JP2004003329A - Automatic opening/closing control device for sliding door for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic opening/closing control device for a sliding door for a vehicle, which automatically opens/closes the sliding door mounted in a side surface of a body by a driving source such as a motor, wherein the control device achieves trade-off control of the flexibility and safety of the door, by taking into account every condition imposed on automatic driving of the sliding door. <P>SOLUTION: The control device stores therein motor load data concerning driving of the door according to the position of the door, and therefore the motor load data at the position of the door, at which pinching occurs, is a known value. Accordingly by prereading the known motor load data, and forecasting and determining the variation of the known data, the control device quickly detects the pinching even of a soft and elastic material when the door moves only a small length, to thereby achieve safe operation of the door. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicular slide door automatic opening / closing control device capable of automatically opening / closing a slide door attached to a side surface of a vehicle such as an automobile by a drive source such as a motor.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been known an automatic opening / closing control device for a vehicle sliding door in which a sliding door supported on a side surface of a vehicle body so as to be slidable in the front-rear direction is opened and closed by a driving source such as a motor. In this device, the drive source is activated by the user's intentional operation of operating means provided near the driver's seat and the door handle, and the slide door is automatically opened and closed by the drive force of the drive source. ing.
[0003]
In addition, as trigger means instead of operating means, it detects that the slide door has moved a predetermined distance by manual force, triggers the drive source in response thereto, and switches to the drive force of the drive source instead of manual force. In some cases, the sliding door opens and closes automatically.
[0004]
[Problems to be solved by the invention]
In a conventional automatic opening / closing control device for a sliding door for a vehicle, since the weight of the sliding door is heavy, a load related to driving of the sliding door is easily affected by an opening / closing direction and an opening / closing position. Depending on the inclination before and after, the excessive load that lifts the door's own weight may cause a negative load that applies braking to the same weight, making automatic opening / closing control with sufficient consideration of safety measures difficult. Was.
[0005]
That is, if the load on the sliding door is large and the load fluctuation width is large, the output power of the door driving means must be increased with a sufficient margin so that the load fluctuation can be quickly dealt with. However, on the contrary, since the stress is reduced for a small load change, it is difficult to control the output power in consideration of safety so that the sliding door is not pinched.
[0006]
In particular, when the start timing of power drive of the slide door is automatically controlled, safety measures must be taken taking into account all situations of the vehicle, such as the opening and closing direction and opening and closing position of the sliding door, the body posture when the sliding door is opened and closed. Must.
[0007]
For example, when an opportunity to switch from manual power to electric power is obtained based on the moving distance of the slide door, it is difficult to reliably determine that the slide door has been moved by manual force. For example, when the sliding door that is opened after stopping on a gentle slope moves slowly, the sliding door switches to automatic driving, and the driving force works even when automatic driving is not desired. If the load fluctuation width of the door becomes large due to the posture of the vehicle body or the load of the door itself becomes large, it is difficult to reliably switch from the manual force to the automatic force.
[0008]
In particular, since the sliding door has a linear moving direction and can move in the same direction as the front-rear direction of the vehicle body, the weight of the door greatly affects the control of opening and closing the door on a slope. For this reason, it is important to know the attitude at the time of parking of the car, that is, the degree of inclination when the parked road has an inclination when the slide door is opened and closed.
[0009]
(Purpose)
The present invention has been made in order to solve such a conventional problem, and it is possible to perform a trade-off between flexibility and safety in consideration of various situations imposed on automatic driving of a sliding door. With the goal. And, the present invention reliably switches from manual driving to automatic driving, controls the slide condition safely and quickly freely by appropriately changing the control conditions and control amount according to the position where the slide door is located, It is an object of the present invention to provide an automatic sliding door opening / closing control device for a vehicle in which the presence / absence of a sliding door is immediately determined and safety measures are taken.
[0010]
[Means for Solving the Problems]
The invention according to claim 1 of the present invention is directed to an automatic sliding door opening and closing control device for a vehicle in which a sliding door supported openably and closably along a guide track provided on a vehicle body is opened and closed by a motor drive. A door driving unit having a motor capable of rotating forward and backward, a motor load detecting means for detecting motor load correspondence data of the door driving unit, and a position of a door guided by the guide track, from a fully opened door to a fully closed door. A door position detecting means for detecting in a range and a motor load corresponding data detected by the motor load detecting means associated with a required sampling area addressed by the detection position of the door position detecting means, The storage means for storing the load corresponding data, and the stored motor load corresponding data are read at the address of the latest sampling area. A motor load corresponding data learning means for appropriately correcting the read motor load corresponding data with the latest detected motor load corresponding data each time the motor load corresponding data is output, and learning as motor load corresponding data to be newly stored; The motor load corresponding data stored in the sampling area, which is advanced by an appropriate number of areas in the door moving direction from the sampling area where the door actually exists, is read, and the motor load corresponding data in the sampling area where the door actually exists is calculated as required. Pinching determining means for determining a predicted value of the motor load corresponding data predicted for the moving direction of the door, and determining the presence or absence of the pinch based on the deviation between the predicted value and the motor load corresponding data in the existing sampling area. And
[0011]
According to a second aspect of the present invention, in the first aspect of the present invention, the motor load correspondence data is a motor current value intermittently detected.
[0012]
According to a third aspect of the present invention, in the first aspect of the present invention, the motor load correspondence data includes a motor current detected intermittently in a sampling area having an address corresponding to a door position. It is characterized by an average current value.
[0013]
According to a fourth aspect of the present invention, in the first aspect, the stored motor load correspondence data is detected in each sampling area arranged in the door moving direction. It is characterized by a change rate between a current value or an average current value of a sampling area of the immediately preceding detection based on a current value or an average current value of the motor and a current value or an average current value of the sampling area of the current detection.
[0014]
According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the entrapment determining means includes a prediction value obtained from the stored motor load correspondence data and an actual sampling area. When the presence / absence of pinching is determined from the deviation of the motor load correspondence data, the degree of determination is changed according to the position and the operating direction of the door.
[0015]
According to a sixth aspect of the present invention, in the invention according to any one of the first to fifth aspects, the entrapment determining means includes a prediction value obtained from the stored motor load correspondence data and an actual sampling area. When judging the presence or absence of entrapment based on the deviation of the motor load corresponding data, in addition to the comparison with the predicted value, a judgment is made on the recent tendency of increase in the motor load data.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is an external perspective view showing an example of an automobile to which an automatic opening / closing control device for a vehicle sliding door according to the present invention is applied. FIG. Is shown. 2 is an enlarged perspective view of the vehicle body 1 in a state where the slide door 2 (shown by a chain line) is removed, and FIG. 3 is a perspective view showing only the slide door 2 alone.
[0017]
In these figures, a sliding door 2 includes an upper track 4 provided on an upper edge of a door opening 3 of a vehicle body 1 and a sliding connector 6 fixedly provided at upper and lower ends of the door 2 on a lower track 5 provided on a lower edge. It is slidably suspended in the front-rear direction in coordination.
[0018]
Further, the slide door 2 is guided by a hinge arm 22 attached to the inner rear end thereof slidably engaged with a guide track 7 fixed near the rear waist portion of the vehicle body 1, and the door opening 3 is fully closed. It is mounted so as to move rearward in parallel with the side surface of the exterior panel of the vehicle body 1 while projecting slightly outward from the outer surface of the outer panel of the vehicle body 1 from the position, and to move to the fully open position where the door opening 3 is fully opened.
[0019]
Furthermore, when the slide door 2 is located at the fully closed position, the door lock 8 provided on the opening end face engages with the striker fixed to the vehicle body 1 side, so that the slide door 2 is held at the fully closed position with a certain closed state. It is configured as follows. Further, a door handle 37 for performing a manual opening / closing operation is attached to an outer side surface of the slide door 2. The door lock 8 may be provided on the rear end surface of the slide door 2.
[0020]
Further, behind the door opening 3 of the vehicle body 1, a slide door driving device 10 as shown in FIG. 4 is mounted between an outer panel for exteriorizing the vehicle body 1 and an inner panel on the indoor side. The slide door driving device 10 moves the cable member 12 disposed in the guide track 7 by driving a motor, thereby moving the slide door 2 connected to the cable member 12.
[0021]
In the present embodiment, the opening / closing switch (not shown) installed in the vehicle gives an instruction to open / close the slide door 2, and as shown in FIG. 1, the opening / closing instruction can also be given from outside the vehicle using the wireless remote controller 30. It is configured as follows. Details of these configurations will be described later.
[0022]
FIG. 5 is a perspective view illustrating a main part of the slide door driving device 10. The slide door drive device 10 has a motor drive unit 11, and the motor drive unit 11 is mounted on a base plate 13 fixed with bolts or the like to the indoor side of the vehicle body 1, a forward / reverse rotation open / close motor 14 for opening and closing the slide door, and a cable. The drive pulley 15 around which the member 12 is wound and the speed reduction unit 17 containing the electromagnetic clutch 16 are fixed.
[0023]
The drive pulley 15 has a speed reduction mechanism for transmitting the rotation to reduce the rotation speed of the opening / closing motor 14 and increase the output torque to transmit the rotation to the cable member 12. Further, the electromagnetic clutch 16 is separately and appropriately energized when the opening / closing motor 14 is driven to mechanically connect the opening / closing motor 14 and the drive pulley 15.
[0024]
The cable member 12 wound around the drive pulley 15 has an opening 7 a above the guide track 7 which opens outward in a U-shape through a pair of guide pulleys 19 provided at the rear of the guide track 7. And the lower opening 7b in parallel with each other, and is wound around a reversing pulley 20 provided at the front end of the guide track 7 to form an endless cable.
[0025]
A moving member 21 is fixedly provided at an appropriate position of a portion of the cable member 12 which runs through the opening 7a of the guide track 7 so that the cable member 12 can run through the opening 7a without resistance. The cable member 12 has a door closing cable 12a on the front side of the moving member 21 and a door opening cable 12b on the rear side.
[0026]
The moving member 21 is connected to the inner rear end of the slide door 2 via the hinge arm 22, and is moved in the opening 7 a of the guide track 7 by the pulling force of the door opening cable 12 a or the door closing cable 12 b by the rotation of the opening / closing motor 14. Is moved forward or backward, whereby the sliding door 2 is moved in the closing direction or the opening direction.
[0027]
A rotary encoder 18 that measures the rotation angle of the drive pulley 15 with high resolution is linked to the rotation shaft of the drive pulley 15. The rotary encoder 18 generates an output signal having a pulse number corresponding to the rotation angle of the drive pulley 15 so that the movement amount of the cable member 12 wound around the drive pulley 15, that is, the movement amount of the slide door 2 can be measured. Has become.
[0028]
Therefore, if the number of pulses from the rotary encoder 18 is counted up to the fully open position with the fully closed position of the slide door 2 as an initial value, the counted value N indicates the position of the moving member 21, that is, the position of the slide door 2. Become.
[0029]
FIG. 6 is a schematic plan view showing a moving state of the slide door 2. As described above, the sliding door 2 is held at the front part by the sliding connectors 6 fixed to the upper and lower ends linked to the upper track 4 and the lower track 5, and the hinge arm 22 is linked to the guide track 7. By doing so, the rear part is held.
[0030]
(Slide door automatic control device)
Next, with reference to a block diagram shown in FIG. 7, a connection relationship between the slide door automatic control device 23 and each electric element in the vehicle body 1 and the slide door 2 will be described. The slide door automatic control device 23 controls the slide door drive device 10 by program control by a microcomputer, and is disposed, for example, in the vicinity of the motor drive unit 11 in the vehicle body 1.
[0031]
The connection between the sliding door automatic control device 23 and each electric element in the vehicle body 1 includes a connection with a battery 24 for receiving a DC voltage BV, a connection with an ignition switch 25 for receiving an ignition signal IG, and a parking signal. There is a connection with the parking switch 26 for receiving the PK and a connection with the main switch 27 for receiving the main switch signal MA.
[0032]
Further, connection with a door open switch 28 for receiving a door open signal DO, connection with a door close switch 29 for receiving a door close signal DC, and reception of a remote control open signal RO or a remote control close signal RC from the wireless remote control 30. Connection to a keyless system 31 and a buzzer 32 for generating an alarm sound to warn that the sliding door 2 is automatically opened and closed.
[0033]
The reason that the door open switch 28 and the door close switch 29 are each composed of two operators indicates that these switches are installed at two places, for example, a driver's seat and a rear seat in the vehicle. I have.
[0034]
Next, the connection relationship between the sliding door automatic control device 23 and the sliding door driving device 10 includes a connection for supplying power to the opening / closing motor 14, a connection for controlling the electromagnetic clutch 16, and a pulse from the rotary encoder 18. There is a connection with a pulse signal generator 38 that receives the signal and outputs pulse signals φ1 and φ2.
[0035]
The connection between the slide door automatic control device 23 and each of the electrical elements in the slide door 2 is performed by connecting the vehicle body side connector 33 provided in the door opening 3 with the slide door 2 slightly opened from the fully closed state. This is made possible by connection with the door-side connector 34 provided at the open end of the door 2.
[0036]
In this connection state, power is supplied to the closure motor CM in order to tighten the slide door 2 from the half-latched state to the fully-latched state. Connection for supplying power to an actuator (ACTR) 35 for driving the door lock 8 to remove it from the striker 9, and for receiving a half latch signal HR from a half latch switch 36 for detecting a half latch. And a connection for receiving a door handle signal DH from a door handle switch 37a for detecting the operation of the door handle 37 connected to the door lock 8.
