JP2003214035A - Control method of opening and closing panel for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control method of an opening and closing panel for a vehicle, capable of preventing the catching in a mask area immediately after the start of the operation of a driving motor. <P>SOLUTION: The rotational frequency of an output shaft of the driving motor 4 immediately after the start of the operation is detected when a lid L as the opening and closing panel is operated in the closing direction, and the occurrence of catching is determined, and the driving motor 4 is reversed when the rotational frequency of the output shaft is lowered over a threshold value N for determining the catching, the decrease of the rotational frequency of the output shaft from a peak value is continued over a distance threshold value ΔL, and the rotational frequency of the output shaft is lowered by a predetermined rotational frequency Δn from the peak value, within a catching determination distance A as the initial moving distance of the lid L. <P>COPYRIGHT: (C)2003,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention
Switching devices such as power devices and power window devices.
Especially when the open / close panel is operated in the closing direction by a motor.
It relates to the control method of the vehicle open / close panel used.
is there. 2. Description of the Related Art Sunroof devices and power wins for automobiles
In a switching device such as a switch device, a drive
The armature's inertia rotation after the current supply is stopped
The load caused by the shift of the inertial movement of the
When the closed panel is restrained in the fully closed position or the fully open position,
The output gear of the motor and the output shaft
Since a resin or rubber damper is provided between
Immediately after the motor starts rotating, the damper returns and
Motor rotation due to torsion or temperature change
Disturbance may occur. [0003] Therefore, the number of rotations of the drive motor (rotational speed)
Degree), and when the open / close panel is moving in the closing direction
Entrapment occurs when detecting that the rotation speed has decreased
And flip the open / close panel (driving in the opening direction)
Conventional switchgear with anti-jamming function for controlling
Is the number of rotations of the drive motor by the damper etc.
To prevent misjudgment of the drop in
A certain period of time immediately after starting the motor or the drive motor
After startup, until the open / close panel moves a predetermined distance
During the period, control to mask the above-described pinch detection is performed.
There was [0004] However, the above-mentioned problems
In such a conventional control method for a vehicle opening / closing panel, the drive
Immediately after the operation of the motor for
Because of the provision, pinch occurs in the mask area
Then, as a matter of course, the inversion control is not performed.
Is there a possibility that a larger pinching load will occur?
In order to make the pinch prevention function more complete,
Improvement was desired. [0005] The present invention has been made in view of the above-mentioned conventional circumstances.
In the control method of the vehicle opening and closing panel,
Of the output shaft speed immediately after the start of operation of the motor
Inversion control based on this change in output shaft speed.
By performing the
Vehicle that can avoid pinching in the
The purpose is to provide a control method for the open / close panel.
You. [0006] According to the present invention, an opening for a vehicle according to the present invention is provided.
The control device for the closed panel is as described in claim 1.
When the open / close panel is operated in the closing direction,
The rotation speed of the drive motor that drives the panel
The drive motor is reversed when it falls below the threshold.
Control of vehicle open / close panel that operates the open / close panel in the opening direction
In the control method, in addition to the above control,
Output of the drive motor immediately after the start of operation
Detects shaft speed and calculates based on output shaft speed
Within the pinch judgment distance, which is the initial movement distance of the open / close panel
The output shaft rotation speed is determined by the threshold
Value exceeds the value, and the output shaft speed decreases from the peak value
Is a distance threshold set based on the movement distance of the open / close panel.
If it continues beyond the set value, it is determined that
The operation motor is reversed. FIG. 1 shows a vehicle opening / closing panel according to the present invention.
The principle of the control method of the
Position of the open / close panel when the
Number of rotations (rotation speed) per unit time of the output shaft of the motor
And the relationship between the fluctuations. Drive
For examples of the output shaft rotation speed and rotation fluctuation of the motor for
For example, a rotary sensor attached to the armature shaft of the drive motor
Measures the period of the pulse signal generated from the sensor and its fluctuation
The position of the open / close panel.
For the position, the number of edges of the pulse signal
Count to increment or decrement accordingly
Data. The rotation speed of the output shaft of the driving motor is usually
In this case, after the close switch is turned on, as shown by the upper line
It rises rapidly and becomes stable. In contrast,
If pinching occurs immediately after the motor starts operation
In this case, as shown by the lower line, the output shaft
Clearly lower in some cases, with a given peak
descend. In view of the above, a vehicle open / close panel according to the present invention is provided.
In the control method, when the open / close panel is operated in the closing direction,
The drive motor immediately after the start of the operation shown in the lower side of FIG.
