JP2004137875A - Control device for opening/closing body for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an opening/closing body for a vehicle capable of reducing a pinching load even if the speed of the opening/closing body is lowered due to the generation of pinching. <P>SOLUTION: This control device for an opening/closing body for a vehicle is provided with a duty ratio computing unit 78 for computing a duty ratio when performing duty-control of the power to be supplied to a door driving motor 48 for operating the opening/closing body to open/close on the basis of a result of an addition of a first multiplication value, which is obtained by multiplying a speed difference between the opening/closing body target speed and the opening/closing body real speed with a negative value proportional gain, and a second multiplication value, which is obtained by multiplying an integral value of the speed difference with an integration gain. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle opening / closing body control device that is provided in a vehicle and controls the speed of a vehicle opening / closing body that opens and closes when, for example, an occupant of the vehicle gets on and off.
[0002]
[Prior art]
2. Description of the Related Art A power sliding door system has been known in which a sliding door mechanism provided in a vehicle is opened and closed by a driving force of a motor. As described above, the slide door opening / closing control device for a vehicle that automatically opens and closes by driving the slide door of the vehicle with the motor includes the rotation speed detection unit that detects the rotation speed of the motor. The moving speed of the sliding door is calculated from the number of rotations of the motor per predetermined time detected by the rotation number detecting unit, and the driving force of the motor, for example, PWM (Pulse) is calculated based on the calculated moving speed of the sliding door and the target moving speed. An invention for controlling a duty ratio in Width Modulation control is known, for example, from Japanese Patent Application Laid-Open No. 2000-127774.
[0003]
In the above invention, when the slide door speed falls below the determination speed VJ lower than the target speed VL by a predetermined value, the state that the state in which the target speed VL becomes equal to or lower than the predetermined value (VL-VJ) is continued. It counts with a pulse signal, and when the count reaches the continuous state determination value, the duty ratio (d) of the drive motor is increased. The value for calculating the increase Δd at this time is a relatively small value, and may be, for example, 2%. By performing such control, even if pinching occurs, it is possible to avoid a sudden increase in motor torque and make the sliding door speed match the target speed regardless of a change in load. I have.
[0004]
[Problems to be solved by the invention]
However, in the above invention, when the actual speed of the sliding door is reduced due to the entrapment, the duty ratio of the drive motor is increased even if the value is small. For this reason, there is a problem that the torque of the drive motor increases to some extent, and an increase in the pinching load cannot be avoided.
[0005]
Therefore, the present invention has been made in view of the above, and an object of the present invention is to control a vehicle opening / closing body that reduces a sandwiching load even when the speed of the opening / closing body is reduced due to the entrapment. It is to provide a device.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, means for solving the problems of the present invention include: an actual speed detecting means for detecting an actual opening / closing speed of an opening / closing body for a vehicle provided in a vehicle; A target speed generating means for generating an opening / closing body target speed which is a target opening / closing speed of the body; a target speed of the opening / closing body generated by the target speed generating means; and a speed of the opening / closing body actual speed detected by the actual speed detecting means. A duty ratio calculating means for calculating a duty ratio when performing duty control of power supplied to a motor for opening and closing the vehicle opening / closing body by using the obtained speed difference; and A gain setting means for setting a gain used to calculate a ratio, wherein the duty ratio calculation means includes a negative value for the speed difference. A first multiplier that multiplies the proportional gain, based on the second multiplication value and the addition result obtained by adding the multiplied by integral gain to the integral value of the speed difference, and calculates the duty ratio
[0007]
【The invention's effect】
As described above, according to the present invention, it is possible to achieve a reduction in the entrapment load by reducing the actual speed of the opening and closing body more than the effect of the load for a sudden load change of the opening and closing body such as entrapment. it can.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0009]
The present invention is applied to, for example, a slide door control system configured as shown in FIG.
[0010]
The slide door control system includes a slide door opening / closing system 11 that controls opening and closing of the slide door 1 in a range from a half door position (half latch position) to a full open position, and a slide door 1 provided in the slide door 1 to shift the slide door 1 to a half door. And a door closure system 12 that performs drive control in a range from a position (half latch position) to a fully closed position (full latch position).
[0011]
In this slide door control system, the control area of the slide door 1 controlled by the slide door opening / closing system 11 is from the position where the half-door state is detected (half latch position) to the fully open position, and is controlled by the door closure system 12. From the outside to the fully open position.
[0012]
The door closure system 12 includes a power supply connector 21 connected to a battery (not shown), a close motor 22, a release motor 23, a latch mechanism 24, a half latch switch 25, and a closure controller 26 connected to the door handle 2. I have.
[0013]
When detecting that the slide door 1 has reached the half latch position, the half latch switch 25 outputs a half latch detection signal to the closure controller 26.
[0014]
The latch mechanism 24 is driven by the torque generated by the close motor 22 and fastened to a striker (not shown) provided on the slide door 1 to bring the slide door 1 from the half-door state to the fully closed state. The slide door 1 is released from the fully closed state to the open state by releasing the fastening with a striker (not shown) provided on the slide door 1 by driving with the generated torque.
[0015]
The closure controller 26 controls the operation of the latch mechanism 24 by inputting an operation of the door handle 2, a half-latch detection signal, and an operation input signal from a door opening / closing control unit 36 described later. The closure controller 26 detects that the slide door 1 is operated to be opened by the operation of the door handle 2 by the user.
[0016]
The closure controller 26 recognizes that the slide door 1 is in the open state, recognizes that the slide door 1 has reached the half-latch position by the half-latch switch 25, and sets the slide door 1 in the fully-closed state. The power from the power supply connector 21 is supplied to the close motor 22 in response to the input of the signal to generate the torque. Thereby, the closure controller 26 operates the latch mechanism 24 to bring the slide door 1 to the fully closed state.
[0017]
Further, when the closure controller 26 recognizes that the slide door 1 is in the fully closed state, a signal from a door opening / closing operation section 34 or a keyless controller 35 described later is input from the door opening / closing control section 36. In response, the power from the power supply connector 21 is supplied to the release motor 23 to generate torque. As a result, the closure controller 26 operates the latch mechanism 24 to open the slide door 1, and positions the slide door 1 in the opening direction from the half-latch position by the weatherstrip reaction force. In this state, the slide door 1 is located in a control area of the slide door opening / closing system 11.
[0018]
The sliding door opening / closing system 11 includes a door driving unit 31, a buzzer 32, a main operating unit 33, a door opening / closing operating unit 34, a keyless controller 35 connected to the sliding door 1, and a door opening / closing control unit 36 for controlling these. I have.
[0019]
The main operation unit 33 and the door opening / closing operation unit 34 are arranged at positions operable by a user in a state where the user gets on the vehicle, for example. The main operation unit 33 and the door opening / closing operation unit 34 output an operation input signal to the door opening / closing control unit 36 in response to an operation by the user.