[0037]
Next, the configuration of the automatic sliding door control device 23 will be described with reference to the block diagram shown in FIG. The slide door automatic control device 23 has a main control unit 55, and controls repeatedly at regular time intervals. The main control unit 55 includes a control mode selection unit 54 for selecting an appropriate control mode according to the status of each input / output peripheral device.
[0038]
The control mode selection unit 54 selects an optimal dedicated control unit necessary for control according to the latest status of each input / output peripheral device. The dedicated control unit mainly includes an automatic slide control unit 56 that controls opening and closing of the slide door 2, a speed control unit 57 that controls the moving speed of the slide door 2, and suppresses the movement of the slide door 2 while the slide door 2 is being driven. There is a pinching control unit 58 that detects whether an object is pinched in the moving direction. Further, the automatic slide control unit 56 includes a slope determination unit 59 for detecting the attitude of the vehicle body 1.
[0039]
Further, the slide door automatic control device 23 has a plurality of input / output ports 39, and is configured to input and output on / off signals of the above-described various switches and operation / non-operation signals of a relay or a clutch. ing. Further, the speed calculation unit 42 and the position detection unit 43 receive the two-phase pulse signals φ1 and φ2 output from the pulse signal generation unit 38, and generate a cycle count value T and a position count value N.
[0040]
The battery 24 is charged by the generator 40 while the vehicle is running, and its output voltage is made constant by the stabilizing power supply circuit 41 and supplied to the slide door automatic control device 23. The output voltage of the battery 24 is detected by a voltage detection unit 47, and the voltage value is converted into a digital signal by an A / D conversion unit 48 and input to the slide door automatic control device 23.
[0041]
Further, the output voltage of the battery 24 is supplied to the shunt resistor 49, and the current value I flowing through the resistor 49 is detected by the current detection unit 50. The detected current value I is converted into a digital signal by the A / D converter 51 and input to the automatic sliding door control device 23.
[0042]
The output voltage of the battery 24 is supplied to the power switch element 46 via the shunt resistor 49. The power switch element 46 is turned on / off by the automatic sliding door control device 23, converts a DC signal into a pulse signal, and supplies the pulse signal to the opening / closing motor 14 or the closure motor CM. The duty ratio of the pulse signal can be freely controlled by the power switch element 46.
[0043]
The pulse signal obtained by the power switch element 46 is supplied to the opening / closing motor 14 or the closure motor CM via the polarity inversion circuit 45 and the motor switching circuit 44. The polarity reversing circuit 45 is for changing the driving direction of the opening / closing motor 14 or the closure motor CM, and forms a motor power supply circuit together with the power switch element 46.
[0044]
Further, the motor switching circuit 44 selects one of the opening / closing motor 14 for driving the opening / closing of the slide door 2 and the closure motor CM in accordance with an instruction from the main controller 55. Although both motors drive the slide door 2, they are not driven at the same time, so that drive power is selectively supplied.
[0045]
In addition, a clutch drive circuit 52 for controlling the electromagnetic clutch 16 according to an instruction from the main control unit 55 and an actuator drive circuit 53 for controlling the actuator 35 according to an instruction from the main control unit 55 are also provided.
[0046]
(Main routine)
Next, the operation of the present invention having this configuration will be described. FIG. 9 is a flowchart of a main routine showing the operation of the automatic sliding door control device 23. Initially, initial settings are made (step 101), and main parameters and the like are initialized at the beginning of operation. The switch (SW) determination (step 102) determines the open / closed state of the various switches 25 to 29 connected to the input / output port 39, and sets a flag or the like indicating the open / closed state of each switch.
[0047]
The A / D input (step 103) takes in the voltage value V and the current value I from the A / D converters 48 and 51. This A / D input has a current value correction (step 111) and a voltage address conversion (step 112) at the lower level.
[0048]
Next, a mode determination (step 104) for determining whether the automatic slide mode (step 113) or the closure mode (step 114) is performed based on the surrounding state such as the opening / closing state of each switch described above, and the control is selectively performed for either mode. The automatic slide mode is a mode in which the opening / closing motor 14 is driven to control the opening / closing of the slide door 2, and the closure mode is a mode in which the closure motor CM is driven to tighten or release the slide door 2 to a full latch state. .
[0049]
The subsequent actuator (ACTR) relay control (step 105), clutch relay control (step 106), auto slide relay control (step 107), and closure relay control (step 108) reflect the control results of each control unit, Since it is a direct control portion for supplying power to the clutch 16, the motor 14, and the CM, detailed description thereof is omitted. The start / stop of the opening / closing motor 14 for driving the opening / closing of the slide door 2 is performed by automatic slide relay control (step 107).
[0050]
The next sleep mode (step 109) is control for reducing power consumption when there is no change for a long time. In the next program adjustment (step 110), the interval of the main loop is controlled to be constant at, for example, 10 milliseconds by a program adjustment timer (step 115) in an interrupt program provided outside the loop.
[0051]
In this program adjustment, by receiving the interruption of the program adjustment timer, the control point at each step enters the deeper level of the nest depending on the surrounding situation, or the control point at the shallow hierarchy, etc., and the interval to return to the entrance of the main loop Is constantly adjusted to fluctuate. When the program adjustment is completed, the process returns to the SW determination (step 102), and a loop control for repeating the subsequent processes is performed.
[0052]
(Mode determination routine)
FIG. 10 is a flowchart showing an outline of the automatic slide mode determination in the mode determination (step 104). In this automatic slide mode determination, the start mode in which the movement of the door 2 is divided according to various situations at that time (step 117), and the entrapment determination in which the door 2 that has begun to move is appropriately controlled according to the situation at that time (step 118) , Slope mode (step 119), speed control (step 120), and the like. In the slope mode, there are routines such as flat value data input (step 121) and slope determination (step 122) at the lower level.
[0053]
The automatic slide mode determination (step 116) includes an automatic opening operation (step 124), an automatic closing operation (step 125), and a manual closing operation (step 125) based on an identifier corresponding to the surrounding situation in the switch statement (step 123). 126), the control is branched to one of the reverse rotation opening operation (step 127) and the reverse rotation closing operation (step 128), and the target position calculation (step 129) and the full opening detection (step 130). Further, there is a stop mode (step 131) routine at the same level as the start mode (step 117).
[0054]
The start mode (step 117) includes a normal start mode (step 133) that branches into lower levels by a switch statement (step 132), an ACTR start mode (step 134), and a manual normal start mode (step 135). And a manual fully closed start mode (step 136).
[0055]
The multi-branch flow shown as a switch statement (steps 123 and 132) uses an open / closed state of each switch as an identifier indicating the surrounding state and a normally 1-bit flag indicating the continuation or end of required control. ing.
[0056]
In the flow of the automatic slide mode determination, the control points are shifted according to the main routine. However, both the pulse count timer (step 115A) and the pulse interrupt (step 115B) routines shown separately in FIG. An interrupt program with a different control point is configured.
[0057]
(Cycle count value T / position count value N)
FIG. 11 is a diagram showing a time chart for acquiring the cycle count value T and the position count value N required in each of the pulse count timer (step 115A) and pulse interrupt (step 115B) routines in the interrupt program.
[0058]
In the figure, the two-phase speed signals Vφ1 and Vφ2 correspond to the two-phase pulse signals φ1 and φ2 output from the rotary encoder 18, and the rotational direction of the rotary encoder 18, that is, the sliding door, is determined from the phase relationship between the two signals. 2 is detected. More specifically, if the pulse signal φ2 is at the L level (the state shown) when the pulse signal φ1 rises, for example, it is determined that the door is to be opened, and if it is H level, it is determined that the door is to be closed.
[0059]
The speed calculation unit 42 generates an interrupt pulse g1 at the time of the rise of the speed signal Vφ1, and determines the number of clock pulses C1 having a period (for example, 400 μsec) sufficiently smaller than the interrupt pulse g1 during the generation period of the interrupt pulse g1. The counting is performed, and the counted value is set as a cycle count value T. Accordingly, the cycle count value T is obtained by converting the cycle of the pulse signal φ1 output from the rotary encoder 18 into a digital value.
[0060]
For example, if the output pulse of the rotary encoder 18 is 1 pulse per 1 mm (one cycle), when the cycle count value T is 250, the moving speed of the door 2 is “1 mm / (400 μs × 250) = 10 mm / sec” When the cycle count value T is 100, the moving speed of the door 2 is “25 mm / sec”.
[0061]
Note that the cycle count values TN−3 to TN + 3 illustrated in FIG. 11 indicate the position information of the door 2 that has counted the position count pulse (substantially the interrupt pulse g1) obtained by the output signal φ1 output from the rotary encoder 18. It has a position count value N as a subscript, and the cycle count value TN indicates the cycle count value T corresponding to the N-th position of interest at that time, and TN-1, TN-2 or TN + 1, TN + 2 is The figure shows the cycle count value T related to the first or second position relative to the position count value N.
[0062]
Further, in this embodiment, the speed of the slide door 2 is recognized from the cycle count value of the continuous four cycles of the speed signal Vφ1, so that four cycles are stored in order to store the cycle count value of the four cycles. Registers 1 to 4 are provided, and the N-th position is set as a point of interest in the four period registers, and the position is held for four times so as to be the leading output value of the period registers 1 to 4.
[0063]
Thus, in the routine of the pulse count timer (step 115A) and the pulse interruption (step 115B), the cycle count value T and the position count value N are obtained at respective timings separately from the main routine.
[0064]
FIG. 12 shows a time chart of sampling points sampled according to the resolution B in the control areas E1 to E6 of the door 2 described later using the output signal φ1 output from the rotary encoder 18 as a position count pulse. That is, in the control areas E3 and E4, the position count pulse φ1 is sampled at a resolution of 1/2 and a resolution of 2, and in the control area E2, the position count pulse φ1 is sampled at a resolution of 1/4 and a resolution of 4. At E1, E5, and E6, the position count pulse φ1 is sampled at a resolution of 8 which is 1/8 the frequency.
[0065]
(Sliding door control area)
Here, the control areas E1 to E6 of the slide door 2 will be described. FIG. 13 shows a plan view of the guide track 7. When the open / close position of the slide door 2 is represented by the position of the moving member 21, the area where the door is located in the closing direction of the door 2 is divided into four areas 1 to 4, and the location of the door that is located in the opening direction of the door 2. The area is divided into three areas 5 to 7.
[0066]
Assuming that the position count value N of the fully closed position of the door 2 is 0 and the position count value N of the fully open position is 850, in the case of the movement in the closing direction (Z = 0), N = 850 to 600 is the area 1 and N = 600. 350 to area 2, N = 350 to 60 area 3, and N = 60 to 0 area 4. The fully closed half of the area 4 is an ACTR area. In the case of movement in the opening direction (Z = 1), N = 0 to 120 is area 5, N = 120 to 800 is area 6, and N = 800 to 850 is area 7.
[0067]
Areas 1 and 6 are the normal control area E1, area 2 is the deceleration control area E2, area 3 is the link deceleration area E3, area 4 is the tightening control area E4, area 5 is the link deceleration area E5, and area 7 is checked. The control area E6 is provided, and the door 2 is controlled at a moving speed or the like suitable for each control area.
[0068]
(Pulse interrupt routine)
FIG. 14 is a flowchart showing the pulse interrupt routine (step 115B). This routine is a process for discriminating areas 1 to 7 and control areas E1 to E6 (see FIG. 13) where the sliding door 2 is currently located, based on the position count value N and the door moving direction Z every time the interrupt pulse g1 is generated. The details of the areas 1 to 7 and the control areas E1 to E6 will be described later.
[0069]
First, it is checked whether or not the open / close motor 14 is stopped (step 137). If the motor 14 is operating, the current cycle count value T is stored in the cycle register (step 138), and the stop of the motor is canceled (step 139). If the open / close motor 14 is stopped, a full value FF (hexadecimal) is set to the cycle count value T (step 140).
[0070]
Next, the movement direction Z of the door 2 is checked (step 141). If the door 2 is moving in the opening direction (Z = 1), the position count value N is incremented (step 142), whereby the position count value N Is greater than or equal to 120 and less than 800 (steps 143 and 144), the control area E1 is checked before (step 145). If the control area E1, the processing is terminated because the control area E1 is still present. If it is not the area E1, the area is set to the control area E1 and the area 6 (step 146), the area change instruction data is set to change (step 147), and the process is terminated.
[0071]
If the position count value N is less than 120 (step 143), the control area E5 is checked before (step 148). If the control area E5, the processing is terminated because the control area E5 is still present. If it is not E5, it is set in the control area E5 and area 5 (step 149), the area change instruction data is set to change (step 147), and the process is terminated.
[0072]
If the position count value N exceeds 800 (step 144), the control area E6 is checked before (step 150). If the control area E6, the processing is terminated because the control area E6 is still present. If it is not the area E6, the area is set to the control area E6 and the area 7 (step 151), the area change instruction data is set to change (step 147), and the process is terminated.
[0073]
If the door 2 is moving in the opening direction (Z = 0) (step 141), the position count value N is decremented (step 152), and if the position count value N exceeds 600 (step 141), Steps 153 to 155), the control area E1 is checked before (step 156). If the control area E1, the processing is terminated because the control area E1 is still present. 1 (step 157), the area change instruction data is set to change (step 147), and the process is terminated.
[0074]
If the position count value N is 60 or less (step 153), the control area E4 is checked before (step 158A). If the control area E4 is the control area E4, the processing is terminated because the control area E4 is still present. If it is not E4, it is set in the control area E4 and area 4 (step 158B), the area change instruction data is set to "changed" (step 147), and the process is terminated.
