JP2006307636A - Control device for opening/closing component - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening/closing component control device which detects anything caught up not by its hardness but at a small load. <P>SOLUTION: The control device is provided with a motor 23 for driving a window glass 11 to open or close, a revolution detector 27 that outputs pulse signals as the motor 23 revolves and a controller 31 (a catch detection means) that detects a foreign matter caught up according to a revolution speed signal. The controller 31 calculates changes in the motor revolution speed (revolution speed differences Δω) based on the revolution speed signal, detects the beginning of anything to be caught up based on the revolution speed differences Δω, calculates a change S in the revolution speed ω after the time when detecting the beginning of anything to be caught up, and establishes that foreign matter has been caught up when the change S exceeds a catch judgment threshold value β. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an opening / closing member control device, and more particularly, to an opening / closing member control device capable of detecting a foreign object sandwiched by the opening / closing member.

  Conventionally, in a power window device of a vehicle having a foreign object pinching prevention function, when setting pinching detection, when setting according to a hard object, when a soft object is pinched, no foreign object pinching is detected, There was a problem that the detection time was delayed. On the other hand, if the setting is made in accordance with a soft object, there is a problem that the set value becomes small, so that the pinching is erroneously detected.

  In order to solve such a problem, a technique for setting two determination values for a soft object and a hard object is known (for example, see Patent Document 1). According to this technique, the rotation cycle change rate is calculated by a pulse signal representing the rotation of the window glass driving motor, and this rotation cycle change rate is the first determination value (determination value corresponding to a case where a hard object is sandwiched). If it exceeds, it is immediately determined that a foreign object is caught. On the other hand, when the rotational cycle change rate is lower than the first determination value but exceeds the second determination value (determination value corresponding to the case where a soft object is inserted) for a predetermined number of pulses, it is determined that the foreign object is included. . In this way, with the technique of Patent Document 1, it is possible to detect pinching in correspondence with both hard and soft objects.

JP-A-7-158338 (page 4, FIG. 4)

However, in the technique described in Patent Document 1, when a soft object and a hard object having an intermediate hardness are sandwiched, the entrapment cannot be detected until the second determination value corresponding to the soft object is continuously exceeded a predetermined number of times. When the pinching is detected, the pinching load becomes high, and there is a problem that pinching determination cannot be performed with a low load.
In view of the above problems, an object of the present invention is to provide an opening / closing member control device capable of detecting pinching with a low load regardless of the hardness of a foreign object to be pinched.

  According to the opening / closing member control apparatus of the present invention, the object is to drive means for opening / closing the opening / closing member, and to move speed detecting means for outputting a speed detection signal corresponding to the movement of the opening / closing member driven to open / close by the driving means. And pinching detection means for detecting pinching of foreign matter on the opening / closing member based on the speed detection signal, the pinching detection means calculating the amount of change in moving speed based on the speed detection signal, and Based on the amount of change in speed, the start of foreign object pinching by the opening / closing member is detected, and the amount of change in movement speed after the start of pinching is detected is calculated. If it exceeds, the problem is solved by confirming that the foreign material is caught by the opening / closing member.

  As described above, in the present invention, since the pinching is detected (determined) based on the change amount of the moving speed after the pinching is started, only the amount of change caused by the pinching can be reliably detected. As a result, it is possible to quickly detect the pinching of a hard object before the pinching load increases, and it is possible to reliably detect the pinching of a soft object.

Further, the pinching detection means can be configured to detect the start of pinching when the amount of change in the moving speed exceeds a fluctuation determination threshold value. With this configuration, by setting an appropriate value for the variation determination threshold value, it is possible to reliably detect the start of pinching regardless of the hardness or softness of the pinched foreign matter.
Further, the pinching detection means calculates a movement speed change amount for each predetermined movement amount of the opening and closing member based on the speed detection signal as the movement speed change amount, and the movement from when the start of pinching is detected. It is preferable that the cumulative value of the speed change amount is calculated as the movement speed change amount. In this way, since the amount of change in the moving speed is accumulated and the amount of change in the moving speed itself is calculated, only the increase in the pinching load can be reliably detected.