[0020]
The door opening / closing operation unit 34 includes a switch for generating an operation input signal for starting the opening operation of the slide door 1 and a switch for generating an operation input signal for starting the closing operation of the slide door 1. The door opening / closing operation section 34 outputs an operation input signal to the door opening / closing control section 36 in response to each switch being operated.
[0021]
The main operation unit 33 includes a switch that generates a signal for permitting or prohibiting the control of the slide door control mechanism, and outputs a permission signal or a prohibition signal to the door opening / closing control unit 36 in response to the operation.
[0022]
The keyless controller 35 receives a wireless signal transmitted by operating a switch provided on the portable remote controller, generates an operation input signal, and outputs the operation input signal to the door opening / closing controller 36.
[0023]
The buzzer 32 notifies the user of the operation of the slide door 1 by sounding in response to a drive signal from the door opening / closing control unit 36.
[0024]
The door drive unit 31 has a door connection mechanism 41, pulleys 42 and 43, a drum mechanism 44, and a spring mechanism 45 connected via a wire 46. The door drive unit 31 detects a movement of the drum mechanism 44 to generate a door drive pulse for the slide door 1, a door open / close drive motor 48 for generating a torque for opening and closing the slide door 1, A clutch mechanism 49 for switching the connection relationship between the opening / closing drive motor 48 and the drum mechanism 44 is provided.
[0025]
The door drive unit 31 is configured as shown in FIG. 2 with a partial front perspective view and a rear perspective view in FIG. As shown in FIG. 3, the door drive unit 31 includes a wire 46 connected to the slide door 1, a drum mechanism 44 around which the wire 46 is wound around a side surface, and a spring mechanism 45 for holding the wire 46 at a constant tension. 50. When the door opening / closing drive motor 48 rotates, the drum mechanism 44 rotates by the torque to wind and open the wire 46. Thereby, the drum mechanism 44 operates the slide door 1 in the opening direction or the closing direction by performing the operation of winding the wire 46 or the operation of opening the wire 46.
[0026]
As shown in FIG. 2, the door driving unit 31 is connected to the center axis of the drum mechanism 44 and has a rotating electrode plate 51 having electrodes formed at predetermined intervals on the surface thereof, and an electrode forming portion of the rotating electrode plate 51. A pulse encoder 47 is provided with two rotation detection terminals 52 and a ground terminal 53 that are in contact with the motor. The pulse encoder 47 generates a door drive pulse in response to the rotation of the rotary electrode plate 51 by the rotation of the drum mechanism 44 by the torque of the door opening / closing drive motor 48 and the contact of the rotation detection terminal 52 with each electrode. . Thereby, the pulse encoder 47 supplies a door drive pulse according to the opening / closing operation of the slide door 1 to the door opening / closing control unit 36. The door drive pulse generated by the pulse encoder 47 has a frequency corresponding to the moving speed of the slide door 1 because the door open / close drive motor 48 and the pulse encoder 47 are connected to each other. In the present embodiment, the mechanical encoder as described above is used, but this may be, for example, an optical encoder.
[0027]
The door opening / closing drive motor 48 is supplied with power whose duty ratio is controlled from the drive circuit 61 and generates a torque corresponding to the duty ratio. Accordingly, the door opening / closing drive motor 48 drives the drum mechanism 44 via the clutch mechanism 49 to drive the slide door 1.
[0028]
Further, a drive circuit 61 and a battery voltage detection unit 62 are connected to the door opening / closing control unit 36, as shown in FIG.
[0029]
The drive circuit 61 is connected to a battery (not shown), receives the duty ratio signal sent from the door open / close control unit 36, and receives a control signal indicating the drive direction of the door open / close drive motor 48. The drive circuit 61 supplies a drive current to the door opening / closing drive motor 48 according to the duty ratio signal and the control signal, thereby rotating the door opening / closing drive motor 48 in the opening direction or the closing direction of the slide door 1.
[0030]
The battery voltage detecting section 62 is connected to a battery (not shown) in the vehicle, and detects a battery voltage supplied from the battery to the drive circuit 61. The battery voltage detection section 62 outputs the detected battery voltage to the door opening / closing control section 36.
[0031]
FIG. 4 is a functional block diagram showing the configuration of the door opening / closing control unit 36. In FIG. 4, the door opening / closing control unit 36 includes a door opening / closing operation unit 34, an operation determination unit 71 that inputs an operation input signal from the main operation unit 33, and a drive determination unit that inputs a half latch detection signal from the half latch switch 25. 72, a driving direction determining unit 73, a door position calculating unit 74 for inputting a door driving pulse from the pulse encoder 47, a speed calculating unit 75, a pinching determining unit 76, a door target speed generating unit 77, a duty ratio calculating unit 78, a feedback gain It comprises a setting section 79.
[0032]
The door position calculation unit 74 calculates a door position by inputting a door drive pulse. The door position calculation unit 74 holds, for example, a numerical value “300” as door position information when the slide door 1 is at the fully open position. Then, when a door drive pulse is input due to the sliding door 1 moving in the closing direction from the fully opened state, the door position calculating unit 74 calculates the door position information by subtracting the numerical value from “300”. The door position calculation unit 74 outputs the calculated door position information to the pinch determination unit 76, the drive determination unit 72, and the door target speed generation unit 77.
[0033]
The speed calculation unit 75 receives the door drive pulse from the pulse encoder 6, calculates the period of the door drive pulse, calculates the actual moving speed (actual moving speed) of the slide door 1, and calculates the actual moving speed information. Is generated and output to the pinch determination unit 76, the duty ratio calculation unit 78, and the feedback gain calculation unit 79.
[0034]
The pinch determination unit 76 detects the pinch of a foreign object in the slide door 1 based on the door position information and the actual moving speed information. When the pinch determination section 76 detects the pinch of a foreign substance, it outputs a pinch detection signal to the drive determination section 72.
[0035]
When inputting operation input signals from the door operation unit 2 and the main operation unit 33, the operation determination unit 71 determines the operation content of the door operation unit 2 and the main operation unit 33, and outputs the operation content determination signal to the drive determination unit 72. Output to
[0036]
The drive determination unit 72 recognizes the operation content of the user from the operation content determination signal from the operation determination unit 71. Further, when the half-latch detection signal is input from the half-latch switch 4, the drive determination unit 72 recognizes that the slide door 1 is in the half-door state. In this half-door state, the drive determination unit 72 recognizes that the position of the slide door 1 is outside the control range of the slide door opening / closing system 11 and is within the control range of the door closure system 12. As a result, the drive determination unit 72 enters a state in which the operation of the slide door 1 is not controlled. Further, the drive determination unit 72 is connected to the door position calculation unit 74 and the pinch determination unit 76, and inputs door position information and a pinch detection signal.