The output shaft speed is detected and if the following conditions are met,
In other words, the open / close panel calculated based on the output shaft speed
Within the pinch determination distance A, which is the initial movement distance,
From the peak value, the power shaft rotation speed is set
And the output shaft speed decreases from the peak value.
Distance threshold set based on closed panel movement distance
Continues beyond ΔL and the output shaft speed is determined from the peak value
If the rotation speed has decreased by Δn, it is determined that entrapment has occurred.
Reverse the drive motor. Thus, immediately after the start of the operation of the driving motor.
Even in the mask area for pinch detection in
The drive motor is reversed and the open / close panel is opened.
Can be operated in any direction. It should be noted that the pinch detection
The entrapment determination distance A corresponds to the mask area.
If it is used, the normal
Is detected. FIG. 2 shows a vehicle opening / closing panel according to the present invention.
1 shows a configuration of a sunroof control device to which a control method is applied.
It is a block diagram. The sunroof control device 1 shown in FIG.
An open switch 2, a close switch 3, and a drive motor 4 are provided.
Mainly composed of the actuator AC
The actuator AC has an input block 5 and two
Motor rotation consisting of Hall IC, IC1 and IC2
Detecting means 6, output circuit (driving means) 7, control means M
CU (microprogram control unit) is incorporated
You. The control means MCU has an A / D input block.
8, edge detection block 9, output shaft rotation speed calculation block
(Rotation speed calculation block) 10, Peak rotation speed judgment / storage
Block 11, motor start-up pulse counter (float
In the chart, abbreviated as “motor start counter”) 1
2, determination rotation speed data ROM 13, reduced rotation speed data R
OM 14, distance judgment data ROM 15, input block 1
6. Built-in control block 17 and output block 18
Have been. The open switch 2 is provided in the sunroof device.
When opening the lid L which is the open / close panel (slide open)
Is turned on and an open command signal is generated by the on operation.
You. The close switch 3 closes the lid L (slide).
Is turned on when the door is closed).
appear. Generated by the operation of these switches 2 and 3
Open command signal or closed command signal
It is supplied to an input block 16. The drive motor 4 has an armature shaft 4a.
Armature shaft 4a has a worm and a worm
It is connected to the output shaft 4b via a speed reduction mechanism composed of wheels.
The output shaft 4b is connected to the output shaft 4b via a drive mechanism (not shown).
L is connected, and the drive current to the drive motor 4 is
Forward / reverse of armature shaft 4a and output shaft 4b based on supply
The lid L opens and closes by the rotation. The input block 5 is connected to the drive motor 4.
Input the power supply voltage, filter and divide the voltage.
Input to the A / D port of the control means MCU. Ma
Also, the A / D input block 8 is input from the A / D port
Then, the voltage of the input block 16 is measured. This measurement is
Updated every predetermined time. As described above, the motor rotation detecting means 6
It consists of two Hall ICs, these Hall ICs 1 and
IC2 is a magnet mounted on the armature shaft 4a.
In a non-contact position around the periphery of the
I have. The Hall IC 1 of the motor rotation detecting means 6
And the IC 2 rotates the armature shaft 4 a of the drive motor 4.
Pulse signals having a phase difference of 90 degrees from each other
Each occurs. These Hall IC1 and Hall I
The pulse signal generated by C2 is supplied to the control unit MCU, respectively.
Is supplied to the edge detection block 9. The edge detection block 9 detects a motor rotation.
Input signals from Hall IC1 and Hall IC2 of means 6
Signal, its rising / falling edge is detected and output
The driving motor 4
Of the output shaft 4b is started. Also described later.
After starting the motor, the
You. The output shaft rotation speed calculation block 10 includes an edge
Rise / rise of Hall IC signal from detection block 9
Based on the falling signal, every time an edge is detected,
Is measured and the rotation speed of the armature shaft 4a is calculated.
(That is, in this embodiment, the motor rotation detecting means
Time data between two pulse signal edges generated from stage 6
Four armatures correspond to the time of one rotation of the armature shaft
), The reduction ratio between the armature shaft 4a and the output shaft 4b
Multiplied by the number of rotations of the output shaft 4b per unit time (rotational speed
Degree). In the output shaft speed calculation block 10
The calculation result by the control block 17 and the peak rotation speed
It is given to the judgment / storage block 11. The peak rotation speed judgment / storage block 11
Cleared while the drive motor 4 is stopped, the drive motor 4
After starting, the output shaft speed is memorized sequentially, and the latest output shaft speed is stored.