  Further, the pinching detection means calculates a movement speed change amount for each predetermined movement amount of the opening and closing member based on the speed detection signal as the movement speed change amount, and the movement until the start of pinching is detected. A difference between the accumulated value of the change amount of the speed and the accumulated value of the change amount of the moving speed up to the present may be calculated as the change amount of the moving speed. Even in this way, it is possible to reliably detect only the increase in the sandwiching load.

Further, when the pinching detection means is configured to increase the pinching determination threshold value to the negative side when the change amount of the moving speed exceeds the disturbance determination threshold value set to the positive side, the disturbance is detected. When this occurs, the amount of change in the moving speed is less likely to exceed the pinching determination threshold value, so that pinching erroneous detection can be prevented.
In addition, when the amount of change in the moving speed does not exceed a predetermined value, the pinch detection means returns the pinch detection threshold value increased to the negative side to the initial value. This determination process is suitable.

Specifically, the driving means includes a motor, the moving speed detecting means outputs a rotation speed signal of the motor as the speed detection signal, and the pinching detection means is the rotation speed signal. The amount of change in the rotational speed of the motor calculated based on the above can be used as the amount of change in the moving speed. If comprised in this way, it will become possible to detect pinching load directly.
The moving speed detection means outputs a pulse signal synchronized with the rotation of the motor as the rotation speed signal, and the pinching detection means outputs a predetermined number of the pulse signals that are continuous at a predetermined rotation angle of the motor. And the rotational speed of the motor can be calculated. If comprised in this way, the dispersion | variation in the detection output Duty of a moving speed detection means can be canceled, and it will become possible to calculate the rotational speed by which the dispersion | variation part was canceled.

  Further, the pinching detection means may be configured to calculate the amount of change in the moving speed from an average rotation speed obtained by averaging the rotation speeds calculated for each predetermined rotation angle of the motor every predetermined number of consecutive minutes. it can. If comprised in this way, the phase difference which may be contained in rotational speed data can be canceled.

  Further, according to the opening / closing member control apparatus of the present invention, the object is to provide a driving means for opening / closing the opening / closing member and a moving speed for outputting a speed detection signal corresponding to the movement of the opening / closing member driven to open / close by the driving means. Detection means; movement speed calculation means for calculating the movement speed of the opening / closing member based on the speed detection signal; movement speed storage means for storing the movement speed calculated by the movement speed calculation means; and the movement speed storage means The moving speed fluctuation value calculating means for calculating the fluctuation value of the moving speed of the opening / closing member based on the previously stored moving speed and the newly stored moving speed, and the fluctuation value calculated by the moving speed fluctuation value calculating means A pinching start detection means for detecting the start of pinching based on the pinch, and an opening based on the fluctuation value after the pinching start detection means detects the pinching start. A pinching determination means for determining the entrapment of foreign object by the member, it is solved by providing a.

  As described above, in the present invention, since the pinching is detected (determined) based on the fluctuation value of the moving speed after the pinching is started, only the fluctuation value caused by the pinching can be reliably detected. As a result, it is possible to quickly detect the pinching of a hard object before the pinching load increases, and it is possible to reliably detect the pinching of a soft object.

Further, the sandwiching start detecting means can be configured to detect the start of sandwiching when the variation value exceeds a variation determination threshold value. With this configuration, by setting an appropriate value for the variation determination threshold value, it is possible to reliably detect the start of pinching regardless of the hardness or softness of the pinched foreign matter.
The pinching determination means calculates the cumulative value of the fluctuation values after the pinching start detection means detects the pinching start, and when the cumulative value exceeds the pinching determination threshold, It is preferable that the structure is such that the foreign object is caught. As described above, since the fluctuation value of the moving speed is accumulated and the fluctuation amount of the moving speed itself is calculated, it is possible to reliably detect only the increase in the pinched load.

Further, when the jamming determination means is configured to increase the pinching judgment threshold value to the negative side when the fluctuation value exceeds the disturbance judgment threshold value set to the positive side, when a disturbance occurs In addition, since the fluctuation value of the moving speed is less likely to exceed the pinching determination threshold value, erroneous pinching detection can be prevented.
Further, when the pinching determination means returns the pinching determination threshold value increased to the negative side to the initial value when the fluctuation value does not exceed a predetermined value, normal determination processing is performed after the end of the disturbance. Is preferable.