[0037]
The drive determination unit 72 determines the drive content of the slide door 1 and the buzzer 32 based on the input signal, outputs a drive signal to the buzzer 32, and outputs a drive content signal indicating the drive content of the slide door 1 in the drive direction. Output to the determination unit 73.
[0038]
When the drive determination unit 72 receives an operation content determination signal for reversing the moving direction of the slide door 1 from the operation determination unit 71, it first outputs a drive content signal for applying a motor brake to the drive direction determination unit 73. Next, the drive determination unit 72 outputs to the drive direction determination unit 73 a drive content signal for reversely moving the slide door 1 a predetermined period after the motor brake is applied.
[0039]
The drive direction determining unit 73 determines the drive direction of the door opening / closing drive motor 48 according to the drive content signal from the drive determination unit 72, and outputs a control signal for controlling the relay state of the drive circuit 8.
[0040]
The target speed generation unit 77 stores the target speed according to the door position in advance as a map, inputs the door position information from the door position calculation unit 74, and sets the target target speed of the slide door 1 according to the door position. Is selected from the map, target speed information is generated, and output to the duty ratio calculation unit 78 and the feedback gain setting unit 79.
[0041]
The feedback gain setting unit 79 sets an integral gain, a proportional gain, a feed forward gain, and the like for generating a torque required for the door opening / closing drive motor 48 from the battery voltage detection signal, the door position information, the target speed, and the actual moving speed. Then, the set gain is output to the duty ratio calculating section 78.
[0042]
The duty ratio calculation unit 78 performs a calculation described below based on each gain set by the feedback gain setting unit 79 so that the actual door speed becomes the door target speed, and calculates the torque required for the door opening / closing drive motor 48. A duty cycle signal indicating a duty ratio to be generated is generated and output to the drive circuit 8.
[0043]
FIG. 5 is a diagram showing the configuration of a control system including the duty ratio calculation unit 78 according to the first embodiment of the present invention and performing negative feedback control based on the speed difference between the door target speed VL and the actual door speed V. . In FIG. 5, a duty ratio calculator 78 includes a first adder 81, a proportional gain calculator 82, an integration calculator 83, an integration gain calculator 84, which inputs a door target speed and a negative value of the actual door speed. There is provided a second adder 85 for adding the output of the proportional gain calculator 82 and the output of the integral gain calculator 84 to output a duty cycle signal indicating a duty ratio. In the duty ratio calculator 78, the proportional gain of the proportional gain calculator 82 and the integral gain of the integral gain calculator 84 are set by the feedback gain setting unit 79. In FIG. 5, the door actual speed V is obtained by inputting the duty cycle signal output from the second adder 85 to the door control model 86. This door control model 86 is represented by approximation by the following equation (1).
[0044]
When the target door speed and the actual door speed are input to the duty ratio calculation unit 78, the first adder 81 subtracts the actual door speed from the target door speed. The result of the subtraction is integrated by the integration calculator 83 and multiplied by the proportional gain (K2) having a negative value by the proportional gain calculator 82. The output of the integration calculator 83 is multiplied by the integration gain (K1) by the integration gain calculator 83, and the multiplication result is added to the output of the proportional gain calculation unit 82 by the second adder 85. The signal is output to the drive circuit 61 as a signal.
[0045]
In the first embodiment of the present invention, when the actual door speed V falls below the door target speed VL, the duty ratio is increased by a value proportional to (VL-V) by providing the duty ratio calculation unit 78. Instead, the duty ratio is reduced. That is, when a control system is configured by normal negative feedback control in which a difference between the door target speed VL and the actual door speed V is multiplied by a predetermined gain as shown in FIG. 5, the proportional gain K2 is used for normal control. It is characterized in that a negative value is used instead of a positive value.
[0046]
If the proportional gain K2 is set to a negative value, the door actual speed V cannot be equal to the door target speed VL with respect to a change in load. For this reason, the duty ratio calculation unit 78 shown in FIG. 5 calculates a value obtained by multiplying the value obtained by integrating (VL-V) by the integration calculator 83 by a predetermined integration gain K1, and (VL-V) as a negative proportional gain. K2 is added to the multiplied value.
[0047]
When the actual door speed suddenly decreases due to pinching or the like, the duty ratio decreases in proportion to the decrease in the actual door speed due to the effect of the negative proportional gain K2. As a result, a reduction in the actual door speed is promoted, and a remarkable reduction in the pinching load can be achieved. At the same time, for loads that increase or decrease, for example, when the vehicle is on a slope, such loads are not abrupt load changes, so that the integral value increases sufficiently over time, increasing the motor torque. To make the actual door speed V coincide with the target door speed VL.
[0048]
Next, the responsiveness of the door opening / closing drive motor 48 by each gain set in the duty ratio calculating section 78 in the door opening / closing control section 36 configured as described above will be described.
[0049]
When the door opening / closing drive motor 48 to be controlled is a DC motor, the relationship between the battery voltage supplied from the drive circuit 61 and the actual moving speed is approximated as a first-order lag characteristic as shown in Expression 1 below (model ).
[0050]
(Equation 1)
a / (s + τ) (Equation 1)
In the above equation 1, τ is a constant, and a is a function depending on the battery voltage to be duty-controlled, but is a constant here for simplicity of explanation. That is, the actual door speed in the steady state is proportional to the duty ratio applied to the door opening / closing drive motor 48.
[0051]
The duty ratio calculation unit 78 constitutes a PI control system as shown in FIG. 5, for example, a control system with an integral gain K1 = 1 and a proportional gain K2 = 1. If = 1, the responsiveness to the target value and the responsiveness to disturbance, ie, pinching, are as shown in (1) of FIG. FIG. 6 is a diagram illustrating the actual door speed when the door starts moving from a stopped state and a disturbance (sandwich) occurs 15 seconds after the door starts moving. The response characteristic indicated by {circle around (1)} in FIG. 6 indicates that the closed-loop pole ω given by the following equation 2 is 1. The damping coefficient ζ is given by Equation 3 below.
[0052]
(Equation 2)
ω2 = K1 Equation (2)
ζ = (τ + K2) / (2 × ω) Equation (3)
Here, the smaller ω, the lower the response to disturbance. That is, since the time required to overcome the disturbance and recover the actual door speed becomes slower, if the integral gain K1 and the proportional gain K2 are selected to obtain a characteristic of, for example, ω = 0.5, the above equation (2) ( According to 3), K1 = 0.25 and K2 = 0. It should be noted that if the damping coefficient 振動 is too small, the vibration will occur, and if the damping coefficient 大 き is too large, the response will be too slow. Therefore, the equation (3) is solved under the condition of ζ = 1.