Compare the output speed with the stored output shaft speed,
If the power shaft speed is lower than the stored output shaft speed
If the stored output shaft speed is the peak speed (peak
Value). After the motor is started, the pulse counter 12
Drive based on the Hall IC signal from the
Detected after starting rotation from the state where the motor 4 is stopped
Armature axis 4a
Is counted every 1/4 rotation of. Also, after starting the motor,
Loose counter 12 is reset by control means 17.
Thus, the counting operation is performed only while the driving motor 4 is operating. The judgment rotational speed data ROM 13 stores a driving mode.
After starting the motor 4, after the peak value of the output shaft speed appears
If the output shaft speed continuously drops during
Of the output shaft speed to determine whether
The threshold value N (V) is stored. This threshold N
(V) is the voltage value V when the driving motor 4 is started.
This is the value set in the ROM table correspondingly. The reduced rotation speed data ROM 14 stores a driving mode.
After starting the motor 4, after the peak value of the output shaft speed appears
If the output shaft speed drops continuously,
The threshold value Δn (V) for the number of rotations reduced from the torque value is stored.
are doing. This threshold value Δn (V) is
In the ROM table corresponding to the voltage value V when
This is the set value. The distance judgment data ROM 15 stores a driving mode.
After the start of the motor 4, after the peak value of the output shaft speed appears
When the output shaft speed continuously decreases, the peak
To determine the tendency of the output shaft speed to continue decreasing from the value
Distance threshold set based on the movement distance of lid L
ΔL (V) and the slip calculated based on the output shaft speed.
Threshold value of the entrapment determination distance, which is the initial movement distance of the de L
A (V) is stored. These threshold values ΔL (V)
And A (V) are the electric power when the drive motor 4 is started.
This is a value set in the ROM table corresponding to the pressure value V. The input block 16 receives the signal from the open switch 2
Of the open command signal or the close command signal from the close switch 3
Based on the input, these input signals are filtered and inhibited.
After the processing is performed, it is sent to the control block 17. The control block 17 controls the operation of the entire system.
Control. That is, via the input block 16
And based on the open command signal input from the open switch 2,
An open drive signal is supplied to the output circuit 7 by the output block 18.
I do. Also, whether the switch 3 is closed via the input block 16 or not.
When a close command signal is input from the
To supply the closing drive signal to the output circuit 7 and move the lid L in the closing direction.
To operate. Then, the pinch detection is started, and the driving mode is started.
When the rotation speed of the output shaft immediately after the start of
Next, refer to the count value of the pulse counter 12 after starting the motor.
And the pinch determination distance, which is the initial movement distance of the lid L
The output shaft speed peaks within the threshold value A (V)
Value exceeds the threshold value N (V) for pinch determination
And the decrease in the output shaft speed from the peak value is a distance threshold.
Continues beyond the value ΔL (V), and the output shaft speed reaches the peak value
When the threshold value Δn (V) drops by a predetermined number of revolutions from
If this is the case, it is determined that pinching has occurred, and the output of the closing drive signal is
Is stopped, and the open drive signal is output from the output block 17.
It is supplied to the output circuit 7 to invert the driving motor 4 and
The control for operating the head L in the opening direction is performed. The output block 18 is the control block 17
Receiving the output signal, the drive motor 4 is rotated forward and reverse.
Drive signal or close drive signal to output circuit 7
Supply. The output circuit 7 is a relay or a transistor
And the open drive provided from the output block 18.
Drive motor 4 in accordance with the signal or the closing drive signal.
Drive current for opening and closing lid L by reversing
Supply to the drive motor 4 or stop supply. A sunroof control device having such a structure
In the device 1, the normal operation routine shown in FIG.
Routine), a rotation fluctuation determination subroutine shown in FIG.
And open / close based on the pinch determination subroutine shown in FIG.
The movement of the panel L is controlled. In the main routine shown in FIG.
The control means M
Sunroof controller for actuator AC with CU
Regarding the initial settings to be performed when mounted on the vehicle together with the main unit
And the roof when the lid L is in the fully closed position
Accurately adjust the count value GPC of the position counter to "0"
It is for doing. The sunroof control device 1 is mounted on a vehicle.
When connected to battery power,
After setting the initial operation flag FG_INIT in 01,
Indicates that pinching has occurred in step 105
It is determined whether the flag FG_SAFE is set. This
At the time of, the lid L has not been substantially operated yet,
Since the above flag is not set (NO),
From 105 to 106, slide close switch 3
The presence or absence of these inputs is determined and the switch is operated.
Then, the loop from step 105 to step 111 is repeated.
returned. When the close switch 3 is turned on,
(YES), control proceeds to step 112 where the initial
The state of the operation flag FG_INIT is determined. Initial operation hula
FG_INIT is set in step 101
Has been read (YES), so the routine proceeds to step 113.