[0075]
If the position count value N exceeds 60 and is equal to or less than 350 (step 154), the control area E3 is checked before (step 158C). If the control area E3 is the control area E3, the process is terminated. If the previous is not the control area E3, the control area E3 and the area 3 are set (step 158D), the area change instruction data is set to "changed" (step 147), and the process is terminated.
[0076]
If the position count value N exceeds 350 and is equal to or less than 600 (step 155), the control area E2 is checked before (step 158E). If the control area E2 is the control area E2, the processing is terminated. If the previous is not the control area E2, the control area E2 and the area 2 are set (step 158F), the area change instruction data is set to "changed" (step 147), and the process ends.
[0077]
(Pulse count timer)
FIG. 15 is a flowchart showing the pulse count timer (step 115A). The number of clock pulses C1 is counted by a required pulse counter to obtain a cycle count value T (step 159), and it is checked whether the cycle count value T is full (T = FF) (step 160). If it is full, the cycle count value T is cleared to zero (T = 0) (step 161), the count value of the required counter is incremented and carried up (step 162), and then the process returns.
[0078]
(Control in areas 1 to 7)
FIG. 16 is a memory table for storing various data required to control the sliding door 2 in the above-described areas 1 to 7 (FIG. 13). Both the area 1 and the area 6 are called a normal control area E1. In this control area E1, the appropriate moving speed T1 of the door 2 is 250 mm / s, the reference duty value D is 250, and the resolution B of the sampling area is 8 The degree is small.
[0079]
The duty value D is a value indicating a duty cycle of a voltage waveform (rectangular wave) applied to the motor. In the present embodiment, “D = 250” means a duty cycle of 100%, that is, an H level DC signal, “D = 0” means a duty cycle of 0%, that is, an L level DC signal. The output torque of the motor is adjusted by changing the duty cycle of the rectangular wave in 250 steps during this time.
[0080]
Area 2 is referred to as a deceleration control area E2. In this control area E2, the appropriate moving speed T2 of the door 2 is 170 mm / s, the duty value D is 170, the resolution B is 4, and the degree of attention is a dangerous area. Area 3 is called a link deceleration control area E3. In this control area E3, the appropriate moving speed T3 of the door 2 is 100 mm / s, the duty value D is 100, the resolution B is 2, and the degree of attention is a dangerous area. Further, the area 4 is referred to as a tightening control area E4. In this control area E4, the appropriate moving speed T4 of the door 2 is 120 mm / s, the duty value D is 120, the resolution B is 2, and the degree of attention is a dangerous area. Further, the area 5 is referred to as a link deceleration control area E5. In this control area E5, the appropriate moving speed T5 of the door 2 is 200 mm / s, the duty value D is 200, the resolution B is 8, and the degree of attention is small. Further, the area 7 is referred to as a check control area E6. In this control area E6, the appropriate moving speed T6 of the door 2 is 250 mm / s, and the degree of attention is medium.
[0081]
As for the resolution B, areas 1 and 6 of the normal area E1 with relatively low attention and area 5 of the link deceleration control area E5 are set to 8 with a wide resolution B of the thinning width. Although the area 2 of the deceleration control area E2 is a dangerous area where entrapment is likely to occur, the resolution B is set to 4 since the opening degree of the door 2 is sufficient. Further, in the area 3 of the link deceleration control area E3 and the tightening control area E4, since the door 2 moves in a curved line and the danger area has the highest attention, the resolution B is set to the finest 2. . FIG. 12 shows sampling areas Q determined based on these resolutions B. n is the closing direction and m is the opening direction.
[0082]
(Auto slide mode judgment)
FIG. 17 is a flowchart showing details of the automatic slide mode determination routine (step 116). In this routine, it is determined whether or not an automatic slide mode for opening and closing the slide door 2 is to be driven, and if not, a start determination is made. When the start of the door 2 is determined, the processing during the automatic slide operation is performed. When the end of the auto slide operation is determined, the auto slide stop processing is performed, and the auto slide operation is ended.
[0083]
First, if the auto slide is stopped, the stop mode is not in the stop mode (step 163) and the auto slide is not in operation (step 165). Therefore, the on / off state of the main switch is checked (step 167). If there is, return.
[0084]
If the main switch is on, manual and start determinations are made (steps 168, 169). The details of the manual judgment (step 168) will be described later (FIG. 18). However, when it is detected that the door 2 has moved at a predetermined speed or more, the door 2 is set to a manual open or a manual closed state, and the mode shifts to an auto slide operation mode. Prepare for.
[0085]
When the manual determination is completed, a start mode determination is performed (step 169). The start mode determination is a process for determining the automatic slide operation mode. In the switch determination (step 102), the door opening of the remote control switch 30 is detected, the door opening switch 28 is turned on, or the manual determination (step 102) is performed. If the manual opening state is confirmed in 168), the automatic opening operation mode (step 181) is set. When the door of the remote control switch 30 is detected outside the danger area, the ON of the door close switch 29 is detected, or the manual closing state is confirmed, the automatic closing operation mode (step 182) is set. When it is detected that the door closing switch 29 is turned on in the dangerous area, the mode is set to the manual closing operation mode (step 183).
[0086]
When the start mode determination (step 169) is completed in this way, it is determined whether the state is the automatic slide operation mode state (step 170). If not in the automatic slide operation mode, the routine returns. In the case of the automatic slide operation mode, since the automatic slide has started, the operation count value G is cleared (step 171), the state is set to the state of the automatic slide operation (step 172), and the state is set to the start state (step 172). 173), and set to start automatic slide (step 174). Thus, the automatic slide operation is set.
[0087]
The check control (step 175) is a part for performing temporary holding control for stopping and holding the door 2 with the electromagnetic clutch 16 in the half-clutch state. At the time of manual operation, it is performed after confirming that the door 2 has stopped.
[0088]
When the automatic slide start is set in steps 168 to 174, in the next automatic slide mode determination routine, it is determined that the automatic slide is in operation and the start mode (steps 165 and 166), and the process of the start mode is executed (step S16). 176).
[0089]
In this start mode, a mode for starting an automatic sliding operation for power-driving the door 2 is identified according to the on / off state of each switch and the surrounding conditions, and control is performed in the identified mode. The details will be described later. When the start mode is completed and the next auto slide mode determination routine is performed, the normal mode is entered, and the pinch determination (step 177), the speed control (step 178), and the slope determination (step 179) are executed. The details of these will be described later.
[0090]
Further, depending on the open / closed state of each switch determined in the start mode determination (step 169), the switch statement 180 branches to an automatic opening operation (step 181), an automatic closing operation (step 182), and a manual closing operation (step 183). I do. In addition, when the entrapment is detected during these operations, the flow branches to a reverse rotation opening operation (Step 184) and a reverse rotation closing operation (Step 185).
[0091]
During the automatic slide operation (step 186), the operation count value G is incremented (step 187), and the process returns. When it is determined that the auto slide operation has ended (step 186), the operation count value G is cleared (step 188), the stop mode is set (step 189), and the routine returns.
[0092]
When the stop mode is set (step 189), the stop mode is determined in the next auto slide mode determination routine (step 163), and the stop mode (step 164) is executed. In this stop mode, at the time of opening / closing control of the door 2 in the auto slide mode, for the purpose of safety control when the power drive of the door 2 is stopped, the respective timings of turning off the electromagnetic clutch 16 and turning off the opening / closing motor 14 are set. Controlling.
[0093]
That is, when the door 2 stops at the intermediate position between the fully open position and the fully closed position, the opening / closing motor 14 is stopped first, and then the electromagnetic clutch 16 is turned off after a required waiting time. When the door 2 is in the fully closed position, the opening / closing motor 14 and the electromagnetic clutch 16 are simultaneously turned off immediately. During the stop mode operation, the operation count value G is incremented (step 191), and the process returns. When the stop mode ends, the operation count value G is cleared (step 192), the stop mode is released (step 193), the automatic slide operation is ended (step 194), and the routine returns.
[0094]
(Manual judgment routine)
FIG. 18 is a flowchart showing details of the manual determination routine (step 168). This manual determination routine detects that the door 2 has been operated by a manual force by detecting a door speed that is measured separately from the main routine that controls the door 2, and obtains an opportunity for power drive. .
[0095]
First, it is determined whether the door 2 is fully closed (half switch is on) (step 195A). If the door 2 is in the fully closed state, it is determined whether the door 2 is in the fully closed state (step 195D). If not, the door 2 is set in the fully closed state (step 195E). Next, it is determined whether the door handle 37 has been operated and the handle switch 37a has been turned on (step 195F). If not, the process returns. When the handle switch 37a is turned on (step 195F), the door fully closed state is cleared (step 195G), the fully closed-door open manual state is set (step 195H), and the routine returns.
[0096]
If the door 2 is not in the fully closed state (step 195A), it is determined whether the door is set to the fully closed state (step 195B). If it is set, the door is completely closed (step 195G) and the door is fully closed. The door is set to the manual opening state (step 195H). This is usually because the door 2 is opened by pulling the door handle 37, thereby clearing the fully closed state of the door (steps 195F and 195G). However, when the handle switch fails or in a system in which the handle switch is omitted, When the half switch is turned off, the door fully closed state is cleared (steps 195A, 195B, 195G), and the fully closed-door open manual state is set (step 195H).
[0097]
If the door is not set to the fully closed state (step 195B), the speed data (a / T: a is the resolution of the rotary encoder) representing the moving speed of the door 2 is faster than a predetermined manual recognition speed (step 195C), and If the speed is equal to or lower than the rapid closing speed (step 196), the mode is set to one of the manual door opening state (step 198) and the manual door closing state (step 199) based on the opening / closing direction (step 197). If the door speed is equal to or lower than the manual recognition speed (step 195C), the routine returns as if the door 2 is stopped. Return to continue.
[0098]
However, after the electromagnetic clutch 16 is turned off, the shift to any of the door open / close states is not accepted during the required time lag in order to ignore the movement due to the wire tension.
[0099]
Note that the manual recognition speed is a value that creates an opportunity to drive the door 2 with power, and can be set to an arbitrary value in a relatively wide range. Since the moving speed of the door 2, in other words, the cycle count value T can be measured with one cycle of the rotary encoder 18 as the minimum resolution, even when the door 2 is moved by about 1 mm, the door 2 is driven by power. Can produce. Thereby, the reaction of the automatic opening / closing operation becomes highly sensitive, and a change in the movement of the door 2 can be detected with high resolution and high sensitivity in order to cope with processing for obtaining safety.
[0100]
(Auto opening operation routine)
FIG. 19 is a flowchart showing details of the automatic opening operation routine (steps 122 and 181). This automatic opening operation routine is selected by a switch statement 180 when the remote control switch 30 is operated to open the door, the door opening switch 28 is turned on, or the door opening manual state is confirmed, and the door 2 is safely opened. In order to drive the motor, the door drive is stopped or the reversing operation is controlled during the automatic opening operation.
[0101]
First, full open detection is performed (step 200). Although the details of the full-open detection will be described later, it is to detect whether the door 2 is in the full-open state. When the full-open detection is completed, a jamming determination is executed (step 201). It is determined whether it has been detected (step 205). The door 2 is neither fully opened nor abnormal (step 207), a switch can be received (step 208), the close switch of the remote controller 30 and the door close switch 29 are both off (steps 210 and 211), and the main If the switch is on (step 212) and both the open switch and the door open switch 28 of the remote control 30 are off (steps 213, 214), the process returns and the automatic opening operation is continued.
[0102]
When the entrapment is detected (Step 201), the target position calculation for shifting the control in the reverse direction is executed (Step 202), and the entrapment is released (Step 203). (Step 204), the automatic opening operation is released, the reverse rotation closing operation is permitted, the door opening operation is released, and the door closing operation is permitted (Steps 215 to 218), and the process returns. If it is in the close danger area, the automatic opening operation is canceled (step 223), and the routine returns.
[0103]
When the door 2 reaches the fully opened position (Step 205), the detection of the fully opened door is canceled (Step 206), the automatic opening operation is canceled (Step 223), and the routine returns. Also, when an abnormality such as motor lock is detected (step 207), the automatic opening operation is canceled (step 223), and the routine returns. The door 2 is stopped by controlling the electromagnetic clutch 16 and the opening / closing motor 14 by releasing the automatic opening operation (step 223) (steps 106 and 107).
[0104]
Further, in the present embodiment, since all of the open / close switches are of the push-on / push-off type, it is determined that the switch is not in a state in which any of the switches remains pressed (step 208). Check the on / off status of the open / close switch.
[0105]
That is, if at least one of the open switch or the door open switch 28 of the remote controller 30 is on (steps 209 and 219) and both the close switch and the door close switch 29 of the remote controller 30 are off (steps 220 and 222), the routine returns. And continue the auto-open operation. However, if one of the open switch or the door open switch 28 of the remote controller 30 is on (steps 209 and 219) and if one of the close switch or the door close switch 29 of the remote controller 30 is on (steps 220 and 222), the open switch is turned on. Since both the open switch and the open switch are turned on, the automatic opening operation is canceled (step 223), and the routine returns. If both the open switch and the door open switch 28 of the remote controller 30 are off (steps 209 and 219), the switch is set to be receivable (step 221), and the process returns.
[0106]
If the switch can be accepted (step 208), that is, if at least one of the close switch of the remote controller 30 or the door close switch 29 is turned on when all of the open / close switches are off (steps 210 and 211), a door closing operation instruction is issued. Is determined to have been issued, and the process proceeds to the above-described step 204 and subsequent steps.
[0107]
When the main switch is turned off (step 212), the automatic opening operation is canceled (step 223), the opening / closing motor 14 is stopped, and the routine returns. When at least one of the open switch and the door open switch 28 of the remote controller 30 is turned on (steps 213 and 214), the push-on / push-off type open switch is turned on again. The automatic opening operation is canceled to stop the door 2 (step 223), and the process returns.