[0053]
The characteristics in this case are as shown in (2) of FIG. 6. However, when ω = 0.4, K2 is set to a negative value, that is, −0.2 as given by the above equation (3). I have no choice. Therefore, when K2 = −0.2 and K1 = 0.16, as shown in FIG. 7, the voltage in the case of ω = 1 rises immediately after the pinching occurs as shown in FIG. This will increase the pinch load. On the other hand, when ω = 0.4, as shown in FIG. 7B, the voltage once drops and then gradually rises, which can contribute to a reduction in the sandwiching load.
[0054]
As described above, in the first embodiment, the proportional gain K2 for the difference between the door target speed VL and the door actual speed V is set to a negative value, and the integral for the integral value of the difference between the door target speed VL and the door actual speed V is set. By setting the gain K1 to a positive value, the door driving force is positively reduced in response to a sudden load change such as pinching, and the actual door speed is reduced more than the effect of the load. Can be reduced. On the other hand, it is possible to realize a door control system that can make the actual door speed V equal to the door target speed VL with respect to a gradual load change such as a vehicle inclination and a change in frictional force of the door rail.
[0055]
FIG. 8 is a diagram illustrating a configuration of a control system including a duty ratio calculation unit 78 according to the second embodiment of the present invention and similar to FIG. 8, the duty ratio calculator 78 includes a first adder 81 for inputting a negative value of the door target speed and a negative value of the actual door speed, a proportional gain calculator 87, an integration calculator 83, and an integration gain calculator 84. , A second adder 85, and a feedback gain calculator 88. In the duty ratio calculator 78, the proportional gain of the proportional gain calculator 82, the integral gain of the integral gain calculator 84, and the feedback gain of the feedback gain calculator 88 are set by the feedback gain setting unit 79.
[0056]
When the target door speed VL and the actual door speed V are input to the duty ratio calculation unit 78, the first adder 81 subtracts the actual door speed from the target door speed. The result of the subtraction is integrated by the integration calculator 83 and multiplied by the proportional gain K2 having a positive value by the proportional gain calculator 87. The output of the integration calculator 83 is multiplied by the integration gain K1 by the integration gain calculator 83. The actual door speed is multiplied by a feedback gain K4 by a feedback gain calculator 88. The multiplication result of the proportional gain calculator 87, the multiplication result of the integration gain calculator 84, and the multiplication result of the feedback gain calculator 88 are added by the second adder 85, and the addition result is output to the drive circuit 61 as a duty cycle signal. Is done.
[0057]
In such a configuration, in the second embodiment, the duty ratio is increased or decreased in proportion to the door actual speed by using a value obtained by multiplying the door actual speed V by a positive value feedback gain K4. This embodiment is characterized in that the same effects as those of the embodiment are obtained. In the first embodiment, when the actual door speed V decreases, the duty ratio is controlled so that the duty ratio is instantaneously reduced and then increased. In such a control method, followability to the door target speed VL is not preferable.
[0058]
Therefore, in the present embodiment, the value proportional to the actual door speed V is positively fed back, and at the same time, the first gain is used for the load fluctuation by using the proportional gain K2 and the integral gain K1, which are positive values. A control system that operates in the same manner as in the first embodiment and that favorably follows a change in the door target speed can be obtained.
[0059]
In the second embodiment, similar effects can be obtained even if the configuration shown in FIG. 9 (third embodiment) is adopted. The configuration shown in FIG. 9 is different from the configuration shown in FIG. 8 in that the feedback gain calculator 88 shown in FIG. 8 is eliminated, and a positive feedback gain calculation for multiplying the door target speed VL by a positive feedback (feedforward) gain K3 is performed. And a proportional gain calculator 87 for multiplying the addition result of the first adder 81 by the proportional gain K2 is provided in place of the proportional gain calculator 87. The multiplication result of the positive feedback gain calculator 89 and the proportional gain are provided. The second adder 85 adds the multiplication result of the operation unit 90 and the multiplication result of the integration gain operation unit 84 to each other. Here, the gains shown in FIGS. 8 and 9 are converted as shown in the following equations (4) and (5), whereby the control system having the configuration shown in FIG. 8 and the control system having the configuration shown in FIG. Is equivalent.
[0060]
[Equation 3]
K2 = K5−K4 Equation (4)
K3 = K4 Equation (5)
Comparing the control system of the third embodiment shown in FIG. 9 with the control system of the first embodiment shown in FIG. 5, the control system of the first embodiment has a proportional gain K2 of -0.2. In this case, the responsiveness to the target value at the start of the movement is not only delayed (as indicated by (2) in FIG. 6) as when the proportional gain K2 is set to 0, but also as shown in (3) in FIG. As described above, since the robot once moves in the opposite direction and then follows the target, the responsiveness at the start of the movement has deteriorated.
[0061]
As an example of an embodiment for avoiding this, it is conceivable to perform positive feedback using the positive feedback gain K3 adopted in the embodiment shown in FIG. For example, the response when the feedback gain K3 = 0.7, the proportional gain K2 = 0.5, and the integral gain K1 = 0.16 is as shown by (4) in FIG. In the response characteristics shown in (4) in FIG. 6, the response to the disturbance is exactly the same as that in (3) in FIG. 6, but the target value response at the start of movement is the response shown in (1) in FIG. It is close to gender.
[0062]
FIG. 10 is a diagram illustrating a configuration of a control system including a duty ratio calculation unit 78 according to the fourth embodiment of the present invention, which is similar to FIG. In FIG. 10, the duty ratio calculator 78 of the fourth embodiment is characterized in that the door target speed VL is shown below as compared with the duty ratio calculator 78 of the first embodiment shown in FIG. A compensator 91 that functions as a target speed changing unit that outputs to the first adder 81 with response characteristics, and a compensation that inputs the door target speed VL and outputs it to the second adder 85 with the following response characteristics That is, a pre-compensator comprising a compensator 92 functioning as a unit is provided.
[0063]
Assuming that the response to the desired target value is obtained as the transfer function m (s), the transfer function A (s) of the compensator 91 is expressed by the following equation (6). The function B (s) is expressed as shown in the following equation (7).
[0064]
(Equation 4)
A (s) = m (s) Equation (6)
B (s) = {(s + τ) / a} × m (s) Equation (7)
In such a configuration, a desired response characteristic with respect to the target value can be obtained even if the integral gain K1 and the proportional gain K2 are set to arbitrary values, for example, if the proportional gain K2 is set to a negative value. As a result, the speed of the door can be reduced at the time of pinching, and the door target speed can be followed well.
[0065]
Next, in the third embodiment, a processing procedure for generating a duty cycle signal by setting the integral gain K1, the proportional gain K2, the positive feedback gain K3, and the proportional gain K5 by the door opening / closing control unit 36 described above. Will be described with reference to FIG. 11, FIG. 12 or FIG.