In this step 113, the pulse
Clear the count value GPC of the counter 12 (GPC ← 0)
After that, in step 114, the
Whether lid L has reached the fully closed position.
Is determined. If the motor is not locked (NO),
Move to step 115 and slide close to the drive motor 4
Direction drive current is supplied, and the lid L is turned to the fully closed position.
To reach the fully closed position, and
Steps 105 and 1 until the motor lock is detected.
06, 112 to 115, 110, 116 to 119, 10
The loop of FIG.
If a lock is detected, an initial
The operation flag FG_INIT is reset. In the meantime, in step 119,
The position counter is decremented.
The lid position counter is cleared every time I pass
The roof when the sunroof lid L is in the fully closed position
The count value GPC of the position counter is set to “0”,
Initial setting ends. When the open switch 2 is turned on, the status
From step 107 (YES) to step 122
In this step, the drive motor 4 is
Drive current is supplied, and lid L moves toward the fully open position
To start. Then, when the lid L reaches the fully open position,
Steps 122, 110, and 11 until the data is locked.
6-118, 123, 105-107, 122 loop
Is repeated, and during this time, the routine
The leaf position counter is incremented. The state where the lid L has reached the fully open position
Then, when the close switch 3 is turned on, the control proceeds to step 1.
From 06 (YES), proceed to step 112, where the initial
The state of the operation flag FG_INIT is determined.
The lag FG_INIT is reset in step 101
Has been read, the process starts from step 112 (NO).
The process proceeds to the rolling change determination subroutine 300. The flow of the rotation fluctuation determination subroutine shown in FIG.
In step 301, the drive motor 4 is in operation.
Or not, and in this case, the driving motor 4
Is in the stop state (NO).
Move to step 302, and in step 302,
After clearing the contents of the reblock, go to step 303
Transition and no inversion operation flag FG_SAF
E is reset, and the pinch judgment is made.
Move to subroutine 400)
Run. The subroutine for the pinch determination subroutine shown in FIG.
In step 401, the drive motor 4 is in operation.
The drive motor 4 is stopped.
In the case of (NO), steps 401 to 40
2 and at step 402, the peak rotational speed REV_
After clearing PEEK, return to the main routine. Return from entrapment determination subroutine 400
In step 124, the inversion operation flag FG_SAFE
Is determined. Here, the rotation fluctuation judgment subroutine
Reset in step 303 (N
O), the process proceeds to step 115, and based on the closing drive signal,
The drive motor 4 slides the lid L
Operates in the closing direction. The motor rotation is based on the rotation of the drive motor 4.
Edge insertion into Hall IC1 and Hall IC2
When a force is generated, steps 110, 116-119, 10
5, 106, 112, rotation fluctuation determination subroutine 30
0, entrapment determination subroutine 400, step 12
The loop of 4, 115 and 110 is repeated, and the lid L becomes
Moves to the fully closed position and the roof position cow
The count value GPC of the counter decreases. During this time, rotate
In the variation determination subroutine 300, step 30
The loop of 1, 304 to 319, 303 is repeated,
In addition, in the entrapment determination subroutine 400,
The loop of steps 401, 403-414 is repeated
Therefore, the detection of the entrapment is repeatedly performed,
The details will be described later. Next, the normal operation of the sunroof control device 1 will be described.
The control at the time of turning will be described. Sunroof lid L is closed
When the key switch of the vehicle is turned on in the
The control of the main routine shown in FIG.
The loop processing from step 105 is performed. In step 105, it is determined that pinching has occurred.
The state of the flag FG_SAFE indicating
In point, lid L is in the fully closed position and is substantially still in operation
The flag is not set (N
O), steps 105 to 106 and 107
To slide close switch 3 or slide open switch.
The presence or absence of an input from the switch 2 is determined. Open switch 2 and close switch 3
If neither is operated, step 106 (NO)
And the process proceeds from step 107 (NO) to step 108.
At step 108, immediately after the motor is started.
Pulse clock after motor startup to count the number of
After clearing the count value MPC of the
At 119, the motor output (in this case, output from the beginning
Stop), and then go to step 110
I do. In step 110, the Hall IC
1, the presence or absence of an edge input to the Hall IC 2 is determined.
In this case, the drive motor 4 has not yet rotated, and
No input is made (NO).
Reset the edge input flag FG_EDGE
Return to 05. Then, the slide open switch 2 is turned on.
The loop of steps 105 to 111 is repeated until
It is executed repeatedly. The slide open switch 2 is turned on.