Specifically, the driving means includes a motor, the moving speed detecting means outputs a rotation speed signal of the motor as the speed detection signal, and the moving speed calculating means is the rotation speed. The moving speed of the opening / closing member can be calculated based on the signal. If comprised in this way, it will become possible to detect pinching load directly.
Further, the moving speed detecting means outputs a pulse signal synchronized with the rotation of the motor as the rotation speed signal, and the moving speed calculating means is a predetermined number of the pulse signals that are continuous for every predetermined rotation angle of the motor. Can be used to calculate the rotational speed of the motor. If comprised in this way, the dispersion | variation in the detection output Duty of a moving speed detection means can be canceled, and it will become possible to calculate the rotational speed by which the dispersion | variation part was canceled.

  According to the opening / closing member control apparatus of the present invention, the start of pinching is detected, and the pinching is determined (determined) based on the amount of change in moving speed after the pinching starts. Therefore, it is possible to detect pinching with a low load.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that the configurations, procedures, and the like described below do not limit the present invention, and various modifications can be made according to the spirit of the present invention.
1 to 5 relate to an embodiment of the present invention, FIG. 1 is an explanatory diagram of a power window device, FIG. 2 is an electrical configuration diagram of the power window device, and FIG. 3 is an explanatory diagram of a pinching determination process. 4 is a process flow for pinching determination, and FIG. 5 is an explanatory diagram of a rotational speed difference when a disturbance occurs.

An embodiment in which the present invention is applied to a power window control device will be described below.
FIG. 1 is an explanatory diagram of the power window device 1 of this example, and FIG. The power window device 1 of this example is configured to move up and down (open and close) a window glass 11 as an opening and closing member disposed on a door 10 of a vehicle by rotational driving of a motor 23. The power window device 1 includes, as main components, a driving unit 2 that drives the window glass 11 to open and close, a control unit 3 that controls the operation of the driving unit 2, and an operation switch 4 that commands the operation of the passenger. .

  The drive means 2 of this example includes upper and lower brackets 21a and 21b disposed on the inner panel 10a of the door 10, a guide rail 22 disposed so as to connect the upper and lower brackets 21a and 21b, A motor 23 attached to the bracket 21b, a sprocket connected to the output shaft of the motor 23, and an endless tape 24 that is rotatably spanned between the upper bracket 21a, and a guide rail attached to the tape 24 A main component is a slider 25 that is slidably guided by 22 and a pair of guide frames 26a and 26b that guide the window glass 11 in the opening and closing direction. A carrier plate 11 a that supports the lower end of the window glass 11 is attached to the slider 25.

  The motor 23 of this example is configured to be able to rotate forward and backward when electric power is supplied from the control means 3. In the driving means 2 of this example, when the motor 23 rotates forward and backward, the rotational force is transmitted to the tape 24 via the sprocket, and the tape 24 is rotated by this rotational force, so that the slider 25 is moved up and down by the guide rail 22. Guided in the direction. When the slider 25 is guided in the vertical direction by the guide rail 22, the slider 25 moves the window glass 11 in the vertical direction along the guide frames 26a and 26b via the carrier plate 11a. Thus, the drive means 2 opens and closes the window glass 11 by the operation of the motor 23.

  The motor 23 of this example is integrally provided with a rotation detecting device 27 as a moving speed detecting means. The rotation detection device 27 outputs a pulse signal (speed detection signal, rotation speed signal) synchronized with the rotation of the motor 23 to the control means 3. The rotation detection device 27 of this example is configured to detect a magnetic change of a magnet that rotates together with the output shaft of the motor 23 with a plurality of Hall elements. With such a configuration, the rotation detection device 27 outputs a pulse signal synchronized with the rotation of the motor 23. That is, the pulse signal is output for each predetermined movement amount of the window glass 11 or for each predetermined rotation angle of the motor 23. Thereby, the rotation detection device 27 can output a signal corresponding to the movement of the window glass 11 which is substantially proportional to the rotation speed of the motor 23.