[0066]
First, the door opening / closing control unit 36 calculates the moving direction and the door position of the sliding door 1 by performing the processing of the flowchart shown in FIG. 11 by the door position calculating unit 74, and then, as shown in FIG. 12 or FIG. A duty cycle signal is generated by performing the processing of the flowchart.
[0067]
Next, a method of calculating the door position by the door position calculating unit 74 will be described with reference to FIG.
[0068]
In FIG. 11, when the slide door 1 actually moves and a door drive pulse is input from the pulse encoder 47, the count value (FreeRun) of the internal free-run counter is counted by the door position calculator 74 to the current count value (FreeRun). (CountNow) (step S1101). This free-run counter detects, for example, the rise of a door drive pulse from the pulse encoder 47 and counts the number of pulses.
[0069]
Next, the difference between the previous count value and the current count value set in step S1101 is calculated by the door position calculation unit 74, and the calculated value is set as a pulse value (Pulse) for determining the door position. Then, the current count value obtained in step S1101 is changed to the previous count value (step S1102). Then, it is determined whether or not the pulse value calculated in step S1102 is a negative value smaller than “0” (step S1103). If not, the count value is used in the subsequent processing. When it is determined to be smaller, the maximum count value (MAXFREERUN) of the free-run counter and the count value obtained in step S1102 are added to make the count value used in the subsequent processing (step S1104).
[0070]
Next, the door position calculator 74 determines the B-phase voltage level of the door open / close drive motor 48 to determine the rotation direction of the door open / close drive motor 48 (step S1105). At this time, the door position calculating unit 74 determines whether the B-phase voltage level of the door opening / closing drive motor 48 is at the high level, and if not, adds the door counter value by “1”. If it is determined that the slide door 1 is at the high level (step S1106), the door counter value (DoorCount) indicating the moving direction of the slide door 1 is decremented by "1" in step S1107 (step S1107).
[0071]
Next, the door position calculating unit 74 sets the value of the edge flag (edgeFlag) indicating whether or not a door drive pulse is input to “1”, and if a pulse is input (step S1108), step S1102 or step S1104 is performed. The position (area) where the slide door 1 is present is calculated based on the pulse value calculated in step S1105 and the rotation direction of the door opening / closing drive motor 48 determined in step S1105, and the door position information is output to the target speed generator 77 and the feedback gain. Output to the setting unit 79 (step S1109).
[0072]
In this way, the calculated door position information is input to the target speed generating unit 77 and the feedback gain setting unit 79, and the process shown in FIG. 12 is started at predetermined intervals (for example, every 50 msec) at which the process is executed. You.
[0073]
FIG. 12 is a flowchart showing a procedure when a process for generating a duty cycle signal is realized by, for example, a microcomputer according to the fifth embodiment of the present invention.
[0074]
In FIG. 12, first, the speed calculator 75 calculates (1000 × 2.7 (electrode interval) / encoder pulse width) to obtain the actual door speed V (step S1201). The formula for calculating the actual door speed V is merely an example, and can be changed as appropriate depending on the electrode spacing of the encoder. Next, the target speed generation unit 77 generates the door target speed VL corresponding to the door position calculated by the door position calculation unit 74 as described above, and outputs it to the duty ratio calculation unit 78 (step S1202).
[0075]
Next, the feedback gain setting unit 79 compares the actual door speed V with the target door speed VL (step S1203). If V ≧ VL, for example, the integral gain K1 = 1, the proportional gain K2 = 1, and the feedback gain K3 is set to 0 (step S1204). If V <VL, for example, the integral gain K1 is set to 0.16, the proportional gain K2 is set to -0.2, and the feedback gain K3 is set to 0.75 (step S1205). Subsequently, the duty ratio calculator 78 multiplies the feedback gain K3 by the target door speed VL (step S1206), multiplies the proportional gain K2 by (VL-V) (step S1207), and sets the integral gain K1 and (VL). -V) (step S1208). Then, the duty ratio calculator 78 uses the second adder 85 to calculate the multiplication result (F) obtained in step S1206, the multiplication result (P) obtained in step S1207, and the multiplication result (I) obtained in step S1209. Is added to obtain a duty ratio (Duty) (step S1209).
[0076]
Next, the duty ratio calculator 78 determines whether the duty ratio obtained in step S1209 is 0% or more (step S1210). If it is determined that the duty ratio is 0% or more, the process proceeds to step S1212. If it is determined that the duty ratio is not 0% or more, the duty ratio is set to 0%.
[0077]
Next, the duty ratio calculation unit 78 determines whether the duty ratio obtained in step S1209 is 100% or more. That is, it is determined whether or not the door actual speed V exceeds the door target speed VL. If it is determined that the duty ratio is 100% or more, the process proceeds to step S1214. If it is determined that the duty ratio is not 100% or more, the multiplication value (I) obtained in step S1208 is added to the integral value (Isum). To obtain a new integral value (step S1213). Finally, the duty ratio calculation unit 78 sets the duty ratio of the integral value obtained in step S1213 in a motor drive register (not shown) of the drive circuit 61 (step S1214).
[0078]
In the processing procedure shown in FIG. 12, the feedback gain setting unit 79 sets the proportional gain K2 to a positive value when the door actual speed V exceeds the door target speed VL, that is, when (VL−V) is negative, , The integral gain K1 and the feedback gain K3 are set. As a result, the duty ratio can be rapidly reduced as a normal feedback control, and the actual door speed V can be reduced. As a result, for example, when the vehicle is stopped on a downhill, when the actual door speed exceeds the door target speed, or when the actual door speed is slightly lower than the door target speed due to the swing resistance of the door, Thus, the actual door speed can quickly follow the door target speed.
[0079]
FIG. 13 is a flowchart showing a procedure when a process for generating a duty cycle signal according to a sixth embodiment of the present invention is realized by, for example, a microcomputer. The feature of this processing procedure is that, compared to the processing procedure shown in FIG. 12, the door position and the door position are determined by using the table 1 shown in FIG. 14 in place of the processing in steps S1203, S1204 and S1205 shown in FIG. Step S1301 for setting the integral gain K1, the proportional gain K2, and the positive feedback gain K3 based on the actual door speed and the target door speed is performed.
[0080]
The table 1 shown in FIG. 14 has a door position (10 mm, 300 mm, 600 mm) based on the front closing position, and a magnitude relationship (VL-V ≦ −2, −2 <) between the door actual speed V and the door target speed VL. The integral gain K1, the proportional gain K2, and the feedback gain K3 are set according to VL-V & VL-V <10, 10 <VL-V).