And switch input in step 107 (YE
S), the process proceeds to step 122, and the output circuit
7, an open drive signal is output.
The driving motor 4 slides the lid L by the dynamic current.
Operate in the direction. Then, based on the rotation of the drive motor 4,
The Hall IC 1 and Hall I of the motor rotation detecting means 6
When an edge input occurs at C2, step 110 (YE
From S), the process proceeds to step 116 to shift to the edge input flag FG.
After setting _EDGE, in step 117 the motor
After startup, the pulse counter 12 is incremented and
Output from the hall ICs 1 and 2
Edge direction of both pulse signals
The other pulse signal when the rising edge is detected is H
Or L), the moving direction of the sunroof lid L is determined.
Is determined. In this case, the lid L moves in the slide opening direction.
(NO), the process proceeds to step 123 and
Increments the surf position counter. Thus,
While the ride open switch 2 is on, the step
105 to 107, 122, 110, 116 to 118, 1
Loop of 23 and 105 is repeated and lid L is fully open
Continue to move to the pulse
2 count value MPC and roof position counter cowl
Event value GPC increases. When the finger is released from the slide open switch 2 (E
Operation), Step 107 (NO) to Step 108
After starting and clearing the pulse counter 12 after startup,
In step 109, the open drive signal is stopped and the drive
The current supply to the motor 4 is stopped.
It can be stopped at the desired position. And Hall I
If the edge input of the pulse signal from C1 and C2 disappears,
The process proceeds from step 110 (NO) to step 111,
Step 10 after resetting the edge input flag FG_EDGE
Return to 5. Then, with the lid L fully opened,
And press the slide close switch 3 (ON operation),
Step 105 (NO) through step 106
And the state of the initial operation flag FG_INIT changes to
Is determined. The initial operation flag FG_INIT is set in step 10
It is read that it is reset in 1
Then, from step 112 (NO), the rotation fluctuation judgment subroutine is executed.
Move to chin 300. In the rotation fluctuation determination subroutine shown in FIG.
First, in step 301, the driving motor 4
Is operating or not, and in this case,
Since the motor 4 has not been started (NO), step 3
01 to step 302, and
After clearing the contents of the rotation speed memory block,
The process proceeds to step 303, where it is determined that no
Resets the FG_SAFE
The routine proceeds to a routine 400. FIG. 5 is a flowchart of the entrapment determination subroutine shown in FIG.
In step 401, the drive motor 4 is in operation.
The drive motor 4 is stopped.
In the case of (NO), steps 401 to 40
2 and at step 402, the peak rotational speed REV_
After clearing PEEK, return to the main routine. Return from entrapment determination subroutine 400
In step 124, the inversion operation flag FG_SAFE
Is determined. Here, the rotation fluctuation judgment subroutine
Reset in step 303 (N
O), the process proceeds to step 115, and the output circuit 7
And the drive signal from the output circuit 7 is
Therefore, the drive motor 4 operates in the sliding direction of the lid L.
Move. Even if the drive motor 4 starts operating,
The rotation of the motor is performed when the mature shaft 4a rotates 1/4 turn or more.
From the Hall IC 1 and Hall IC 2 constituting the detecting means 6
Until an edge input occurs, steps 110 to 110 are performed.
Returning to step 105 via step 111, step 10
The rotational fluctuation determination subroutine is performed through steps 5, 106, and 112.
300 and the pinch determination subroutine 400 are executed again.
Is performed. In the rotation fluctuation determination subroutine 300
Moves from step 301 (YES) to step 304
The transition is made, but an edge input is generated from the motor rotation detection unit 6.
Steps 304 (NO) to 30
3 and the inversion operation flag FG_SAFE is reset.
Return to the main routine and output the closing drive signal.
Will be maintained. And the armature shaft of the drive motor 4
4a is rotated more than 1/4 turn, and the motor rotation detecting means 6
Edge input occurs at Hall IC1 and Hall IC2
Then, the process proceeds from step 110 to step 116 to
Set the input flag FG_EDGE and step 1
In step 17, after the motor starts, the pulse counter 12
And then move the lid L in step 118
The direction is determined. At this time, the lid L is in the slide closing direction.
(YES), so proceed to step 119.
After decrementing the roof position counter
Return to step 105. Then, steps 105 and 106,
Through 112, the rotation fluctuation determination subroutine 300 and
The entrapment determination subroutine 400 is executed again. The rotation fluctuation determination subroutine 300
At step 304, the motor rotation detecting means 6
When a page input occurs (YES), the process proceeds to step 307.
