JP2004137875A5 - - Google Patents
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- JP2004137875A5 JP2004137875A5 JP2003170676A JP2003170676A JP2004137875A5 JP 2004137875 A5 JP2004137875 A5 JP 2004137875A5 JP 2003170676 A JP2003170676 A JP 2003170676A JP 2003170676 A JP2003170676 A JP 2003170676A JP 2004137875 A5 JP2004137875 A5 JP 2004137875A5
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Claims (11)
前記車両用開閉体の目標開閉速度である開閉体目標速度を生成する目標速度生成手段と、
前記目標速度生成手段で生成された開閉体目標速度と、前記実速度検出手段で検出された開閉体実速度の速度差を求め、求めた速度差を用いて、前記車両用開閉体を開閉動作させるモータに供給する電力をデューティー制御するときのデューティー比を算出するデューティー比算出手段と、
前記デューティー比算出手段でデューティー比を算出するのに使用するゲインを設定するゲイン設定手段と
を備えた車両用開閉体の制御装置において、
前記デューティー比算出手段は、前記速度差に負の値の比例ゲインを乗算した第１の乗算値と、前記速度差の積分値に積分ゲインを乗算した第２の乗算値とを加算した加算結果に基づいて、前記デューティー比を算出する
ことを特徴とする車両用開閉体の制御装置。An actual speed detecting means for detecting an opening / closing body actual speed which is an actual opening / closing speed of a vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed which 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 opening / closing body actual speed detected by the actual speed detection means is obtained, and the vehicle opening / closing body is opened / closed using the obtained speed difference. Duty ratio calculating means for calculating a duty ratio when duty controlling the power supplied to the motor to be driven;
In 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 adds a first multiplication value obtained by multiplying the speed difference by a negative proportional gain and a second multiplication value obtained by multiplying the integral value of the speed difference by an integral gain. The vehicle opening / closing member control apparatus according to claim 1, wherein the duty ratio is calculated.
ことを特徴とする請求項１記載の車両用開閉体の制御装置。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 greater than a predetermined value.
前記車両用開閉体の目標開閉速度である開閉体目標速度を生成する目標速度生成手段と、
前記目標速度生成手段で生成された開閉体目標速度と、前記実速度度検出手段で検出された開閉体実速度の速度差を求め、求めた速度差を用いて、前記車両用開閉体を開閉動作させるモータに供給する電力をデューティ制御するときのデューティー比を算出するデューティー比算出手段と、
前記デューティー比算出手段でデューティー比を算出するのに使用するゲインを設定するゲイン設定手段と
を備えた車両用開閉体の制御装置において、
前記デューティー比算出手段は、前記速度差に比例ゲインを乗算した第１の乗算値と、前記速度差の積分値に積分ゲインを乗算した第２の乗算値と、前記開閉体実速度に帰還ゲインを乗算した第３の乗算値とを加算した加算結果に基づいて、前記デューティー比を算出する
ことを特徴とする車両用開閉体の制御装置。An actual speed detecting means for detecting an opening / closing body actual speed which is an actual opening / closing speed of a vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed which 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 opening / closing body actual speed detected by the actual speed degree detection means is obtained, and the vehicle opening / closing body is opened / closed using the obtained speed difference. A duty ratio calculating means for calculating a duty ratio when duty-controlling the power supplied to the motor to be operated;
In 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 an integral value of the speed difference by an integral gain, and a feedback gain to the opening / closing body actual speed. The duty ratio is calculated based on an addition result obtained by adding a third multiplication value obtained by multiplying the control value of the vehicle opening / closing body.