[0081]
In the process shown in FIG. 13, according to the value of (VL-V) and the door position, all the gains of the integral gain K1, the proportional gain K2, and the feedback gain K3 are changed as shown in Table 1 of FIG. I have to. As a result, only when the value of (VL-V) becomes extremely large due to the entrapment, the proportional gain K2 is made negative and the actual door speed V is positively reduced. Further, if the value of (VL-V) is small even if it is negative or positive, the proportional gain K2 is made positive and the actual door speed V can quickly match the door target speed VL. Further, since not only the proportional gain K2 but also the integral gain K3 is set to an optimum value with respect to the value of the proportional gain K2, the convergence characteristic to the door target speed VL is set to a desired characteristic, for example, a critical braking characteristic. It becomes possible. Further, by changing the gain depending on the door position, for example, it is possible to change the gain between a door position at which pinching is likely to occur and a door position at which pinching does not occur, so that appropriate control can be performed.
[0082]
In the sixth embodiment, the integral gain K1, the proportional gain K2, and the positive feedback gain K3 are all determined based on the open / close position of the door, but at least one of the gains is determined. It may be determined.
[0083]
In the embodiments shown in the flowcharts of FIGS. 12 and 13, the gains K1, K2, and K3 are set based on the door position, the door speed, and the door target speed. However, a control system as shown in FIG. 8 is configured. In this case, the gains K1, K4, and K5 may be set instead of the gains K1, K2, and K3.
[0084]
FIG. 15 is a functional block diagram showing the configuration of the door opening / closing control unit 36 according to the seventh embodiment of the present invention.
[0085]
For example, even on a slope, the actual door speed V may be smaller than the target speed VL even when the duty ratio is 100% and the door opening / closing drive motor 48 is generating the maximum torque. In such a state, if a negative control gain is set, the duty cycle is reduced, the torque of the door opening / closing drive motor 48 is reduced, the opening / closing speed of the slide door 1 is significantly reduced, and erroneous inversion may occur. Was.
[0086]
Therefore, in the seventh embodiment, when the duty ratio is 100%, a negative value is not set for the control gain, no positive feedback is applied, and the entrapment erroneous inversion is eliminated. I have.
[0087]
In the seventh embodiment, a dedicated control gain having a value different from the control gain up to that time is used until a predetermined time elapses after the drive direction of the slide door 1 is reversed (immediately after the reversal). I use it.
[0088]
15, the door opening / closing control unit 36 of the seventh embodiment is different from the door opening / closing control unit 36 shown in FIG. 4 in that the drive direction determination unit 73, the duty ratio calculation unit 78, and the feedback gain setting unit 79 In addition to the functions described in the first embodiment shown in FIG. 4, the following functions are provided.
[0089]
The drive direction determination unit 73 of the seventh embodiment detects the drive direction of the slide door 1 based on the determination result of the drive direction of the door opening / closing drive motor 48, and determines the detected drive direction of the slide door 1 as a feedback gain. This is given to the setting unit 79.
[0090]
The duty ratio calculator 78 of the seventh embodiment outputs a duty cycle signal indicating the calculated duty ratio to the drive circuit 61 and the feedback gain setting unit 79.
[0091]
The drive direction of the slide door 1 is input to the feedback gain setting unit 79 of the seventh embodiment from the drive direction determination unit 73 in addition to the input of the feedback gain setting unit 79 of the first embodiment shown in FIG. The duty ratio is input from the duty ratio calculation unit 78. Further, the feedback gain setting unit 79 includes a timer (RevTimer) that measures time, and after the driving direction of the slide door 1 is changed by the timer, a preset time (T: for example, T = ω / 2π) , Ω are given by the aforementioned equation (2)).
[0092]
The feedback gain setting unit 79 determines that the door actual speed V <the door target speed VL, and the duty ratio is 100% (the door opening / closing drive motor) after the drive direction of the slide door 1 changes and the time set in advance by the timer elapses. 48 does not generate the maximum torque), the integral gain K1 and the feedback gain K3 are set to positive values, and the proportional gain K2 is set to a negative value. For example, the integral gain K1 = 0.16, the proportional gain K2 = -0. 2. The feedback gain is set to K3 = 0.75, and positive feedback is applied as in the above-described embodiment. When the actual door speed V ≧ the door target speed VL and the duty ratio is 100%, the feedback gain setting unit 79 sets all of the integral gain K1, the proportional gain K2, and the feedback gain K3 to positive values, For example, the integral gain K1 = 1, the proportional gain K2 = 1, and the feedback gain K3 = 0. Further, the feedback gain setting unit 79 sets the integral gain K1, the proportional gain K2, and the feedback gain K3 to be different from before until a predetermined time elapses after the drive direction of the slide door 1 changes (immediately after reversal). A dedicated control gain is set, for example, an integral gain K1 = 4, a proportional gain K2 = 3, and a feedback gain K3 = 0.
[0093]
FIG. 16 is a flowchart illustrating a procedure when a process for generating a duty cycle signal according to the seventh embodiment is realized by, for example, a microcomputer. The process shown in FIG. 16 is executed at predetermined intervals (for example, every 50 msec), similarly to the process shown in FIG.
[0094]
In FIG. 16, first, the speed calculation unit 75 calculates (1000 × 2.7 (electrode interval) / encoder pulse width) to obtain the actual door speed V (step S1601). The formula for calculating the actual door speed V is merely an example, and can be changed as appropriate depending on the electrode spacing of the encoder. Next, the position of the slide door 1 is calculated by the door position calculation unit 74 (step S1602). Subsequently, the target speed generation unit 77 generates the door target speed VL corresponding to the door position calculated by the door position calculation unit 74 as described above, and outputs the door target speed VL to the duty ratio calculation unit 78 (step S1603).
[0095]
Next, the feedback gain setting unit 79 determines whether the door driving direction has changed (step S1604). As a result of the determination, when the driving direction of the door changes, for example, “10” is set as a variable in a timer (RevTimer) included in the feedback gain setting unit 79, and the timer is reduced by 1 every 50 msec. The set predetermined time (here, 10 × 50 = 500 msec) is measured (step S1605). On the other hand, if the determination result indicates that the driving direction of the door has not changed, a predetermined time is measured as (RevTimer-1).
[0096]
When the timer measures that a predetermined time has elapsed (step S1607), the feedback gain setting unit 79 compares the door actual speed V with the door target speed VL (step S1608). If the comparison result indicates that V <VL, it is determined whether the duty ratio is 100% (step S1609). If the duty ratio is not 100%, the control gains are set to, for example, integral gain K1 = 1, proportional gain K2 = 1, and feedback gain K3 = 0 (step S1610). On the other hand, when the duty ratio is determined to be 100% as a result of the determination of the duty ratio in step S1609, the control gain is set to, for example, the integral gain K1 = 1, the proportional gain K2 = 1, and the feedback gain K3 = 0 (step S1609). S1611).
[0097]
As a result of the comparison in step S1608, if V ≧ VL, the control gains are set to, for example, integral gain K1 = 1, proportional gain K2 = 1, and feedback gain K3 = 0, as in the case where the duty ratio is 100% ( Step S1611).