You. In step 307, the output shaft rotation speed calculation block
Hole 10 of the motor rotation detecting means 6
C1, the two pulse signals output from the Hall IC2
Count value of timer PLS_TM that measures the time between edges
Is loaded as PT4, and the
Clear the pulse width timer PLS_TM and go to step 309
Transition. In step 309, the time between edges is determined.
When the value PT4 is detected last time, two times before and three times before edge detection
Add the time values PT3, PT2 and PT1 loaded to
Required for one rotation of the armature shaft 4a
The time AT is calculated. And in step 310
Then, at the time AT of one rotation obtained in step 309,
Product multiplied by reduction ratio RAT of mature shaft 4a and output shaft 4b
By dividing 60 by, the output per unit time (1 minute)
The rotation speed Rin (n) of the force shaft 4b is calculated. Next, the control shifts to step 311 to repeat
A shift operation of the number of turns is performed. That is, the rotation speed memory
Saved up to the last time in the rotation speed RAM area in the block
The rotation speed data REV (0) to REV (M)
Each of them is shifted one by one, and the latest
The rotation speed Rin (n) of the RAM area to the latest data position RA in the RAM area.
Store in M (0). In this embodiment, M = 32
is there. Control proceeds to step 312. In step 312, after starting the motor,
Refer to the current count value MPC of the pulse counter 12.
From the ROM table in the threshold data ROM
The threshold for the 4-pulse count difference is read. example
If the count value MPC of the pulse counter 12 is 0 to 10
Is 255, the count value MPC is 11 to 20
If the count value MPC is 21 or more,
In this case, "5" is read. Then, in step 313, the comparison period
Rotational speed difference REV (4)-
REV (0) is calculated, and the above-mentioned threshold value BRD (4) is calculated.
Are compared. This 4-pulse count rotation speed difference REV
(4) -REV (0) exceeds threshold value BRD (4)
If not (NO), the process proceeds to step 314, and
Count of the pulse counter 12 after the motor starts at that time
Referring to the value MPC, the ROM in the threshold data ROM
Reads the threshold value for the 8-pulse count difference from the table
I will. For example, when the count value MPC is 0 to 10,
Is "255" and the count value MPC is 11-20
Is “25”, and when the count value MPC is 21 to 80,
“15”, if the count value MPC is 81 or more, “1”
0 ”is read, and“ 0 ”is added in the same way.
The data read from the ROM table.
The threshold value BRD (8) for the 8-pulse count difference
Set. At step 315, the comparison period is 8
Rotational speed difference REV (8) -REV at the time of los count
(0) is calculated, and this and the 8 pulse count difference
The threshold value BRD (8) is compared. This 8 pulse
Unt rotation speed difference REV (8) -REV (0) is threshold
If not exceeding BRD (8) (NO), not shown
Move to the step and start the pulse
Based on the count value MPC of the
16 pulse counts from the ROM table in the
The threshold value BRD for the difference
Threshold BRD (16) for skew difference
The comparison period is 16 pulse counts
The difference in rotation speed REV (16) -REV (0)
And this and the above-mentioned threshold value BRD (16) are similarly calculated.
Be compared. This 16 pulse count rotation speed difference REV
(16) -REV (0) exceeds threshold value BRD (16)
If not (NO), the process proceeds to step 318,
Count value of pulse counter 12 after motor start
32 (= M) pal from ROM table according to MPC
The threshold for the count difference is read. For example,
When the count value MPC of the loose counter 12 is 0 to 10
Is "255" and the count value MPC is 11 to 20
Is "40" and the count value MPC is 21 to 120
Is "25" and the count value MPC is 121 to 150.
If the count value MPC is 151 or more
"17" is read into the
Data read from the table is 32 pulse count
Set as the threshold BRD (32) for the difference
Then, the process proceeds to step 319. In the judgment at step 319, the ratio
Rotation speed difference REV when the comparison period is 32 pulse counts
(32) -REV (0) is calculated, and this and the above threshold
The value BRD (32) is similarly compared and the speed difference REV
(32) -REV (0) exceeds threshold value BRD (32)
If not (NO), the process proceeds to step 303,
Inversion operation flag FG_SAFE assuming that no
Is reset and the routine proceeds to the entrapment determination subroutine 400.
Run. In the entrapment determination subroutine 400,
If it is determined in step 401 that the motor is operating,
In step 403, the motor operation at that time is started.
By the voltage V, it is pinched from the judgment rotational speed data ROM13.
Output shaft speed to determine whether or not
Threshold value N (V) is selected and the reduced rotation speed judgment data ROM
The threshold value Δn for the number of rotations that has decreased from the peak value from 14
(V) is selected, and the distance determination data ROM 15
Lid to determine the tendency of the output shaft speed to continue decreasing
Distance threshold ΔL set based on the moving distance of L
(V) and a lid L calculated based on the output shaft speed.