[0108]
(Auto close operation routine)
FIG. 20 is a flowchart showing details of the automatic closing operation routine (steps 123 and 182). This automatic closing operation routine is selected by the switch statement 180 when the remote control switch 30 is operated to close the door or the door closing switch 29 is turned on or the door closing manual state is confirmed outside the danger area. In order to safely power-drive the door in the closing direction, it controls the door drive stop or the reversing operation during the automatic closing operation.
[0109]
First, when the door 2 reaches the half-latch area (Step 224), the automatic closing operation is released (Step 246), and the routine returns. If the door 2 is not in the half-latch area, a pinch determination is performed (step 225). There is no pinch, no abnormality, and the switch can be received. The open switch and the door open switch 28 of the remote control 30 are both off, the main switch is on, and both the close switch and the door close switch 29 of the remote control 30 are off. If (steps 229 to 235), the process returns because the automatic closing operation is being performed.
[0110]
When the jamming is detected (Step 225), the target position is calculated to move the door 2 in the opposite direction (Step 226), the jamming is canceled (Step 227), and the automatic closing operation is canceled (Step 228). Then, the reverse rotation opening operation is permitted, the door closing operation is released, and the door opening operation is permitted (steps 236 to 238). Next, if the door 2 is not in the ACTR area, the routine returns. If the door 2 is in the ACTR area (step 239), the ACTR operation is permitted (step 240), and the routine returns.
[0111]
If an abnormal current is detected by motor lock or the like (step 229), the automatic opening operation is canceled (step 246), and the process returns. By canceling the automatic closing operation (step 246), the electromagnetic clutch 16 and the opening / closing motor 14 are controlled to stop the door 2 (steps 106 and 107).
[0112]
If it is determined that any of the open / close switches is still pressed and the switch is not in a receivable state (step 230), the on / off state of each open / close switch is checked. That is, if at least one of the close switch and the door close switch 29 of the remote controller 30 is on (steps 241 and 242) and both the open switch and the door open switch 28 of the remote controller 30 are off (steps 243 and 244), the routine returns. To continue the automatic closing operation.
[0113]
However, if at least one of the open switch and the door open switch 28 of the remote controller 30 is on (steps 243 and 244), it means that both the open switch and the open switch are on, and the automatic closing operation is released. (Step 246), and return. If both the close switch and the door close switch 29 of the remote controller 30 are off (steps 241 and 242), the switch is set to be receivable (step 245), and the process returns.
[0114]
When the switch can be accepted (step 230), if at least one of the open switch of the remote controller 30 and the door open switch 28 is turned on (steps 231 and 232), it is determined that an instruction to open the door has been issued and the above-described steps are performed. The processing shifts to the processing after 228.
[0115]
When the main switch is turned off (step 233), the automatic closing operation is canceled (step 246), and the process returns. When at least one of the close switch and the door close switch 29 of the remote controller 30 is turned on (steps 234 and 235), the push-on / push-off type close switch is turned on again. 2 to stop the automatic closing operation (step 246), and returns.
[0116]
(Manual closing operation routine)
FIG. 21 is a flowchart showing details of the manual closing operation routine (step 126.183). In this manual closing operation routine, when it is confirmed that the door closing switch 29 is turned on in the danger area, the selection is made by the switch statement 180, the closing operation is performed only when the operator presses the closing switch 29, and the closing switch 29 is released. And a mode in which the door 2 is stopped.
[0117]
First, a pinch determination is performed (step 247). If not, it is determined whether the door closing switch 29 is turned on (step 249). If it is turned on, the routine returns to continue the manual closing operation. If the closing switch 29 has not been turned on, the manual closing operation is canceled (step 255), and the routine returns. By releasing the manual closing operation (step 255), the electromagnetic clutch 16 and the opening / closing motor 14 are controlled to stop the door 2 (steps 106 and 107).
[0118]
When the jamming is detected (step 247), the jamming is canceled (step 248), the door closing operation is canceled to shift the control in the reverse direction, the door opening operation is permitted, the manual closing operation is canceled, and the reverse rotation is opened. The operation is permitted, the target position is calculated (steps 250 to 254), and the routine returns.
[0119]
(Reverse rotation opening operation routine)
FIG. 22 is a flowchart showing details of the reverse rotation opening operation routine (steps 127 and 184). In the reverse rotation opening operation routine, when it is determined that the pinch is present during the automatic closing operation (FIG. 20) or the manual closing operation (FIG. 21), the door 2 is reversed to the calculated target position and stopped. In this mode, the stop or reversal operation of the door 2 is safely controlled.
[0120]
First, full open detection is performed (step 256). The full-open detection determines the full-open state of the door 2, and when the full-open detection ends, it is determined whether the door 2 is the target position calculated from the current position count value N (step 257). The door 2 is not at the target position, the main switch is ON (step 259), the door 2 is not at the fully open position (step 260), there is no pinch (step 262), there is no abnormal state (step 264), and the switch is accepted. If it is possible (step 266) and both the remote control close switch and the door close switch are off (steps 267 and 269), the process returns because the reverse rotation opening operation is being performed.
[0121]
When the door 2 reaches the target position (step 257) or when the main switch is off (step 259), the reverse rotation opening operation is canceled (step 258), and the process returns. If the door 2 is in the fully open position, the detection of the full opening of the door is released (steps 260 and 261). The detection is released (steps 264, 265), the reverse rotation opening operation is released (step 258), and the routine returns. The electromagnetic clutch 16 and the opening / closing motor 14 are controlled by canceling the reverse rotation opening operation (step 258), and the door 2 is stopped in the main routine (steps 106 and 107).
[0122]
If the close switch or the door close switch 29 of the remote controller 30 is turned on when the switch can be received (all the open / close switches are off) (steps 267 and 269), the reverse rotation opening operation is canceled (step 258). ), Stop the open / close motor 14 and return.
[0123]
If the switch is not ready (step 266), the on / off state of each open / close switch is checked. If all the open / close switches are not off (step 268), the process returns as it is. The state is set to a switch receivable state (step 270), and the routine returns. This is because, for example, if there is a pinch during the manual closing operation and the rotation is reversed, the door closing switch 29 may be being pressed, and this mode is continued even in such a case.
[0124]
(Reverse rotation closing operation routine)
FIG. 23 is a flowchart showing details of the reverse rotation closing operation routine (steps 128 and 185). The reverse rotation closing operation routine is a mode in which the door 2 is reversed and stopped at the target position calculated by obtaining the determination of the presence of the pinch during the automatic opening operation (FIG. 19). Is controlled.
[0125]
First, it is determined from the current position count value N whether the door 2 is the target position or the danger area (areas 2 to 4) (steps 271 and 273). The current position of the door 2 is not any, the main switch is on (step 274), there is no pinch (step 275), there is no abnormality (step 277), the switch can be accepted (step 279), and the remote control is opened. If both the switch and the door open switch are off (steps 280 and 283), the process returns because the reverse rotation closing operation is being performed.
[0126]
If the door 2 is at the target position or the danger area (steps 271 and 273) or the main switch is off (step 274), the reverse rotation closing operation is canceled (step 272), and the process returns. The electromagnetic clutch 16 and the opening / closing motor 14 are controlled by canceling the reverse rotation closing operation (step 272), and the door 2 is stopped in the main routine (steps 106 and 107).
[0127]
Further, when the jamming is detected, the existence of the jamming is released (steps 275 and 276), and when the abnormality such as the motor lock is detected, the abnormal state detection is canceled (steps 277 and 278), and the reverse rotation closing operation is canceled. (Step 272) and return.
[0128]
Also, when the open switch or the door open switch 28 of the remote controller 30 is turned on when the switch can be received (all the open / close switches are off) (steps 280 and 283), the reverse rotation opening operation is canceled (step 272). ), Return.
[0129]
If the switch is not in the receivable state (step 279), the process returns as it is unless all the open / close switches are off (step 281), and if all the open / close switches are off, the switch is set in the receivable state (step 282). To return. This is because the door opening switch 28 may be being pressed if the pinch is reversed during the automatic opening operation, and the mode is continued even in such a case.
[0130]
(Target position calculation routine)
FIG. 24 is a flowchart showing details of the target position calculation routine (steps 202, 226, and 254). In this target position calculation routine, in the automatic opening operation (FIG. 19), the automatic closing operation (FIG. 20), and the manual closing operation (FIG. 21), when the jamming is detected, the door 2 is reversed from the moving direction up to that time, and the safe position is determined. This is a routine for calculating a target position at the time of reverse rotation.
[0131]
First, the moving direction of the door 2 is determined (Step 284). If it is determined that the door 2 is operating in the opening direction, it is determined whether the current position of the door 2 is the area 3 or 4 (step 285A). If the position of the door 2 is the areas 3 and 4, the current position of the door 2 is set as the target position (step 285C). This is because in the reverse rotation closing operation at the time of the occurrence of the entrapment during the opening operation, there is a risk that the entrapment may occur again. Therefore, the reverse rotation closing operation is not performed in the areas 3 and 4, and the current position is set as the target position.
[0132]
If the position of the door 2 is other than the areas 3 and 4, the movement amount specified in advance is subtracted from the value of the current position indicated by the position count value N to obtain the value of the target position (step 285B). However, if the value of the target position is a dangerous area equal to or smaller than area 3 (step 289), the boundary value between area 2 and area 3 (N = 350) is set as the target position (step 290).
[0133]
If it is determined that the door 2 is operating in the closing direction, the movement amount specified in advance is added to the value of the current position indicated by the position count value N to obtain the value of the target position (step 286). If the value of the target position exceeds the value of the fully open position (N = 850) (step 287), the value of the fully open position is set as the target position (step 288).
[0134]
(Full open detection routine)
FIG. 25 is a flowchart showing details of the full-open detection routine (steps 130, 200, 256). This full-opening detection routine recognizes and stores the position count value N of the fully open position of the door 2 at the time of the initial operation, and thereafter performs the door opening operation at the time of the automatic opening operation (FIG. 19) or the reverse opening operation (FIG. 22). 2 is a routine for detecting that the vehicle has reached the fully opened state.
[0135]
First, at the time of the initial operation, the door 2 is moved from the fully closed position (N = 0), and when the value of the position count value N reaches the area 7 (step 291), it is determined whether the fully open position data has already been recognized (step 291). Step 292). Since the door 2 has not been recognized at the time of the initial operation, it is determined whether the door 2 has stopped at the fully open position (step 293). If the door 2 has not stopped at the fully open position, the process returns. Step 295).
[0136]
Next, the fully open margin (arbitrary value) is subtracted from the position count value N at that time, and the result is stored in a required memory unit as a fully open recognition value (steps 296 and 297). The full-open margin is set to be short of the full-open position in consideration of the amount of movement since even when the door 2 is stopped and the door 2 is stopped while being recognized as the full-open position during the opening operation of the door 2, it is set. When the fully open recognition value is set in this way, the fully open state of the door is detected (step 298), and the routine returns.
[0137]
After the fully open recognition value is set, when the position count value N reaches the area 7 (step 291), the fully open position data has already been recognized (step 292), and when the position count value N reaches the fully open recognition value, the door is fully opened. The state is detected (step 298), and the routine returns.
[0138]
(Start mode)
FIG. 26 is a flowchart showing details of the start mode routine (steps 117 and 176). The start mode is a process for selecting and starting a mode for activating the door 2 according to the on / off state of each switch, the surrounding conditions, and the like.
[0139]
First, it is determined whether a start identifier has been set (step 299). Since it is not set initially, it is determined whether the mode is the manual mode (step 301A). If it is in the manual mode, it is determined whether the door is in the fully-closed-door open manual state (step 301B). If so, the manual full-close start mode is set (step 302A). 302B), and release the manual mode (step 303).
[0140]
If it is not the manual mode, it is determined whether the door is open (Step 304). If it is the door open operation, it is determined whether it is in the ACTR control area (Step 305). If it is the ACTR control area, the ACTR start mode is set (Step 306). If it is not the door opening operation, or if the door opening operation is not in the ACTR control area, the normal start mode is set (step 307). When the identifier for each start is thus set, the automatic slide mode operation count value G is cleared (step 308), and the routine returns. The setting conditions of each start mode are summarized as follows.
[0141]
Normal start mode: Start by switch operation except when fully closed
ACTR start mode: Start by switch operation when fully closed
Manual normal start mode: Start manually except when fully closed
Manual fully-closed start mode: Start manually when fully closed
When the start-specific identifier is set in this manner and the start mode is selected in the next routine, since the start-specific identifier is set (step 299), the normal start mode (step 309) is set according to the identifier (step 300). ), An ACTR start mode (step 310), a manual normal start mode (step 312A), and a manual fully closed start mode (step 312B).
[0142]
In the normal start mode, control is performed at the time of starting outside the door fully closed area. First, the electromagnetic clutch 16 is turned on (step 106), and the open / close motor 14 and the drive pulley 15 are connected. After the on-time lag of the electromagnetic clutch 16, the slide clutch is set to be operable automatically, and the opening / closing motor 14 is turned on (step 107). Thereafter, when the open / close motor 14 is turned on, the operation-specific start identifier is reset, and the end of the operation-specific start control is notified to another routine.
[0143]
In the ACTR start mode, after the engagement between the door lock latch 8 and the striker 9 is released via the ACTR 35, control is performed in a start mode in which the door 2 is automatically driven. After confirming that the half-latch switch 36 is off for a predetermined time, the electromagnetic clutch 16 is turned on (step 106). After the on-time lag of the electromagnetic clutch 16 has elapsed, the automatic slide operation is performed. Thereafter, when the open / close motor 14 is turned on (step 107), the operation-specific start identifier is reset, and the end of the operation-specific start control is notified to another routine.
