block are respectively compared with a corresponding same number of threshold data. And a control block for stopping the output of the closing drive signal to the driving means and outputting the opening drive signal when any one of the rotational speed difference data exceeds a corresponding threshold value. Sunroof control device characterized by. 4. A motor having an armature shaft connected to a sunroof lid via a speed reducer, an open switch for generating an open command signal for moving the sunroof lid in the opening direction, and a closing switch for moving the sunroof lid in the closing direction. A closing switch that generates a command signal; a control unit that generates an opening drive signal in response to the opening command signal from the opening switch; and a control unit that generates a closing drive signal in response to the closing command signal from the closing switch; The motor is supplied with a drive current that provides rotation corresponding to the opening direction of the sunroof lid in response to the open drive signal from the means, and the motor is provided with a drive current that provides rotation corresponding to the closing direction of the sunroof lid in the closing direction. A driving means for supplying the motor and a motor rotation detecting means for generating a pulse signal having a phase difference according to the rotation of the armature shaft of the motor are provided. In the sunroof control device, the control means includes a motor start-up timer that counts an elapsed time after the armature shaft starts rotating, and a rotation speed per unit time based on a pulse signal generated from the motor rotation detection means. A rotation speed calculation block for calculating, and a predetermined number of rotation speed data calculated by the rotation speed calculation block is stored, and a plurality of rotations having different storage periods from the saved rotation speed data are stored. A rotation speed memory block that calculates and outputs the number difference data, and a predetermined value that decreases in accordance with the count value of the motor start timer as the count value increases, and is output from the rotation speed memory block. A large number of sets of threshold data with the same number that are respectively compared with multiple rotation speed difference data are stored. When the closing command signal is output from the threshold data ROM and the closing switch, a large number of sets of threshold data stored in the threshold data ROM are read according to the count value of the motor start timer. While reading a set of threshold value data, a plurality of rotational speed difference data output from the rotational speed memory block are compared with corresponding corresponding threshold value data, and any one of the rotational speed difference data is read. When the value exceeds a corresponding threshold value, the sunroof control device is provided with a control block that stops the output of the close drive signal to the drive means and outputs the open drive signal. 5. The threshold data ROM stores a threshold value immediately after the start of rotation of the motor, which is equal to or greater than a value that can be obtained by the rotation speed difference data. 4. The sunroof control device described in 4.