Threshold A of entrapment determination distance, which is the initial movement distance of
Select (V). Then, in step 404, the motor
After startup, the count value of the pulse counter 12 is determined to be trapped.
It is determined whether the distance is equal to or less than a threshold value A (V).
If not, return to main routine, if
To step 405. In step 405,
The latest motor rotation is the peak rotation speed REV_PEEK of the output shaft 4b.
It is determined whether the number is equal to or more than the number Rin (n).
The latest motor speed Rin (n) to the peak speed
REV_PEEK is updated, and the routine goes to Step 407. Also,
In step 405, the peak rotation speed REV_ of the output shaft 4b
If PEEK is not higher than the latest motor speed Rin (n)
In this case, the process directly proceeds to step 407. Next, at step 407, the output shaft rotation speed
Determines whether is decreasing, and if it is decreasing,
Increments the decreasing counter in step 408.
And go to step 410.
In step 409, the decreasing counter is reset.
Then, the process proceeds to step 410. In step 410, the latest motor speed
When Rin (n) is equal to or less than the output shaft rotation speed threshold N (V).
Determines if there is, and if not, the main routine
Return to step 411, if
You. In step 411, the sequence is started from the peak rotation speed REV_PEEK.
The following pulse count value PRE_CT becomes the moving distance of lid L.
Is greater than or equal to the distance threshold value ΔL (V) set based on the
And if not, return to the main routine
If so, the process proceeds to step 412. In step 412, the peak rotation speed REV_PE
EK and the latest motor speed Rin (n)
The process proceeds to step 413, where the rotational speed difference X is determined.
Judgment as to whether it is equal to or greater than threshold value A (V)
If not, return to the main routine.
If, the pinch occurs in step 414
The flag FG_SAFE is set and the process returns to the main routine. Returning from the entrapment determination subroutine 400
In step 124, the inversion operation flag FG_SAFE is
Status is determined and the flag FG_SAFE is not set.
If not, the process proceeds to step 115,
Motor 4 is maintained, and the motor 4
The movement of the pad L in the slide closing direction is continued. Then, after step 110 (YES)
Proceed to step 116, and in step 116
Hold the set state of the FG_EDGE
At step 117, the pulse counter 12 is turned on after the motor is started.
After incrementing, go to step 118 (YES)
Proceed to step 119, and in step 119, the roof
After decrementing the position counter, step 105
Return to In this way, the slide closing switch 3
If the ON operation continues, steps 105, 106, 112,
Rotation fluctuation determination subroutine 300, pinch determination subroutine
Routine 400, steps 124, 115, 110, 11
The execution of steps 6 to 119 and 105 is repeated, and
The motion is restricted by some obstacle and the rotation fluctuation judgment
Steps 313, 315, and 317 of the
Z) The rotation of the motor 4 in any of the judgments of 319
It is determined that the speed has decreased (YES), or
The judgment of steps 404 to 414 of the judgment subroutine 400
Unless it is determined that pinching has occurred in the
And the lid L moves to the fully closed position.
Move. Of course, lid L is in the desired position
When the operation of the closing switch 3 is interrupted (off) when
From step 106 (NO) and step 107 (NO)
Proceeding to step 108, the post-startup pulse counter 12
Is cleared, a closing drive signal is output in step 109.
Since the force stops, the lid L stops at that position
become. Movement of sunroof lid L for some reason
Is restrained, and smooth rotation of the motor 4 is hindered.
Steps 313 and 31 of the fluctuation determination subroutine 300
5, 317 and 319
It is determined that the rotation speed of the motor 4 has decreased (YES).
And the process proceeds to step 320,
Set the inversion operation flag FG_SAFE. Then, the entrapment determination subroutine 400
In steps 404, 410, 411 and 41
3 is YES, that is, the driving motor
4 is within the pinch determination distance A immediately after the start of the operation.
The output shaft speed from the peak value.
Value exceeds the value N and decreases the output shaft speed from the peak value.
A small amount continues beyond the distance threshold ΔL, and the output shaft speed
Is decreased by a predetermined number of rotations Δn from the peak value,
When it is determined that the reversal has occurred, the process proceeds to step 414,
Set the operation flag FG_SAFE and return to the main routine. Return from entrapment determination subroutine 400
After step 124, the inversion operation flag FG_SAF
The state of E is determined.