[0144]
The manual normal start mode and the manual fully closed start mode will be described later. When the identifier is reset and the start mode is selected again in the next routine, the start mode is canceled (steps 313 and 314), the operation count value G is cleared (step 315), and the routine returns.
[0145]
(Manual normal start mode)
FIG. 27 is a flowchart showing the manual normal start mode (step 312A). In the manual normal start mode, a manual operation is detected when the door 2 is not fully closed, and the door 2 is driven in the opening direction or the closing direction in the automatic mode.
[0146]
First, it is determined whether the open / close motor 14 for the automatic slide is in the operating state (step 316). Since it is not in the operating state at first, it is set to the motor drive voltage determined by the PWM control described later (step 318). Next, the operation direction of the door 2 is determined (step 326). If the door 2 is to be opened, the door is opened and the motor 14 is prepared to be driven in the opening direction (step 327). If it is the closing operation, the door is set to be capable of closing and the motor 14 is prepared to be driven in the closing direction (step 328). In the case of the opening direction (step 327), it is determined whether or not it is the ACTR area (step 329). If it is not the ACTR area, the process returns.
[0147]
If the open / close motor 14 is in the operating state (step 316), it is determined from the operation count G whether the manual time lag has passed (step 317). If it has not passed, the process returns. If it has passed, it is determined whether the moving speed of the door 2 manually is faster than the door closing speed (step 319). If the moving speed of the door 2 is lower than the quick closing speed of the door 2, it is determined whether it is lower than the manual recognition speed next (step 320). If it is not late, the clutch is enabled (step 322), the operation count G is cleared to measure the door operation time after the clutch is activated (step 323), and the manual normal start mode is released (step 324). To return.
[0148]
If the manual door 2 moving speed is faster than the door quick closing speed (step 319), the door quick closing operation is set to enable (step 321) in order to prioritize the manual door quick closing operation, and the abnormal state is set. The motor is set to stop (step 325), the manual normal start mode is released (step 324), and the routine returns.
[0149]
Also, if the moving speed of the door 2 is lower than the manual recognition speed (step 320), an abnormal state is set (step 325) so as not to shift to the auto mode, and the manual normal start mode is canceled (step 324). And return. When set to the abnormal state, the abnormal state is detected in each routine of the automatic opening operation and the automatic closing operation, the operation is released, and the motor is stopped in the stop mode.
[0150]
(Manual fully closed start mode)
FIG. 28 is a flowchart showing the manual full-close start mode (step 312B). In the manual full-close start mode, a manual operation is detected when the door 2 is in the fully closed state, and the door 2 is driven in the opening direction in the automatic mode.
[0151]
First, whether the door 2 is moving in the opening direction is detected based on the phase relationship between the pulse signals φ1 and φ2 (step 330A). If it is moving in the opening direction, it is set to the motor drive voltage determined by the PWM control described later (step 330B), and then the door is opened and the motor 14 is prepared to be driven in the opening direction in the opening direction. (Step 330C), and set to enable ACTR operation (Step 330D).
[0152]
Next, it is confirmed that the half switch is off (step 330E). If the half switch is off, the clutch is enabled and the electromagnetic clutch 16 is prepared to be driven (step 330F). The operation count G is cleared to measure the time (step 330G), the manual full-close start mode is released (step 330H), and the routine returns.
[0153]
If the door 2 has not been moved in the opening direction (step 330A), this mode is unnecessary, so that the motor is stopped by setting it to an abnormal state (step 330I), and the manual full-close start mode is released. (Step 330H), and it returns. Even when the half switch is off, there is a possibility that the door lock may be re-fitted. Therefore, an abnormal state is set (step 330I), the manual full-close start mode is released (step 330H), and the process returns.
[0154]
It is to be noted that a system in which the operation of the ACTR is performed first is also conceivable. In this case, when the door handle switch 37a is turned on, the ACTR is operated first, and the ACTR is unlocked, so that the lock can be unlocked with a small force.
[0155]
(Speed control routine)
FIG. 29 is a schematic diagram of the speed control routine (steps 120 and 178). In this speed control routine, a control target value for the current moving speed is determined so that the speed of the sliding door 2 becomes an appropriate moving speed determined for each of the control areas E1 to E6. It controls the speed. In the present embodiment, the speed of the sliding door 2 is controlled by changing the duty cycle of the rectangular wave voltage applied to the opening / closing motor 14, that is, by adjusting the output torque of the opening / closing motor 14 by pulse width modulation (PWM). Therefore, the following description will be made as PWM control.
[0156]
The PWM control (step 331) includes determination of a target value (step 332), adaptation calculation (step 333), and feedback adjustment (step 334), and difference calculation (step 335) at a lower level of the adaptation calculation (step 333). ), And an adjustment amount is calculated (step 336) at a lower level of the feedback adjustment (step 334).
[0157]
FIG. 30 is a block diagram showing functions of respective parts of determination of a target value (step 332), adaptation calculation (step 333), difference calculation (step 335), and adjustment amount calculation (step 336). In the figure, a door position detecting unit 60 obtains a position count value N and a moving direction Z from pulse signals φ1 and φ2 from the rotary encoder 18.
[0158]
The control area discriminating unit 61a obtains the areas 1 to 7 where the door 2 is present at that time from the position count value N and the moving direction Z, and refers to the memory table shown in FIG. To E6. Then, cycle count values T1 to T6 corresponding to the appropriate moving speed of the slide door 2 required for each of the control areas E1 to E6 are obtained.
[0159]
The control speed selection unit 61b obtains an appropriate speed cycle count value To (T1 to T6) corresponding to the appropriate moving speed of the determined control region Ei (i = 1 to 6), and corresponds to the highest moving speed in the control region. The maximum speed cycle count value Tmin and the minimum speed cycle count value Tmax corresponding to the minimum moving speed are calculated. The function of determining the target value (step 332) is achieved by the control region discriminating unit 61a and the control speed selecting unit 61b.
[0160]
The appropriate speed cycle count value To of the control area Ei obtained by the control speed selection unit 61b is sent to the adjustment amount calculation unit 62, and is used to obtain the adjustment amount R for feedback. The details will be described later. The feedback adjustment amount R obtained by the adjustment amount calculation unit 62 is sent to a maximum adjustment amount restriction unit 63 that sets an upper limit value. The function of calculating the adjustment amount (step 336) is achieved by the adjustment amount calculation unit 62 and the maximum adjustment amount limitation unit 63.
[0161]
The door moving speed detecting unit 64 corresponds to a pulse count timer (step 115A), counts the clock pulse C1 at each interval of generation of the interrupt pulse g1, and obtains the count value at that time as a moving speed cycle count value Tx. This reciprocal is the current moving speed of the slide door 2.
[0162]
The moving speed cycle count value Tx is input to the too fast detection unit 65 and the too slow detection unit 66. Further, the maximum speed cycle count value Tmin is input to the too fast detection section 65, and the minimum speed cycle count value Tmax is input to the too slow detection section 66. The function of matching calculation (step 333) is achieved by the too fast detection unit 65 and the too slow detection unit 66.
[0163]
The too fast detection unit 65 subtracts the maximum speed cycle count value Tmin from the cycle count value Tx representing the current moving speed by the difference calculation unit 65a, and obtains the too fast amount TH. It is sent to the temporary storage units 65b and 65c using two-stage shift registers and the like. The temporary storage section 65c at the preceding stage holds the excessively fast amount TH2 of the immediately preceding extraction time, and the temporary storage section 65b at the subsequent stage stores the current excessively fast amount TH1 immediately after the current time or the previous extraction time. On hold. The two too fast amounts TH1 and TH2 are added by the correction amount calculation unit 65d and output as the too fast adaptation difference JNH.
[0164]
Similarly, the too slow detection unit 66 subtracts the minimum speed cycle count value Tmax from the cycle count value Tx representing the current moving speed by the difference calculation unit 66a to obtain the too slow amount TL. It is sent to temporary storage units 66b and 66c using two-stage shift registers and the like. The temporary storage section 66c in the preceding stage holds the too late amount TL2 of the immediately preceding extraction time, and the temporary storage section 66b of the subsequent stage stores the next too late amount TL1 in the current or previous extraction time. On hold. The two too late amounts TL1 and TL2 are added by the correction amount calculating unit 66d and output as the too late adaptation difference JNL. The function of difference calculation (step 335) is achieved by the difference calculators 65a and 66b.
[0165]
When the speed discriminating unit 65e of the too fast detecting unit 65 determines that the current cycle count value Tx is larger than the cycle count value Tmin, that is, when it determines that the current moving speed is lower than the maximum speed, the speed judging unit 65e temporarily suspends. The held contents of the units 65b and 65c are reset to zero. Similarly, when the speed discriminating unit 66e of the too slow detecting unit 66 determines that the current cycle count value Tx is smaller than the cycle count value Tmax, that is, determines that the current moving speed is faster than the minimum speed, Then, the contents held in the temporary holding units 65b and 65c are reset to zero.
[0166]
In this way, if the current moving speed of the slide door 2 is not too fast or too slow, the holding contents of the temporary holding unit are reset to zero. Thereby, in order to deliver the two too fast amounts TH1 and TH2 or the two too slow amounts TL1 and TL2 to the correction amount calculation units 65d and 66d, too fast or too slow must occur twice consecutively. Thus, erroneous detection is prevented.
[0167]
The too fast adaptation difference JNH and the too slow adaptation difference JNL are sent to the feedback adjustment unit 67 and the adjustment amount calculation unit 62. The adjustment amount calculating unit 62 collectively treats the two adaptive differences JNH and JNL as the adaptive difference JN, and selects a calculation formula of the adjustment amount R using the appropriate speed cycle count value To obtained by the control speed selecting unit 61b as an identifier. The adjustment amount R is determined. For example, if the cycle count value To is Ta, the adjustment amount R is three times the adaptation difference JN, that is, R = 3JN. Similarly, if the cycle count value To is Tb, R = 2JN, and if the cycle count value To is Tc, , R = JN, and if the cycle count value To is not any of Ta, Tb, and Tc, R = 3JN.
[0168]
Ta, Tb, and Tc may be values of any size, but it is preferable that the values Ta, Tb, and Tc substantially correspond to the appropriate moving speed set in the high-attention region or the dangerous region shown in FIG. Further, as a magnification coefficient for calculating the adjustment amount R, a required value suitable for feedback control is set according to a curved portion, a straight portion, or the like of the movement locus of the door 2. Further, the adjustment amount R is limited in the upper limit value (D1) by the maximum adjustment amount limiting unit 63 and is converted into a duty value D described later, and the duty value D is input to the feedback adjusting unit 67.
[0169]
The power supply voltage detector 68 measures the voltage Vx of the battery 24. The duty calculator 69 calculates the duty cycle Do of the required voltage Vo at the voltage Vx. The duty cycle Do corresponding to the required voltage Vo (hereinafter referred to as duty) Do is a voltage waveform of 100% duty, that is, an output torque when the DC voltage Vo is applied, and an arbitrary voltage Vx higher than the DC voltage Vo. The duty Do for obtaining the same output torque is expressed by the following equation.
[0170]
Do [%] = (Vo / Vx) · Dmax [%]
However, the value of the current flowing through the motor is constant. A duty of 100% corresponds to an H level DC voltage waveform and is represented by Dmax, and a duty of 0% corresponds to an L level DC voltage waveform and is represented by Dmin.
[0171]
That is, in the duty calculating section 69, the power supply voltage detecting section 68 detects the voltage fluctuation of the battery 24 as the measured voltage Vx, and obtains the duty Do corresponding to the required voltage Vo from the voltage Vx and the required voltage Vo based on the above formula. . Further, the duty calculator 69 calculates the amount of change in the duty when the voltage changes by 1 V [volt] above or below the required voltage Vo, and sets this as the 1 V equivalent duty D1. Then, the duty Do corresponding to the required voltage Vo and the duty D1 corresponding to 1 V are input to the feedback adjusting unit 67.
[0172]
Note that the duty calculation unit 69 obtains the first-order calculation formula that does not include the current change. However, the duty calculation unit 69 preliminarily calculates the correction value D ′ of the duty D with respect to the power supply voltage fluctuation including the current change and the motor load characteristics. It can also be obtained by addressing with the power supply voltage Vx in a memory map.
[0173]
The graph shown in FIG. 31 shows the relationship between the voltage fluctuation and the duty D when the current flowing through the motor is constant. The horizontal axis represents the voltage Vx and the vertical axis represents the duty D. The vehicle battery 24 has a maximum voltage Vmax of 16 V and a minimum voltage Vmin of 9 V, and determines a duty in accordance with a voltage change during the period.
[0174]
(PWM control routine)
FIG. 32 is a flowchart showing details of the PWM control routine (step 331). This PWM control routine is a control in which when the slide door 2 is driven by the opening / closing motor 14, the duty D of the drive voltage of the motor 14 is adjusted by PWM control so as to match a target speed determined for each area. In addition, the time F until the feedback adjustment is performed in consideration of the delay of the mechanical unit or the like is adjusted for each area.
[0175]
First, it is determined whether there is a PWM target value (step 337). If the target value has not been determined, the target value is determined (step 339), and the process returns. The determination of the target value is performed by the control region discriminating unit 61a and the control speed selecting unit 61b.
[0176]
If the target value has been determined, it is checked whether the feedback count F is maximum (step 338). If not, the count is incremented (step 340). If the feedback count F is maximum, step 340 is jumped. The feedback count F functions as a timer, and performs feedback adjustment when the count F reaches a certain value, as described later. The maximum value MAX is, for example, a value of 10 or more.