前記車両用開閉体の目標開閉速度である開閉体目標速度を生成する目標速度生成手段と、
前記目標速度生成手段で生成された開閉体目標速度と、前記実速度度検出手段で検出された開閉体実速度の速度差を求め、求めた速度差を用いて、前記車両用開閉体を開閉動作させるモータに供給する電力をデューティー制御するときのデューティー比を算出するデューティー比算出手段と、
前記デューティー比算出手段でデューティー比を算出するのに使用するゲインを設定するゲイン設定手段と
を備えた車両用開閉体の制御装置において、
前記デューティー比算出手段は、
前記速度差に比例ゲインを乗算した第１の乗算値と、前記速度差の積分値に積分ゲインを乗算した第２の乗算値と、前記開閉体目標速度に正帰還ゲインを乗算した第３の乗算値とを加算した加算結果に基づいて、前記デューティー比を算出する
ことを特徴とする車両用開閉体の制御装置。An actual speed detecting means for detecting an opening / closing body actual speed which is an actual opening / closing speed of a vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed which 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 opening / closing body actual speed detected by the actual speed degree detection means is obtained, and the vehicle opening / closing body is opened / closed using the obtained speed difference. A duty ratio calculating means for calculating a duty ratio when duty controlling the power supplied to the motor to be operated;
In 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 multiplication value obtained by multiplying the speed difference by a proportional gain; a second multiplication value obtained by multiplying an integral value of the speed difference by an integral gain; and a third feedback value obtained by multiplying the opening / closing body target speed by a positive feedback gain. A control apparatus for an opening / closing body for a vehicle, wherein the duty ratio is calculated based on an addition result obtained by adding a multiplication value.
前記デューティー比算出手段は、
前記目標速度変換部から出力された目標速度と前記開閉体実速度との速度差とに基づいて、前記第１の乗算値と前記第２の乗算値を算出し、該算出結果に前記補償部の出力を加算して前記デューティー比を算出する
ことを特徴とする請求項１記載の車両用開閉体の制御装置。A target speed conversion unit that inputs the opening / closing body target speed and outputs the opening / closing body target speed with a predetermined response characteristic, and inputs the opening / closing body target speed to the opening / closing body target speed so as to have a predetermined response characteristic. A precompensator having a compensation unit that outputs a value calculated based on the
The duty ratio calculating means includes
Based on the speed difference between the target speed output from the target speed conversion unit and the opening / closing body actual speed, the first multiplication value and the second multiplication value are calculated, and the compensation unit is added to the calculation result. The vehicle opening / closing member control device according to claim 1, wherein the duty ratio is calculated by adding the outputs of the vehicle.
前記ゲイン設定手段は、前記積分ゲイン及び前記比例ゲインの少なくとも１つのゲインを、前記位置検出手段によって検出された前記開閉体の開閉位置に基づいて設定する
ことを特徴とする請求項１，２，３及び５のいずれか１項に記載の車両用開閉体の制御装置。A position detecting means for detecting an opening / closing 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 3 and 5.
前記ゲイン設定手段は、前記積分ゲイン、前記比例ゲイン及び前記正帰還ゲインの少なくとも１つのゲインを、前記位置検出手段によって検出された前記開閉体の開閉位置に基づいて設定する
ことを特徴とする請求項４に記載の車両用開閉体の制御装置。A position detecting means for detecting an opening / closing 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 an opening / closing position of the opening / closing body detected by the position detecting means. Item 5. The control device for a vehicle opening / closing member according to Item 4.
前記目標速度生成手段は、前記位置検出手段によって検出された開閉位置に基づいて目標速度を生成する
事を特徴とする請求項１，２，３，４，５，６及び７のいずれか１項に記載の車両用開閉体の制御装置。A position detecting means for detecting an opening / closing position of the opening / closing body;
8. The target speed generation means generates a target speed based on the opening / closing position detected by the position detection means. The vehicle opening / closing body control device according to claim 1.