Inverting operation flag FG_SAF in steps 320 and 414
Since E is set (YES), control proceeds to step
Move to 108. Then, in step 108, the
After starting the data, the pulse counter 12 is cleared.
In 09, the output of the closing drive signal is stopped, and the drive motor
4 is stopped. The rotation of the drive motor 4 stops, and the motor
No edge input from the Hall IC of the roll detection means 6
And shifts from step 110 (NO) to step 111
Reset the edge input flag FG_EDGE
It returns to step 105. In step 105, the inversion operation flag is set.
Is determined that FG_SAFE is set (YES).
To step 126, and in step 126
The current count value GPC of the roof position counter is
It is compared with the predetermined lid position data XSAFE. Rank
XSAFE is set to a relatively large value close to the fully open position.
Since step 126 (NO) has been
The process proceeds to step 122, and in step 122, the open drive signal
Since the drive motor 4 is supplied to the output circuit 6,
-Start to rotate in the opening direction of the lid L. Based on the rotation of the driving motor 4, the motor
Edge input is detected in the pulse signal from the rotation detection means 6.
Then, from step 110 (YES), step 11
The process proceeds to step 123 through 6 to 118 (NO), and
After the position counter has been incremented,
Return to step 105. And the roof position counter
Value GPC exceeds the lid position data XSAFE and the lid L
Is fully opened, from step 126 (YES)
Proceed to step 127 and in step 127
The operation of the open switch 2 or close switch 3 is confirmed.
It is. With the closing switch 3 still being turned on,
Alternatively, the drive motor 4 opens while the drive motor 4 is operating in the opening direction.
If switch 2 is pressed again, step 127
From (YES) to steps 108 and 109
After clearing the pulse counter 12 after starting the motor,
That is, the output of the open drive signal to the output circuit 7 is stopped.
So, with the sunroof fully open, the lid L
Stop. Then, the closing switch 3 and the opening switch 2
When the finger is removed from the
FG_SAFE is reset, pinch detection and inversion
When the dynamic control ends, the process returns to step 105, and the closing switch 3
Is operated again, a new pinch detection starts
Is done. As described above, the sunroof control according to the above-described embodiment is performed.
In the device 1, immediately after the operation of the drive motor 4 starts,
And the behavior of the output shaft speed has been confirmed one by one.
Detects motor lock immediately after startup without waiting for a fixed time
The motor 4
Mask the area immediately after the start of operation where rotation fluctuation is greatest
After that, the mask area remains the same as before.
Accuracy pinch detection and inversion control will be performed,
The sandwiching load is low. In the above embodiment, the sunroof control device
Although the control method in the above is described as an example, the present invention
The control method of the vehicle open / close panel is
Naturally, it can be applied to a control device. The control of the vehicle open / close panel according to the present invention.
According to the method, in the control method of the vehicle open / close panel,
The output shaft speed changes immediately after the drive motor starts to drive.
By performing inversion control based on
Can reliably avoid pinching in the disk area.
The anti-jamming function of the vehicle opening / closing panel
Can be enhanced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view schematically showing the principle of a method for controlling a vehicle open / close panel according to the present invention. FIG. 2 is a block diagram showing a configuration of a control device to which a control method according to the present invention is applied. FIG. 3 is a flowchart showing a main routine of control in the control device shown in FIG. 2; FIG. 4 is a flowchart showing a rotation fluctuation determination subroutine in the control of the control device shown in FIG. 2; FIG. 5 is a flowchart showing a pinch determination subroutine in the control of the control device shown in FIG. 2; [Description of Signs] 4 Drive motor L lid (open / close panel)

Continuation of front page    F term (reference) 2E052 AA09 CA06 EA13 EB01 EC01                       GA10 GB06 GB12 GC07 GD03                 3D127 AA02 CB05 DF03 DF34 FF06                       FF16 FF20

Claims (1)

Claims 1. When the open / close panel is operated in a closing direction, the drive is performed when the rotation speed of a drive motor for opening / closing the open / close panel falls below a predetermined threshold value. In the control method for a vehicle opening / closing panel in which the opening / closing panel is operated in the opening direction by reversing the motor for driving, the output shaft of the driving motor immediately after the operation starts when the opening / closing panel is operated in the closing direction in addition to the above control. The rotation speed is detected, and within the entrapment determination distance that is the initial movement distance of the open / close panel calculated based on the output shaft rotation speed, the output shaft rotation speed decreases from the peak value to exceed the entrapment determination threshold, When the decrease in the output shaft rotation speed from the peak value continues beyond the distance threshold set based on the moving distance of the open / close panel, it is determined that the entrapment has occurred and the driving motor is reversed. car The method of use close panel.