[0177]
Next, the suitability is calculated by the too fast detection unit 65 and the too slow detection unit 66 (step 341), and it is detected whether there is low speed difference data, that is, the amount of too late TL (step 342). If there is too slow amount TL, the low speed number L is incremented (step 343). If there is no too slow amount TL, the low speed number L is cleared (step 344).
[0178]
Next, if it is the area 3 (step 345), it is checked whether the value of the feedback count F is 5 or more (step 346). The routine also returns in the area 4 (steps 345 and 347). When it is neither area 3 nor area 4, that is, in areas 1, 2, 5, 6, and 7, it is checked whether the value of feedback count F is 10 or more (step 348). To return.
[0179]
When the value of the feedback count F is 5 or more in the area 3 (step 346), or when the value of the feedback count F is 10 or more in the areas 1, 2, 5 to 7 (step 348), the feedback adjustment described later is performed. (Step 349) As a result, if the duty is adjusted, the feedback count F is cleared (Step 351), and the routine returns. If the duty has not been adjusted, the routine returns.
[0180]
As a result, the speed of the slide door 2 may decrease in a curved portion such as the area 3, so that the feedback adjustment is performed with a narrower adjustment interval than in other areas. Specifically, if the loop cycle of the main routine is 10 msec, the loop is performed at an interval of 50 msec in area 3 and at an interval of 100 msec in areas 1, 2, 5 to 7.
[0181]
(Feedback adjustment routine)
FIG. 33 is a flowchart showing details of the feedback adjustment routine (steps 334, 349). This feedback adjustment routine adjusts the duty (DUTY) so that the speed of the slide door 2 becomes the target speed when the excessively slow amount TL and the excessively fast amount TH occur two or more times in succession.
[0182]
First, it is checked whether or not the temporary holding units 66b and 66c of the too late detecting unit 66 have the too slow amounts TL1 and TL2 (step 352). It is checked whether TH2 exists (step 353). If not, the feedback adjustment is unnecessary, so the adjustment amount R is cleared (step 356), and the routine returns.
[0183]
If the temporary storage units 65b and 65c have the too fast amounts TH1 and TH2, the two too fast amounts TH1 and TH2 are added to obtain the too fast adaptation difference JNH (step 355), and the adjustment amount calculation unit 62 and the maximum adjustment The adjustment amount R is calculated by the amount limiter 63 (step 357). Next, it is checked whether or not there is an adjustment amount in the previous routine (step 358). If it is a speed increase (step 359), the current adjustment amount R is set to a half value (step 360). This is because the adjustment amount is added too late in the previous time and the adjustment amount is added this time, and the adjustment amount is subtracted in this case too fast. Therefore, if the adjustment amount is large, there is a high possibility that the adjustment amount will be too slow again.
[0184]
When there is no adjustment amount in the previous routine, when the speed was not increased the previous time, and when the adjustment amount R is set to a half value (steps 358 to 360), the current duty D is adjusted to the adjustment amount R (also in this case). (Duty) is subtracted to obtain a new duty DNEW (step 361), this new duty DNEW is output (step 362), and the routine returns. Thus, the opening / closing motor 14 is decelerated by the rectangular wave voltage having the new duty DNEW.
[0185]
If there are too late amounts TL1 and TL2 in the temporary holding sections 66b and 66c (step 352), it is checked whether the current position of the door 2 is in the opening direction (areas 5 to 7) or the closing direction (areas 1 to 4) (step). 353). This is because there is a possibility of pinching in the closing direction, so that it is not possible to simply increase the speed by feedback adjustment.
[0186]
That is, if it is the closing direction, it is determined whether the low-speed counter has counted a predetermined time lag (step 364A), and if the predetermined time lag has not passed, the routine returns. If the predetermined time lag has passed, it is determined whether or not the load is in the initial state without learning (step 364B). If the learning value is not in the initial state but is increasing (step 364C), and there is an error in the entrapment determination described later (step 364E), there is a possibility of entrapment, and the routine returns.
[0187]
Further, if the learning value is not increasing (step 364C), but the current value is increasing (step 364D) and continues (step 365), the process returns because there is a possibility of pinching.
[0188]
In other cases, that is, when there is no error (step 364E), when the current value is not increasing (step 364D), and when the current value does not continue to increase (step 365), the possibility of pinching is small. No feedback adjustment for speed-up drive is performed. Of course, also when the door 2 is in the opening direction (step 353) or in the initial state (step), the feedback adjustment of the speed increasing drive is performed.
[0189]
In the feedback adjustment of the speed increasing drive, first, the two too slow amounts TL1 and TL2 are added to obtain a too slow adaptation difference JNL and stored in the memory (steps 366 and 367), and the adjustment amount calculation unit 62 and the maximum adjustment amount The limiting unit 63 calculates the adjustment amount R (step 368). Next, it is checked whether or not there is an adjustment amount in the previous routine (step 369). If it is decelerated (step 370), the current adjustment amount R is set to a half value (step 371). This is because the previous time is too fast and the adjustment amount is subtracted, and the current time is too slow and the adjustment amount is added. Therefore, if the adjustment amount is large, there is a high possibility that the speed will be too fast again.
[0190]
If there is no adjustment amount in the previous routine, if the previous time was not deceleration, and if the adjustment amount R is set to a half value (steps 369 to 371), the current duty D is changed to the adjustment amount R (also the duty ) Is added to obtain a new duty DNEW (step 372), this new duty DNEW is output (step 362), and the routine returns. As a result, the opening / closing motor 14 is driven at an increased speed by the rectangular wave voltage having the new duty DNEW.
[0191]
(Pinch determination routine)
FIG. 34 is a diagram showing an outline of the entrapment determination routine (steps 118 and 177). This entrapment determination routine detects entrapment of a foreign object during the opening and closing operation of the slide door 2. Based on this detection result, the door 2 being driven to open and close is triggered to rotate in the reverse direction to ensure safety.
[0192]
The entrapment determination routine includes routines such as a learning determination (step 374), a continuation & change amount (step 375), and a comprehensive determination (step 376), which will be described in detail later. The learning address calculation (step 377), error determination (step 378), learning weighting (step 379), average value calculation (step 380), and comparison value generation (step 381) are at lower levels of the learning determination (step 374). ), Learning processing (step 382), learning delay processing (step 383), and the like. Further, at a lower level of comparison value generation (step 381), there is a comparison value calculation (step 384) routine.
[0193]
FIG. 35 is a flowchart showing the entrapment determination routine (Step 373). Although details of each routine will be described later, first, it is determined whether the learning of the change rate of the motor load for each sampling region has been completed (step 385). If not, the learning process and the learning delay process are executed (steps 386A and 386B), and the process returns.
[0194]
If the learning process has been completed, it is determined whether the mode is the stop mode (step 387). If the mode is the stop mode, the process returns because the door 2 is stopped. If not in the stop mode, learning determination (step 388) is performed. Next, a continuation and change amount process (step 389) for detecting the change amount and the rise continuation time of the motor current value is performed. In the following overall judgment (step 390), judgment of the presence or absence of pinching is made from the judgment obtained in the learning judgment (step 388), the change amount of the motor current value obtained in the continuation & change amount processing (step 389), the rising continuation time, and the like. Lower.
[0195]
(Functional block diagram of pinch determination)
FIG. 36 is a block diagram showing the function of the entrapment determination routine. In the figure, a sampling area calculation section 70, a sampling area load data calculation section 72, and a storage learning data calculation section 75 convert a standard load resistance component (including the rate of change thereof) due to opening and closing of the slide door 2 into the motor 14 Is stored in the load sample data memory 71 in association with the sampling area Qn (or Qm, hereinafter the same) unique to the opening / closing state of the door 2 and its position.
[0196]
The load resistance component stored for one sampling area Qn is a current increase rate ΔIAn between the preceding and succeeding sampling areas based on the average current value IAn of the current values IN included by the number of resolutions B in the sampling area Qn.
[0197]
When the normal door 2 is opened and closed, the standard load resistance component stored for each of the same sampling areas Qn and the current load resistance component are compared by the jamming determination unit 85 to detect the presence or absence of the jamming. Then, the load resistance component stored in the memory 71 according to the sampling area Qn is corrected based on the new load resistance component each time the door 2 is opened or closed, and is updated by learning.
[0198]
The entrapment determination unit 85 also obtains the change value calculation unit 87 from the current value IN measured by the current measurement unit 73, the previous current value I'N stored in the previous current value memory unit 86, and the current current value IN. The entrapment determination is performed based on the current increase value ΔI, the increase count value K output from the current increase count unit 88, and the inclination determination data θ from the slope detection unit 89. Details of the determination operation will be described later.
[0199]
(Sampling area calculation unit 70)
The sampling area calculation section 70 counts out the pulse signal φ1 from the position count value N and the movement direction Z supplied from the door position detection section 60 according to the resolution B defined in the areas 1 to 7 (FIG. 16). The address of the sampling area Qn (or Qm) is determined based on the counted value n (or m).
[0200]
The count value n is a value counted by thinning out in the closing direction according to the resolution B, and the count value m is a value counted by thinning out in the opening direction. Each represents an address number indicating the position of the door 2. Since the address number n is a number attached in the direction in which the door 2 is closed, when the door 2 is closed, the count is decremented. Accordingly, the address number immediately before the moving door 2 is n + 1. On the other hand, since the address number m is a number attached in the direction in which the door 2 opens, the address number immediately before the moving door 2 is m-1.
[0201]
The relationship among the address numbers n and m, the resolution B, and the position count value N is as follows.
N / B = n + b
N / B = m + b (n and m are integer parts of quotient, b is remainder of quotient)
It is expressed as
[0202]
The address numbers n and m are the addresses of the load sample data memory 71, and the remainder b acts to shift the data of the current value storage register 74 provided with the same number of registers as the number of resolutions B in the load data calculation section 72. .
[0203]
(Load sample data memory 71)
The load sample data memory 71 outputs the average current values IAn and IAm forming the storage data of the sample areas Qn and Qm specified by the address numbers n and m from the sampling area calculation section 70 to the prediction comparison value calculation section 76, , Is also output to the storage learning data calculation unit 75.
[0204]
(Load data calculator 72)
The load data calculation unit 72 calculates the average value of the current value IN of the motor 14 stored in the current value storage register 74 having the same number of stages as the resolution B for each of the sampling areas Qn and Qm, and stores the average value as an average current value IAn. And outputs it to the learning data calculation unit 75. In the current value storage register 74, a current value IN measured by the current measuring unit 73 at regular intervals (step 103) is stored.
[0205]
FIG. 37 shows the previously stored average current values I′An and I′A (n−1) in the sampling regions Qn and Qn−1 without considering the learning effect, and the current average current value IAn obtained this time. , IA (n-1). Here, the opening / closing state of the door 2 is defined as a deceleration control area E2 (resolution B is 4) of the area 2, and a position meter for each pulse signal φ1 in the sampling area Qn of interest and the sampling area Qn-1 immediately after. The current value IN corresponding to the numerical value N is shown.
[0206]
That is, the current values IN to IN-3 of the current operation corresponding to the position count values N to N-3 of the sampling area Qn are reserved in the current value storage register 74, and the result of averaging them is the average current value IAn. is there.
[0207]
(Storage learning data calculation unit 75)
As shown in FIG. 38, the storage learning data calculation unit 75 includes a current increase rate calculation unit 81, a previous data hold register 82, a learning data delay register 83, and a learning value weight update calculation unit 84.
[0208]
The immediately preceding data holding register 82 stores the sampling area immediately before the current attention sampling area Qn in the sampling area Qn (n gradually decreases) sequentially appearing in the closing movement direction of the door 2 (in this example, the area 2 is assumed). The average current value IA (n + 1) of Qn + 1 is output to the current increase rate calculation unit 81.
[0209]
The current increase rate calculator 81 calculates the average current value IAn of the currently focused sampling area Qn sent from the load data calculator 72 and the average current value IA of the immediately preceding sampling area Qn + 1 delayed by the immediately preceding data holding register 82. (N + 1), and the current change rate ΔIAn (= IAn / IA (n + 1)) is obtained and sent to the learning data delay register 83.
[0210]
The learning data delay register 83 is for slightly delaying the update time of the learning result. The number of stages is arbitrary. In this example, the learning data delay register 83 has seven stages. The current increase rate ΔIA (n + 7) is output.
[0211]
The learning value weighting update operation unit 84 calculates the current increase rate ΔIA (n + 7) related to the current sampling area Qn + 7 and the read data Qn + 7 from the load sample data memory 71 addressed by the same address number n + 7 as the address. Matched and entered.
[0212]
That is, the learning value weighting update operation unit 84 considers the latest current increase rate ΔIA (n + 7) obtained this time as the current increase rate Qn + 7 at the time of the previous door drive stored in the data memory 71 in advance for the same sampling area. Thus, the stored data is learned and updated based on the following equation.
[0213]
Q′n + 7 = (3/4) × Q′n + 7 + (1/4) × ΔIA (n + 7)
In general formula,
Q′n = (3/4) × Q′n + (1/4) × ΔIAn
It becomes. The ratio of new and old data can be changed as appropriate.
[0214]
The storage data (current increase rate) Q'n thus newly obtained is sent to the load sample data memory 71 as the write data DL, and is stored with the address number n as an address, and learning and updating of the storage data are performed.
[0215]
In this case, the read data from the load sample data memory 71, that is, the stored data, is not represented by the originally stored average current value I'An, but is represented by the addressed sampling area Qn. The calculation and the like use the data of the average current value I'An stored in the location specified by the address number n of the sampling area Qn. The output data of the learning data calculation unit for storage 75 is also represented in the form of the sampling area Qn.