前記車両用開閉体の目標開閉速度である開閉体目標速度を生成する目標速度生成手段と、
前記目標速度生成手段で生成された開閉体目標速度と、前記実速度検出手段で検出された開閉体実速度の速度差を求め、求めた速度差を用いて、前記車両用開閉体を開閉動作させるモータに供給する電力をデューティー制御するときのデューティー比を算出するデューティー比算出手段と、
前記デューティー比算出手段でデューティー比を算出するのに使用するゲインを設定するゲイン設定手段と
を備えた車両用開閉体の制御装置において、
前記デューティー比算出手段は、前記速度差に比例ゲインを乗算した第１の乗算値と、前記速度差の積分値に積分ゲインを乗算した第２の乗算値と、前記開閉体実速度に帰還ゲインを乗算した第３の乗算値とを加算した加算結果に基づいて、前記デューティー比を算出し、
前記ゲイン設定手段は、開閉体実速度が開閉体目標速度よりも小さく、かつ前記車両用開閉体を開閉動作させる前記モータにより前記車両用開閉体が最大駆動力で駆動されていない場合は、比例ゲインを負の値に設定し、開閉体実速度が開閉体目標速度よりも大きく、かつ前記車両用開閉体を開閉動作させる前記モータにより前記車両用開閉体が最大駆動力で駆動されている場合には、比例ゲインを正の値に設定する
ことを特徴とする車両用開閉体の制御装置。An actual speed detecting means for detecting an opening / closing body actual speed which is an actual opening / closing speed of a vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed which 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 opening / closing body actual speed detected by the actual speed detection means is obtained, and the vehicle opening / closing body is opened / closed using the obtained speed difference. Duty ratio calculating means for calculating a duty ratio when duty controlling the power supplied to the motor to be driven;
In 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 an integral value of the speed difference by an integral gain, and a feedback gain to the opening / closing body actual speed. The duty ratio is calculated based on the addition result obtained by adding the third multiplication value multiplied by
The gain setting means is proportional when the opening / closing body actual speed is lower than the opening / closing body target speed and the vehicle opening / closing body is not driven with the maximum driving force by the motor for opening / closing the vehicle opening / closing body. When the gain is set to a negative value, the opening / closing body actual speed is higher than the opening / closing body target speed, and the vehicle opening / closing body is driven with the maximum driving force by the motor for opening / closing the vehicle opening / closing body A control device for a vehicle opening / closing body, wherein the proportional gain is set to a positive value.
前記車両用開閉体の目標開閉速度である開閉体目標速度を生成する目標速度生成手段と、
前記目標速度生成手段で生成された開閉体目標速度と、前記実速度検出手段で検出された開閉体実速度の速度差を求め、求めた速度差を用いて、前記車両用開閉体を開閉動作させるモータに供給する電力をデューティー制御するときのデューティー比を算出するデューティー比算出手段と、
前記デューティー比算出手段でデューティー比を算出するのに使用するゲインを設定するゲイン設定手段と
を備えた車両用開閉体の制御装置において、
前記車両用開閉体の駆動方向を検出する駆動方向検出手段を有し、
前記デューティー比算出手段は、前記速度差に比例ゲインを乗算した第１の乗算値と、前記速度差の積分値に積分ゲインを乗算した第２の乗算値と、前記開閉体実速度に帰還ゲインを乗算した第３の乗算値とを加算した加算結果に基づいて、前記デューティー比を算出し、
前記ゲイン設定手段は、前記駆動方向検出手段により前記車両用開閉体の駆動方向が反転したことが検出された場合は、前記車両用開閉体の駆動方向が反転された後所定時間の間、前記車両用開閉体の駆動方向が反転する前に設定されていた値とは異なるゲインに比例ゲイン、積分ゲインならびに帰還ゲインを設定する
ことを特徴とする車両用開閉体の制御装置。An actual speed detecting means for detecting an opening / closing body actual speed which is an actual opening / closing speed of a 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 opening / closing body actual speed detected by the actual speed detection means is obtained, and the vehicle opening / closing body is opened / closed using the obtained speed difference. Duty ratio calculating means for calculating a duty ratio when duty controlling the power supplied to the motor to be driven;
In the control device for a vehicle opening / closing body comprising a gain setting means for setting a gain used for calculating the duty ratio by the duty ratio calculation means,
Drive direction detecting means for detecting the drive direction of the vehicle opening and closing body;
The duty ratio calculation means includes a first multiplication value obtained by multiplying the speed difference by a proportional gain, a second multiplication value obtained by multiplying an integral value of the speed difference by an integral gain, and a feedback gain to the opening / closing body actual speed. The duty ratio is calculated based on the addition result obtained by adding the third multiplication value multiplied by
The gain setting means, when the drive direction detecting means detects that the drive direction of the vehicle opening / closing body is reversed, for a predetermined time after the drive 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.