[0098]
As a result of the determination in step S1607, for example, the integral gain K1 = 4, the proportional gain K2 = 3, and the feedback gain K3 = 0 are set as control gains until a predetermined time elapses after the door driving direction changes. (Step S1612).
[0099]
Next, the duty ratio calculator 78 multiplies the feedback gain K3 by the door target speed VL (step S1613), multiplies the proportional gain K2 by (VL-V) (step S1614), and sets the integral gain K1 and (VL). -V) (step S1615). Then, the duty ratio calculator 78 uses the second adder 85 to calculate the multiplication result (F) obtained in step S1613, the multiplication result (P) obtained in step S1614, and the multiplication result (I) obtained in step S1615. Is added to obtain a duty ratio (Duty) (step S1616).
[0100]
Next, the duty ratio calculation unit 78 determines whether the duty ratio obtained in step S1616 is equal to or greater than 0% (step S1617). If it is determined that the duty ratio is 0% or more, the process proceeds to step S1619, and if it is determined that the duty ratio is not 0% or more, the duty ratio is set to 0% (step S1618).
[0101]
Next, the duty ratio calculation unit 78 determines whether the duty ratio obtained in step S1616 is 100% or more. That is, it is determined whether or not the door actual speed V exceeds the door target speed VL. If it is determined that the duty ratio is 100% or more, the process proceeds to step S1621, and if it is determined that the duty ratio is not 100% or more, the multiplication value (I) obtained in step S1615 is added to the integral value (Isum). To obtain a new integral value (step S1620). Finally, the duty ratio calculator 78 sets the duty ratio of the integral value obtained in step S1620 in a motor drive register (not shown) of the drive circuit 61 (step S1621).
[0102]
In the processing procedure shown in FIG. 16, the feedback gain setting unit 79 determines that the actual door speed V exceeds the target door speed VL, that is, if (VL−V) is negative and the duty ratio is 100%. , The proportional gain K2 is a positive value, and the integral gain K1 and the feedback gain K3 are set accordingly. As a result, the duty ratio can be rapidly reduced as a normal feedback control, and the actual door speed V can be reduced. As a result, for example, when the vehicle is stopped on a downhill, when the actual door speed exceeds the door target speed, or when the actual door speed is slightly lower than the door target speed due to the swing resistance of the door, Thus, the actual door speed can quickly follow the door target speed. In addition, erroneous inversion of entrapment can be prevented.
[0103]
Note that, in the seventh embodiment, as in the above-described sixth embodiment, the processing in steps S1608, S1610, S1611, and S1611 in the processing flow shown in FIG. A process for setting the integral gain K1, the proportional gain K2, and the positive feedback gain K3 based on the door position, the actual door speed, and the target door speed using the table 2 shown in FIG.
[0104]
In Table 2 shown in FIG. 17, in addition to the setting contents of Table 1, if the door drive direction changes and is within 0.5 seconds (for example, the predetermined time = 10 × 50 = 500 msec), the integral gain K1 = 4 and the proportional gain The gain K2 is set to 3 and the feedback gain K3 is set to 0.
[0105]
As described above, by using the table 2 shown in FIG. 17, in addition to the effect obtained in the above-described sixth embodiment, the same effect as the effect obtained in the above-described seventh embodiment can be obtained.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a control device for a vehicle opening / closing body according to an embodiment of the present invention.
FIG. 2 is a front perspective view of a pulse encoder.
FIG. 3 is a rear perspective view of the pulse encoder.
FIG. 4 is a block diagram illustrating a functional configuration of a door opening / closing control unit 36;
FIG. 5 is a diagram illustrating a configuration of a control system based on negative feedback control including a duty ratio calculation unit 78 according to the first embodiment of the present invention.
FIG. 6 is a diagram showing a target responsiveness and a responsiveness of disturbance (sandwich) with respect to an actual door speed.
FIG. 7 is a diagram showing response characteristics of door speed / applied voltage.
FIG. 8 is a diagram illustrating a configuration of a control system based on negative feedback control including a duty ratio calculation unit 78 according to a second embodiment of the present invention.
FIG. 9 is a diagram illustrating a configuration of a control system based on negative feedback control including a duty ratio calculation unit 78 according to a third embodiment of the present invention.
FIG. 10 is a diagram illustrating a configuration of a control system based on negative feedback control including a duty ratio calculation unit 78 according to a fourth embodiment of the present invention.
FIG. 11 is a flowchart illustrating a processing procedure for calculating door position information.
FIG. 12 is a flowchart illustrating a processing procedure for calculating a duty ratio.
FIG. 13 is a flowchart illustrating another processing procedure for calculating a duty ratio.
FIG. 14 is a diagram showing a table 1 representing a relationship between each gain value and a door opening / closing position.
FIG. 15 is a block diagram illustrating a functional configuration of a door opening / closing control unit 36 according to a seventh embodiment of the present invention.
FIG. 16 is a flowchart illustrating a processing procedure for calculating a duty ratio according to a seventh embodiment of the present invention.
FIG. 17 is a diagram showing a table 2 representing a relationship between each gain value and a door open / close position according to the seventh embodiment of the present invention.
[Explanation of symbols]
1 sliding door
2 door handle
11 Sliding door opening and closing system
12 Door closure system
21 Power supply connector
22 Close motor
23 Release motor
24 Latch mechanism
25 Half latch switch
26 Closure Controller
31 Door drive
32 buzzer
33 Main operation section
34 Door open / close operation section
35 Keyless controller
36 Door open / close control unit
41 Door connection mechanism
42, 43 pulley
44 Drum mechanism
45 Spring mechanism
46 wires
47 pulse encoder
48 Door open / close drive motor
49 Clutch mechanism
51 case
52 Rotation detection terminal
53 Ground terminal
61 Drive circuit
62 Battery voltage detector
71 Operation judgment unit
72 Drive judgment unit
73 Drive direction determination unit
74 Door position calculator
75 Speed calculator
76 Entrapment judgment unit
77 Target speed generator
78 Duty ratio calculator
79 Feedback gain setting section
81 First adder
82, 87, 90 Proportional gain calculator
83 Integral calculator
84 Integral gain calculator
85 Second adder
86 Door control model calculator
88 Feedback gain calculator
89 Positive feedback gain calculator
91,92 Compensator

Claims (10)

Actual speed detection means for detecting an actual opening / closing body speed which is an actual opening / closing speed of the vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed that is a target opening / closing speed of the vehicle opening / closing body,
A speed difference between the opening / closing body target speed generated by the target speed generation means and the actual speed of the opening / closing body detected by the actual speed detection means is obtained, and the opening / closing operation of the vehicle opening / closing body is performed using the obtained speed difference. Duty ratio calculation means for calculating a duty ratio when performing duty control on the power supplied to the motor to be driven,
A control device for a vehicle opening / closing body, comprising: a gain setting means for setting a gain used for calculating a duty ratio by the duty ratio calculation means.