[0216]
(Estimated comparison value calculation unit 76)
The prediction comparison value calculation unit 76 includes a prediction value register 77, a threshold value calculation unit 78, a comparison value calculation unit 79, and a prediction comparison value delay register 80, as shown in FIG. The predicted comparison values Cn and Cm required to determine the entrapment of the four sampling areas Qn-4 in the moving direction of the door 2 in comparison with the learning value Q'n corresponding to the address number n of the sampling area Qn Output to the unit 85.
[0219]
The predicted value register 77 calculates the average current in the sampling area obtained by adding and averaging the respective measured current values from the time when the first current value IN is measured in the current sampling area Qn of the door 2 to the present in the loop interval of the main routine. The most recent value IAn is pending.
[0218]
The threshold value calculation unit 78 and the comparison value calculation unit 79 store the data stored in the sampling area Qn-4 of the address number n-4 four times later than the address number n of the sampling area Qn obtaining the latest current value IN. The (current increase rate Q′n−4) is read from the load sample data memory 71 and given.
[0219]
The threshold value calculation unit 78 determines a threshold for determining a permissible range for discrimination from the latest average current value IAn in the control area and the storage data of the sampling area Q′n−4 of the address number n−4 after four by the following equation. Calculate Fn-4.
[0220]
Fn-4 = IAn * Q'n-1 * Q'n-2 * Q'n-3 * Q'n-4 * α
In general formula,
Fn = IA (n + 4) × Q′n + 3 × Q′n + 2 × Q′n + 1 × Q′n × α
It becomes. Here, α is a correction count.
[0221]
The comparison value calculation unit 79 calculates a predicted comparison value Cn-4 to be compared with the average current value IA (n-4) of the sampling area Qn-4 that will appear from now on by the following equation.
[0222]
Cn-4 = IAn * Q'n-1 * Q'n-2 * Q'n-3 * Q'n-4 + Fn-4
In general formula,
Cn = IA (n + 4) * Q'n + 3 * Q'n + 2 * Q'n + 1 * Q'n + Fn
It becomes.
[0223]
The predicted comparison value Cn-4 obtained by the comparison value calculation unit 79 passes through the four-stage predicted comparison value delay register 80, and thus matches the value corresponding to the address number n of the currently required sampling line area Qn. .
[0224]
At the time of the first comparison value generation, the prediction comparison value calculation unit 76 puts the comparison value in the preceding stage of the prediction comparison value delay register 80, repeats the above four times, and obtains the comparison value four times ahead. That is,
The next predicted value: Cn-1 = An × Q'n-1
Predicted value two ahead: Cn−2 = Cn−1 × Q′n−2
Predicted value three ahead: Cn−3 = Cn−2 × Q′n−3
Fourth predicted value: Cn-4 = Cn-3 × Q'n-4
It is.
[0225]
(Initial operation)
In each block of the pinch determination shown in FIG. 36, in the initial state, the storage contents of the load sample data memory 71 are such that the vehicle body 1 is placed in a normal posture in a flat place where the front and rear and left and right are not inclined, and the door 2 is moved in this normal posture. It is opened and closed, and the average current values IAn and IAm of the sample areas Qn and Qm for each area are obtained.
[0226]
In this initial state, the storage learning data calculation unit 75 obtains the current change rates ΔIAn and ΔIAm from the ratio of the current current value to the current current value immediately before. The current change rates ΔIAn and ΔIAm are output from the learning data delay shift register 83 as the write data DL of the load sample data memory 71 through the learning value weighting update operation section 84, and the address number at which the data is recorded is The average current values IAn and IAm obtained by the sampling region calculation unit 70 are designated by the address numbers n and m of the sample region data Qn and Qm.
[0227]
Here, the relationship between each routine of the pinch determination shown in FIG. 34 and each block of the pinch determination shown in FIG. 36 will be described. The average value calculation routine (step 380) corresponds to the load data calculation unit 72 and the current value storage register 74. The comparison value generation routine (Step 381) and the comparison value calculation routine (Step 384) correspond to the predicted comparison value calculation unit 76. The learning processing routine (step 382) and the learning delay processing routine (step 383) correspond to the learning data calculation unit for storage 75. The continuation & change amount routine (step 375) corresponds to the previous current value memory unit 86, the change amount calculation unit 87, and the current increase count unit 88.
[0228]
(Learning judgment routine)
FIG. 40 is a flowchart showing details of the learning determination routine (step 374). In this learning determination routine, the current value is added each time, and error determination and learning weighting (sandwich recognition) are performed. Further, when the door 2 moves and the sampling area changes, calculation of an average current value in the area, calculation of a comparison value, learning processing, and learning delay processing are performed.
[0229]
The fact that the sampling area has changed means that the number of pulses of the amount of movement of the door 2 is added to the surplus (the remainder obtained by dividing the position count value N by the resolution B) in the calculation of the sampling area at the start of movement. Judgment is made in view of exceeding 2. The number of pulses is cleared each time it is added. When the sampling area changes, the numerical value of the resolution B is subtracted and counted again. However, since the average current value cannot be obtained at the beginning of the movement since the sampling region is in the middle of the sampling region, the addition of the current value starts when the sampling region is switched. Then, the next time the sampling area changes, the average current value and the comparison value can be output, so that error determination can be performed every time thereafter.
[0230]
First, it is determined whether the sampling area number has been calculated (step 392). Since the calculation has not been completed when the door 2 starts to move, the calculation is performed (step 394). Next, it is determined whether learning is possible (step 393). Since the learning is not possible for the first time, it is next determined whether the position of the door 2 is the area 1, 5 or 6.
[0231]
If the area is 1, 5, or 6, the cycle register number (the number of moved pulses) is added to the resolution count (the remainder in the sampling area calculation) to obtain a new resolution count (step 400). Next, the period register number is cleared to count the number of moved pulses (step 412), and if the resolution count is 8 or less (step 413), the process returns.
[0232]
Then, the cycle register number is similarly added from the next time onward, and when the number becomes 8 or more (when the sampling area changes), 8 is subtracted from the resolution count (step 414), and it is determined whether learning is possible (step 415). Since learning is not possible in this case, learning is set (step 417), the current value memory and the current value register number are cleared (steps 421C and 422), and the routine returns.
[0233]
Since learning is possible next time (step 393), the current value is added to the stored value (step 395), the current register number is incremented and the number of additions of the current value is counted (step 396), and it is determined whether an error can be determined. (Step 397A). In this case, since it is not possible to determine the error, the process jumps to step 399. Then, the processing of steps 400 to 415 is executed, and learning is now possible (step 415), so that the average value calculation (step 416), the comparison value calculation (step 418), the learning processing (step 419), the learning delay processing (Step 420) is executed, and error determination is set (Steps 421A and 421B), and the process returns.
[0234]
Since error determination is possible from the next time (step 397A), error determination (step 397B) and learning weighting (step 398) described later are executed. Further, every time the sampling area is exceeded, the average value calculation (step 416) to the learning delay processing (step 420) are performed.
[0235]
When the position of the door 2 is switched from the area 1 to the area 2 (steps 399, 401), it is determined whether or not the resolution count exceeds 4 (step 402). This is for calculating the average value or the like of the last sampling area of the area 1 before the area is switched for the first time. If the resolution count exceeds 4, the process proceeds to step 400 and subsequent steps.
[0236]
If the resolution count does not exceed 4, the cycle register number is added to the resolution count to obtain a new resolution count (step 408), and the cycle register number is cleared to count the number of moved pulses (step 409). If the resolution count is less than 4 (step 410), the process returns. If the resolution count is 4 or more, 4 is subtracted from the resolution count (step 411), and the process proceeds to step 415 and subsequent steps.
[0237]
When the position of the door 2 is switched from the area 2 to the area 3 (steps 399, 401), it is determined whether or not the resolution count exceeds 2 (step 403). This is for calculating the average value and the like of the last sampling area of the area 2 before the area is switched for the first time. If the resolution count exceeds 2, the process proceeds to step 402 and subsequent steps.
[0238]
If the resolution count exceeds 2, the cycle register number is added to the resolution count to obtain a new resolution count (step 404), and the cycle register number is cleared to count the number of moved pulses (step 405). If the resolution count is smaller than 2 (step 406), the process returns. If the resolution count becomes 2 or more, 2 is subtracted from the resolution count (step 407), and the process proceeds to step 415 and subsequent steps.
[0239]
(Error determination routine)
FIG. 41 is a flowchart showing details of the error determination routine (steps 378 and 397). In this error determination routine, the current value IN is compared with the predicted comparison value Cn, and the number of times the current value IN increases is counted as the number of errors.
[0240]
First, the current value IN is compared with the predicted comparison value Cn (step 424). If the current value IN is large, the number of errors is added (step 425), and if the current value IN is the same or smaller, the number of errors is cleared (step 426). This is because it is determined that entrapment occurs only when the current value IN continuously increases.
[0241]
(Learning weighting routine)
FIG. 42 is a flowchart showing details of the learning weighting routine (steps 379 and 398). In this learning weighting routine, the weighting of the number of errors is changed according to the areas 1 to 7, and the entrapment detection is effectively performed.
[0242]
First, it is determined whether or not the number of errors is zero (step 429). If it is not zero, the number of errors is weighted according to each area.
[0243]
That is, in areas 1 to 5 to 7 (step 430), it is determined whether the number of errors is 3 or more (step 431). In area 2 (step 432), it is determined whether the number of errors is 2 or more (step 433). , 4 (step 434), it is determined whether the number of errors is 1 or more (step 435). In this manner, the setting value is set to be stricter in the danger area in the closing direction than in the start area 1 in the closing direction and the areas 5 to 7 in the opening direction.
[0244]
As a result of these determinations, if the current value of the current control region is not increasing (step 427), or if the number of errors is larger than the set value set for each area even if the current value is increasing, it is determined to be abnormal. Then, the pinch detection is permitted (step 435). Even if the current value of the current control area is increasing, the process returns if the number of errors is smaller than the set value.
[0245]
(Continuation & change amount routine)
FIG. 43 is a flowchart showing details of the continuation & change amount routine (steps 375, 389). The continuation & change amount routine is for effectively detecting the entrapment by measuring the change amount and the rise continuation time of the current value IN.
[0246]
First, it is determined whether the current value is increasing (step 436). If the current value is increasing, a counter for counting the duration is added (step 437). If there is no data of the current value before change (step 439), The current value is stored as the current value before change (step 440), and the current value before change is subtracted from the current value IN to obtain the amount of conversion of the current value (step 441), and the process returns. If the current value is not increasing (step 436), the counter for counting the duration is cleared (step 438), the current value before change is also cleared (step 442), and the routine returns.
[0247]
(Comprehensive judgment routine)
FIG. 44 is a flowchart showing details of the comprehensive determination routine (steps 376 and 390). This comprehensive determination routine performs the entrapment determination in consideration of all of the determination in learning, the amount of change in the current value, the increase duration time, and the like.
[0248]
First, it is determined whether or not the current value is equal to or greater than the abnormality recognition value (step 443). If the current value is equal to or greater than the abnormality recognition value, an abnormal state is set (step 444), and the process returns. If the current value is smaller than the abnormality recognition value (step 443), it is determined whether the entrapment detection is permitted in the learning determination (step 445), and if not, the process returns.
[0249]
If the detection of entrapment is permitted (step 445), the continuation time of the increase of the current value is equal to or more than the set maximum value (step 446A), and if the change amount of the current value is equal to or more than the set maximum value (step 446B), the continuation is continued. If the time is equal to or greater than the set minimum value and the amount of change is equal to or greater than the set value (however, smaller than the maximum value) (steps 447 and 448), it is determined that an entrapment has occurred, and the entrapment processing is completed (step 449). ), Return. An abnormal state is set (step 444), or the pinch processing is set (step 449). Thereby, for example, if the automatic closing operation is being performed, the reverse closing operation is performed to the target value by the automatic closing operation routine.
[0250]
(Slope determination routine)
FIG. 45 is a flowchart showing details of the slope determination routine (step 122). This slope determination routine is for preparing conditions for slope determination. First, it is determined whether the position of the door 2 is the area 1 or 6 (step). This is because the slope determination is performed in areas 1 and 6 which are the normal control areas. Therefore, if the position of the door 2 is in another area, the process returns.
[0251]
If the position of the door 2 is in the areas 1 and 6, it is determined whether or not the time for stabilizing the operation of the door 2 has passed (step 451), and if it has passed, it is determined whether or not the slope has been determined (step 452). When the operation time has not reached the stable time, or when the slope has been determined, the process returns.
[0252]
If the slope has not been determined, it is determined whether the stability count is equal to or greater than a predetermined set value (step 453). Here, the stability refers to a state in which the difference between the maximum value and the minimum value of a plurality of (for example, four) continuous cycle count values T is within a certain value. If the state is not equal to or more than the predetermined set number of times, the process returns.
[0253]
If the stability count is equal to or greater than the predetermined set value, it is determined that the door 2 has been stabilized on a flat ground, and it is determined whether a determination reference value has been input (step 455). At the initial stage, since the input has not been completed, the flat value data to be described later is input (step 457), and if the input has been completed, the slope inspection described later is performed (step 456).
[0254]
(Flat value data input)
FIG. 46 is a flowchart showing details of the flat value data input routine (steps 121 and 457). This flat value data input routine is for inputting a reference value (flat reference value) used for slope determination, and determines whether the cycle count value T in the areas 1 and 6 of the door 2 is within the reference cycle, that is, It is determined whether the moving speed is within a predetermined range with respect to the set speed T1 (FIG. 16) (step 458). If it is not within the predetermined range, the routine returns.