前記車両用開閉体の目標開閉速度である開閉体目標速度を生成する目標速度生成手段と、
前記目標速度生成手段で生成された開閉体目標速度と、前記実速度検出手段で検出された開閉体実速度の速度差を求め、求めた速度差を用いて、前記車両用開閉体を開閉動作させるモータに供給する電力をデューティー制御するときのデューティー比を算出するデューティー比算出手段と、
前記デューティー比算出手段でデューティー比を算出するのに使用するゲインを設定するゲイン設定手段と
を備えた車両用開閉体の制御装置において、
前記デューティー比算出手段は、前記速度差に比例ゲインを乗算した第１の乗算値と、前記速度差の積分値に積分ゲインを乗算した第２の乗算値と、前記開閉体実速度に帰還ゲインを乗算した第３の乗算値とを加算した加算結果に基づいて、前記デューティー比を算出し、
前記ゲイン設定手段は、開閉体実速度が開閉体目標速度よりも小さく、かつ前記車両用開閉体を開閉動作させる前記モータにより前記車両用開閉体が最大駆動力で駆動されていない場合は、比例ゲインを負の値に設定し、開閉体実速度が開閉体目標速度よりも小さく、かつ前記車両用開閉体を開閉動作させる前記モータにより前記車両用開閉体が最大駆動力で駆動されている場合には、比例ゲインを正の値に設定する
ことを特徴とする車両用開閉体の制御装置。An actual speed detecting means for detecting an opening / closing body actual speed which is an actual opening / closing speed of a vehicle opening / closing body provided in the vehicle;
Target speed generating means for generating an opening / closing body target speed which 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 opening / closing body actual speed detected by the actual speed detection means is obtained, and the vehicle opening / closing body is opened / closed using the obtained speed difference. Duty ratio calculating means for calculating a duty ratio when duty controlling the power supplied to the motor to be driven;
In 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 an integral value of the speed difference by an integral gain, and a feedback gain to the opening / closing body actual speed. The duty ratio is calculated based on the addition result obtained by adding the third multiplication value multiplied by
The gain setting means is proportional when the opening / closing body actual speed is lower than the opening / closing body target speed and the vehicle opening / closing body is not driven with the maximum driving force by the motor for opening / closing the vehicle opening / closing body. When the gain is set to a negative value, the actual opening / closing body speed is lower than the opening / closing body target speed, and the vehicle opening / closing body is driven with the maximum driving force by the motor for opening / closing the vehicle opening / closing body A control device for a vehicle opening / closing body, wherein the proportional gain is set to a positive value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003170676A JP4135148B2 (en) | 2002-08-22 | 2003-06-16 | Control device for vehicle opening / closing body |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002241845 | 2002-08-22 | ||
| JP2003170676A JP4135148B2 (en) | 2002-08-22 | 2003-06-16 | Control device for vehicle opening / closing body |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2004137875A JP2004137875A (en) | 2004-05-13 |
| JP2004137875A5 true JP2004137875A5 (en) | 2005-04-07 |
| JP4135148B2 JP4135148B2 (en) | 2008-08-20 |
Family
ID=32472576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2003170676A Expired - Lifetime JP4135148B2 (en) | 2002-08-22 | 2003-06-16 | Control device for vehicle opening / closing body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4135148B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4874216B2 (en) * | 2007-11-30 | 2012-02-15 | 三井金属アクト株式会社 | Door opening / closing control device |
| JP2014180135A (en) * | 2013-03-14 | 2014-09-25 | Ricoh Co Ltd | Motor control device, image forming apparatus, motor control method, and program |
-
2003
- 2003-06-16 JP JP2003170676A patent/JP4135148B2/en not_active Expired - Lifetime
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