The duty ratio calculating means adds a first multiplied value obtained by multiplying the speed difference by a negative proportional gain and a second multiplied value obtained by multiplying the integrated value of the speed difference by an integrated gain. A control device for a vehicle opening / closing body, wherein the duty ratio is calculated based on the duty ratio. 2. The control device for a vehicle opening / closing body according to claim 1, wherein the gain calculating means sets the proportional gain to a negative value only when the speed difference is equal to or more than a predetermined value. Actual speed detection means for detecting an actual opening / closing body speed which is an actual opening / closing speed of the vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed that is a target opening / closing speed of the vehicle opening / closing body,
A speed difference between the opening / closing body target speed generated by the target speed generation means and the actual speed of the opening / closing body detected by the actual speed degree detection means is determined, and the vehicle opening / closing body is opened / closed using the determined speed difference. Duty ratio calculation means for calculating a duty ratio when performing duty control on the power supplied to the motor to be operated,
A control device for a vehicle opening / closing body, comprising: a gain setting means for setting a gain used for calculating a duty ratio by the duty ratio calculation means.
The duty ratio calculating means includes: a first multiplied value obtained by multiplying the speed difference by a proportional gain; a second multiplied value obtained by multiplying the integrated value of the speed difference by an integrated gain; A duty ratio is calculated based on an addition result obtained by adding a third multiplication value obtained by multiplying the third multiplication value to the third multiplication value. Actual speed detection means for detecting an actual opening / closing body speed which is an actual opening / closing speed of the vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed that is a target opening / closing speed of the vehicle opening / closing body,
A speed difference between the opening / closing body target speed generated by the target speed generation means and the actual speed of the opening / closing body detected by the actual speed degree detection means is determined, and the vehicle opening / closing body is opened / closed using the determined speed difference. Duty ratio calculating means for calculating a duty ratio when performing duty control of the power supplied to the motor to be operated,
A control device for a vehicle opening / closing body, comprising: a gain setting means for setting a gain used for calculating a duty ratio by the duty ratio calculation means.
The duty ratio calculation means,
A first multiplied value obtained by multiplying the speed difference by a proportional gain, a second multiplied value obtained by multiplying the integrated value of the speed difference by an integrated gain, and a third multiplied value obtained by multiplying the open / close target target speed by a positive feedback gain. A control device for a vehicle opening / closing body, wherein the duty ratio is calculated based on an addition result obtained by adding a multiplication value. A target speed converter for inputting the opening / closing body target speed and outputting the opening / closing body target speed with a predetermined response characteristic, and inputting the opening / closing body target speed and setting the opening / closing body target speed to have a predetermined response characteristic. And a compensator that outputs a value calculated based on the pre-compensator,
The duty ratio calculation means,
The first multiplication value and the second multiplication value are calculated based on a speed difference between the target speed output from the target speed conversion unit and the actual speed of the opening / closing body. 2. The control device for a vehicle opening / closing body according to claim 1, wherein the duty ratio is calculated by adding the outputs of the control signals. A position detecting unit that detects an open / close position of the opening / closing body,
The gain setting means sets at least one of the integral gain and the proportional gain based on an opening / closing position of the opening / closing body detected by the position detecting means. The control device for a vehicle opening / closing body according to any one of claims 3 and 5. A position detecting unit that detects an open / close position of the opening / closing body,
The gain setting means sets at least one of the integral gain, the proportional gain, and the positive feedback gain based on the open / close position of the open / close body detected by the position detection means. Item 5. A control device for a vehicle opening / closing body according to Item 4. A position detecting unit that detects an open / close position of the opening / closing body,
The said target speed production | generation means produces | generates target speed based on the opening / closing position detected by the said position detection means, The any one of Claims 1, 2, 3, 4, 5, 6, and 7. 3. The control device for a vehicle opening / closing body according to claim 1. Actual speed detection means for detecting an actual opening / closing body speed which is an actual opening / closing speed of the vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed that is a target opening / closing speed of the vehicle opening / closing body,
A speed difference between the opening / closing body target speed generated by the target speed generation means and the actual speed of the opening / closing body detected by the actual speed detection means is obtained, and the opening / closing operation of the vehicle opening / closing body is performed using the obtained speed difference. Duty ratio calculation means for calculating a duty ratio when performing duty control on the power supplied to the motor to be driven,
A control device for a vehicle opening / closing body, comprising: a gain setting means for setting a gain used for calculating a duty ratio by the duty ratio calculation means.
The duty ratio calculating means includes: a first multiplied value obtained by multiplying the speed difference by a proportional gain; a second multiplied value obtained by multiplying the integrated value of the speed difference by an integrated gain; The duty ratio is calculated based on an addition result obtained by adding a third multiplication value obtained by multiplying
The gain setting means is proportional when the actual speed of the opening / closing member is smaller than the target speed of the opening / closing member and the motor for opening / closing the opening / closing member for the vehicle is not driven at the maximum driving force by the motor. When the gain is set to a negative value, the opening / closing body actual speed is greater than the opening / closing body target speed, and the vehicle opening / closing body is driven at the maximum driving force by the motor that opens and closes the vehicle opening / closing body. , Wherein a proportional gain is set to a positive value. Actual speed detection means for detecting an actual opening / closing body speed which is an actual opening / closing speed of the vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed that is a target opening / closing speed of the vehicle opening / closing body,
A speed difference between the opening / closing body target speed generated by the target speed generation means and the actual speed of the opening / closing body detected by the actual speed detection means is obtained, and the opening / closing operation of the vehicle opening / closing body is performed using the obtained speed difference. Duty ratio calculation means for calculating a duty ratio when performing duty control on the power supplied to the motor to be driven,
A control device for a vehicle opening / closing body, comprising: a gain setting means for setting a gain used for calculating a duty ratio by the duty ratio calculation means.
Having a driving direction detecting means for detecting a driving direction of the vehicle opening and closing body,
The duty ratio calculating means includes: a first multiplied value obtained by multiplying the speed difference by a proportional gain; a second multiplied value obtained by multiplying the integrated value of the speed difference by an integrated gain; The duty ratio is calculated based on an addition result obtained by adding a third multiplication value obtained by multiplying
The gain setting means, when the driving direction detecting means detects that the driving direction of the vehicle opening / closing body is reversed, for a predetermined time after the driving direction of the vehicle opening / closing body is reversed, A control device for a vehicle opening / closing body, wherein a proportional gain, an integral gain, and a feedback gain are set to gains different from values set before the driving direction of the vehicle opening / closing body is reversed.

Images