[0255]
If the door 2 is controlled to the target speed (step 458), the current value is stored as a flat current value (step 459), and the drive voltage at that time is stored as a flat drive voltage (step 460). The driving voltage is
Drive voltage = power supply voltage × (DUTY / 250)
It becomes. Here, (DUTY / 250) means the duty cycle as described above.
[0256]
(Slope inspection routine)
FIG. 47 is a flowchart showing details of the slope inspection routine (step 456). This slope inspection routine determines whether the state where the vehicle body 1 is stopped is a flat ground or a slope based on the flat reference values (flat current value and flat drive voltage) previously set.
[0257]
First, if the current value is larger than the flat current value (step 461), the slope current value as a determination margin is added to the flat current value, and the value after the addition is set as the slope determination value (step 462). If the current value is greater than or equal to the slope determination value (step 464), a steep slope value (greater than the slope value) as a determination margin is added to the flat current value, and the value after the addition is determined as a steep slope determination. The value is set (step 465).
[0258]
If the current value is greater than or equal to the steep slope determination value (step 467), and if the moving direction of the door 2 is the opening direction (step 468), it is determined that the door 2 is a steep downhill (step 470), and the closing direction is determined. If so, it is determined that it is a steep uphill (step 471). If the current value is smaller than the steep slope determination value (step 467) and the moving direction of the door 2 is the opening direction (step 469), it is determined that the door 2 is downhill (step 472) and the door 2 is in the closing direction. If it is, it is determined that the vehicle is going uphill (step 473).
[0259]
This means that if the stopping position of the vehicle body 1 is downhill and the moving direction of the door 2 is the opening direction, or if the stopping position of the vehicle body 1 is uphill and the moving direction of the door 2 is the closing direction, the door 2 resists its own weight. As the motor load increases and the current value increases in proportion to the slope of the slope, the slope determination is performed by comparing the current value with the flat current value. If the current value is smaller than the slope determination value (step 464), it is determined that the ground is flat (step 466).
[0260]
If the current value is equal to or less than the flat current value (step 461), the current drive voltage is obtained (step 463), and the slope voltage value as a judgment margin is subtracted from the previously obtained flat drive voltage. The value is set as a slope determination voltage (step 474). If the current drive voltage is equal to or smaller than the slope determination voltage (step 475), a sharp slope voltage value (greater than the slope value) as a determination margin is subtracted from the flat voltage value, and the value after the subtraction is determined as a sharp slope. The determination voltage is set (step 476).
[0261]
If the current drive voltage is equal to or smaller than the steep slope determination voltage (step 477) and the moving direction of the door 2 is the open direction (step 478), it is determined that the door 2 is steeply uphill (step 480), and the door 2 is closed. If there is, it is determined that it is a steep downhill (step 481). Further, if the current drive voltage is higher than the steep slope determination voltage (step 477), if the moving direction of the door 2 is the opening direction (step 479), it is determined that the door 2 is uphill (step 482). Is determined (step 483).
[0262]
This is because if the stop position of the vehicle body 1 is uphill and the moving direction of the door 2 is the opening direction, or if the stopping position of the vehicle body 1 is downhill and the moving direction of the door 2 is the closing direction, the door 2 will lose its own weight due to its own weight. Since it moves in the direction, if it is left as it is, there is a danger that it will suddenly open or close, so the drive voltage is lowered by DUTY control and speed control is performed, so the current drive voltage is compared with the flat drive voltage, and A determination can be made. If the current drive voltage is equal to or higher than the slope determination voltage (step 475), it is determined that the ground is flat (step 466).
[0263]
The calculation of the drive voltage (step 463) is performed as follows. When the duty is not 100% by the PWM control, the driving voltage at that time is:
DUTY value ÷ 250 (100%) = Drive ratio
Battery voltage x drive ratio = drive voltage
It becomes. If DUTY = 100%,
Battery voltage = drive voltage
It becomes. In the present embodiment, the duty value of 100% is set to 250.
[0264]
【The invention's effect】
According to the first aspect of the present invention, since the motor load data relating to the driving of the door is stored according to the position of the door, the motor load data at the position of the door when the jamming occurs is known. Since the known motor load data is read in advance and the fluctuation of the known data is predicted and determined, even if a soft elastic object is pinched, the pinching can be detected quickly with a small door movement distance. Can be operated safely.
[0265]
According to the second aspect of the present invention, since the current value of the motor that is sensitive to the opening / closing load resistance of the door is intermittently detected, the entrapment phenomenon is quickly detected based on a small moving distance of the door. Since the stop or inversion drive is performed quickly, it is safe.
[0266]
According to the third aspect of the present invention, in a sampling area for detecting motor load data, an average current value obtained by intermittently measuring a plurality of times of motor current is used as motor load data for the sampling area. Since the increase / decrease of the load is accurately reflected on the average current value, even if the result of passing through a small sampling area, the correct entrapment situation is reflected, and the entrapment can be quickly determined.
[0267]
According to the fourth aspect of the present invention, since the motor load data is stored as the change rate of the current or the average current between the sampling areas adjacent in the traveling direction, the load data relating to the movement of the door is stored in the load data. Is read as an increasing trend or a decreasing trend, and by predicting it in advance, it is possible to quickly and accurately determine the entrapment. The operation such as stopping or reversing can be taken promptly, and the door can be operated safely.
[0268]
According to the fifth aspect of the present invention, the degree of determination is small in the door closing direction and at a position where the opening width of the door is small. Further, when the frequency of occurrence of pinching is extremely rare, such as in the direction in which the door is opened, the degree of determination can be increased, so that erroneous detection of pinching can be reduced.
[0269]
Further, according to the invention as set forth in claim 6, the safety is not impaired against a temporary increase in the motor load that is not pinching, such as when pebbles enter the guide track, and erroneous detection of pinching is reduced. can do.
[Brief description of the drawings]
FIG. 1 is an external perspective view showing an example of an automobile to which the present invention is applied.
FIG. 2 is an enlarged perspective view of a vehicle body showing a state where a slide door is removed.
FIG. 3 is a perspective view showing a slide door.
FIG. 4 is a perspective view showing a mounting portion of the slide door as viewed from the inside of the vehicle.
FIG. 5 is a perspective view showing a main part of the slide door driving device.
FIG. 6 is a schematic plan view showing a moving state of a slide door.
FIG. 7 is a block diagram showing a connection relationship between the slide door automatic control device and peripheral electric elements.
FIG. 8 is a block diagram showing a main part of the slide door automatic control device.
FIG. 9 is a flowchart illustrating an operation of the automatic sliding door control device according to the present invention.
FIG. 10 is a schematic diagram of a mode determination routine of FIG. 9;
FIG. 11 is a time chart related to counting of a door moving speed executed by a pulse interrupt routine.
FIG. 12 is a time chart of sampling points at which position counting pulses are sampled in each area according to resolution.
FIG. 13 is a plan view of a lower truck showing a relationship between a door open / close position and a position count value and an area corresponding to a door opening degree.
FIG. 14 is a flowchart showing details of a pulse interrupt routine.
FIG. 15 is a flowchart showing details of a pulse count timer routine.
FIG. 16 is a memory table showing control data and the like required for each area.
FIG. 17 is a flowchart illustrating details of an automatic slide mode determination routine.
FIG. 18 is a flowchart showing details of a manual determination routine.
FIG. 19 is a flowchart showing details of an automatic opening operation routine.
FIG. 20 is a flowchart showing details of an automatic closing operation routine.
FIG. 21 is a flowchart showing details of a manual closing operation routine.
FIG. 22 is a flowchart showing details of a reverse rotation opening operation routine.
FIG. 23 is a flowchart showing details of a reverse rotation closing operation routine.
FIG. 24 is a flowchart showing details of a target position calculation routine.
FIG. 25 is a flowchart showing details of a door fully open control routine.
FIG. 26 is a flowchart showing details of a start mode routine.
FIG. 27 is a flowchart showing details of a manual normal start mode routine.
FIG. 28 is a flowchart showing details of a manual full-close start mode routine.
FIG. 29 is a schematic diagram of a speed control routine.
FIG. 30 is a block diagram showing functions related to speed control.
FIG. 31 is a graph showing a relationship between a voltage fluctuation and a duty cycle when the current flowing through the motor is constant.
FIG. 32 is a flowchart showing details of a PWM control routine.
FIG. 33 is a flowchart showing details of a feedback adjustment routine.
FIG. 34 is a schematic diagram of an entrapment determination routine.
FIG. 35 is a flowchart showing details of a pinch determination routine.
FIG. 36 is a block diagram illustrating functions related to pinch determination.
FIG. 37 is a graph showing a current value of a sampling region of interest.
FIG. 38 is a block diagram of a learning data calculation unit for storage.
FIG. 39 is a block diagram of a prediction comparison value calculation unit.
FIG. 40 is a flowchart showing details of a learning determination routine.
FIG. 41 is a flowchart showing details of an error determination routine.
FIG. 42 is a flowchart showing details of a learning weighting routine.
FIG. 43 is a flowchart showing details of a continuation / change amount routine.
FIG. 44 is a flowchart showing details of a comprehensive determination routine.
FIG. 45
It is a flowchart which shows the detail of a slope determination routine.
FIG. 46
It is a flowchart which shows the detail of a flat value data input routine.
FIG. 47
It is a flowchart which shows the detail of a slope inspection routine.
[Explanation of symbols]
1 Body
2 sliding door
3 Door opening
4 Upper truck
5 Lower truck
6 Sliding connector
7 Guide Track
8 Door lock
9 striker
10 Door drive
11 Motor drive
12 Door drive cable members
12a Closing cable
12b Opening cable
13 Base plate
14 Open / close motor
15 Drive pulley
16 Electromagnetic clutch
17 Speed reducer
18 Rotary encoder
19 Guide pulley
20 Reverse pulley
21 Moving parts
22 Hinge arm
23 Sliding door automatic control device
24 Battery
25 Ignition switch
26 Parking switch
27 Main switch
28 Door open switch
29 Door close switch
30 wireless remote control
31 Keyless system
32 buzzer
33 Body side connector
34 Door side connector
35 Actuator
36 Half latch switch
37 Door handle
38 pulse signal generator
39 output port
40 generator
41 Stabilized power supply
42 Speed detector
43 Position detector
44 Motor switch
45 polarity inversion switch circuit
46 Power switch element
47 Voltage detector
48 A / D converter
49 Shunt resistor
50 Current detector
51 A / D converter
52 Clutch drive circuit
53 Actuator drive circuit
54 Control mode selector
55 Main control unit
56 Auto slide controller
57 Speed control unit
58 Insertion control unit
59 Slope judgment section
60 Door position detector
61a Control area discriminator
61b Control speed selector
62 Adjustment amount calculator
63 Maximum adjustment amount limiter
64 Door moving speed detector
65 Too fast detector
66 Too late detector
67 Feedback adjustment unit
68 Power supply voltage detector
69 Duty operation unit

Claims (6)

In an automatic opening / closing control device for a vehicle sliding door, a sliding door supported to be openable and closable along a guide track provided on a vehicle body is opened and closed by a motor drive.
A door drive unit having a forward / reverse motor,
Motor load detecting means for detecting motor load corresponding data of the door drive unit,
Door position detecting means for detecting the position of the door guided by the guide track in a range from a fully opened door to a fully closed door,
Storage means for storing motor load corresponding data relating to the position of the door by associating the motor load corresponding data detected by the motor load detecting means with a required sampling area addressed by the detection position of the door position detecting means,
Each time the stored motor load corresponding data is read out at the address of the latest sampling area, the read motor load corresponding data is appropriately corrected based on the latest detected motor load corresponding data and newly stored. Motor load corresponding data learning means for learning as motor load corresponding data to be provided;
Reads out the stored motor load corresponding data of the sampling area which is advanced by an appropriate number of areas in the door movement direction from the sampling area where the door actually exists, and calculates the necessary motor load corresponding data of the sampling area where the door actually exists. Entrapment determining means for determining a predicted value of motor load corresponding data predicted for the movement direction of the door, and determining the presence or absence of entrapment based on the deviation between the predicted value and the motor load corresponding data of the actual sampling area;
An automatic opening / closing control device for a sliding door for a vehicle, comprising: 2. The automatic opening / closing control apparatus for a vehicle sliding door according to claim 1, wherein the motor load correspondence data is a current value of a motor intermittently detected. 2. The sliding door for a vehicle according to claim 1, wherein the motor load correspondence data is an average current value of a plurality of motor currents intermittently detected in a sampling area having an address corresponding to a door position. Automatic opening and closing control device. The stored motor load-corresponding data is the current value or average current value of the immediately preceding detection sampling area based on the motor current value or average current value detected in each sampling area arranged in the door moving direction and the current detection sampling. The automatic sliding door opening / closing control device for a vehicle according to any one of claims 1 to 3, wherein the rate of change is a rate of change from a current value or an average current value in a region. When the pinch determination means determines the presence or absence of a pinch based on a deviation between a predicted value obtained from the stored motor load corresponding data and a motor load corresponding data in an actual sampling area, a determination is made according to a door position and an operating direction. The automatic opening / closing control device for a sliding door for a vehicle according to any one of claims 1 to 4, wherein the degree is changed. When the pinch determination means determines the presence or absence of a pinch from the deviation between the predicted value obtained from the stored motor load corresponding data and the motor load corresponding data in the actual sampling area, in addition to the comparison with the predicted value, The automatic opening / closing control device for a sliding door for a vehicle according to any one of claims 1 to 5, wherein a determination is made of the tendency of the motor load data to increase.

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