  In this example, a device using a Hall element is used for the rotation detection device 27. However, the present invention is not limited to this, and an encoder may be used as long as the rotation speed of the motor 23 can be detected. Moreover, in this example, in order to detect the rotational speed of the output shaft of the motor 23 according to the movement of the window glass 11, the rotation detection device 27 is integrally provided in the motor 23. You may make it detect the moving speed of the window glass 11 directly by a means.

The control means 3 of this example includes a controller 31 and a drive circuit 32. The controller 31 and the drive circuit 32 are supplied with electric power necessary for operation from a battery 5 mounted on the vehicle.
The controller 31 of this example is constituted by a microcomputer including a memory such as a CPU 31a, a ROM 31b, and a RAM 31c, an input circuit, an output circuit, and the like. The CPU 31a is connected to the memory, the input circuit, and the output circuit through a bus. The controller 31 is not limited to this, and may be configured by a DSP or a gate array.

  The controller 31 normally opens and closes the window glass 11 by rotating the motor 23 forward and backward via the drive circuit 32 based on the operation signal from the operation switch 4. Further, the controller 31 receives a pulse signal from the rotation detection device 27, and can detect the trapping of a foreign substance between the upper end portion of the window glass 11 and the window frame based on the pulse signal. When it is detected that a foreign object has been caught, the controller 31 rotates the motor 23 in the opening direction via the drive circuit 32 to drive the window glass 11 to open. Thus, the controller 31 of this example functions as a pinch detection unit.

  The drive circuit 32 of this example is configured by an FET, and switches the polarity of power supply to the motor 23 based on an input signal from the controller 31. That is, when the drive circuit 32 receives a forward rotation command signal from the controller 31, it supplies power to the motor 23 so as to rotate the motor 23 in the forward rotation direction, and receives a reverse rotation command signal from the controller 31. Supplies electric power to the motor 23 so as to rotate the motor 23 in the reverse rotation direction. The drive circuit 32 may be configured to switch the polarity using a relay circuit. Alternatively, the drive circuit 32 may be incorporated in the controller 31.

  The controller 31 detects the rising and falling portions (pulse edges) of the pulse signal from the input pulse signal, and calculates the rotation speed (rotation cycle) of the motor 23 based on the interval (cycle) of this pulse edge. At the same time, the rotation direction of the motor 23 is detected based on the phase difference between the pulse signals. That is, the controller 31 indirectly calculates the moving speed of the window glass 11 based on the rotating speed (rotating cycle) of the motor 23 and specifies the moving direction of the window glass 11 based on the rotating direction of the motor 23. . The controller 31 counts pulse edges. This pulse count value is added or subtracted with the opening / closing operation of the window glass 11. The controller 31 specifies the opening / closing position of the window glass 11 based on the magnitude of the pulse count value.

The operation switch 4 of this example is composed of a swing type switch that can be operated in two stages, and has an open switch, a close switch, and an auto switch. When the occupant operates the operation switch 4, a command signal for opening and closing the window glass 11 is output to the controller 31.
Specifically, when the operation switch 4 is operated one step toward one end, the opening switch is turned on, and a normal opening command signal for causing the window glass 11 to perform a normal opening operation (that is, an opening operation only during the operation). Is output to the controller 31. Further, when the operation switch 4 is operated one step to the other end side, the closing switch is turned on, and a normal close command signal for causing the window glass 11 to be normally closed (that is, only closed during operation) is a controller. To 31.

  Further, when the operation switch 4 is operated in two steps toward one end, both the opening switch and the auto switch are turned on, and the auto switch for automatically opening the window glass 11 (that is, opening to the fully opened position even if the operation is stopped). An open command signal is output to the controller 31. Further, when the operation switch 4 is operated in two steps to the other end side, both the closing switch and the auto switch are turned on, and the window glass 11 is automatically closed (that is, closed to the fully closed position even if the operation is stopped). Is output to the controller 31.

While receiving the normal opening command signal from the operation switch 4 (while the operation switch 4 is being operated), the controller 31 drives the motor 23 via the drive circuit 32 to normally open the window glass 11. Let On the other hand, the controller 31 drives the motor 23 via the drive circuit 32 while receiving the normal close command signal from the operation switch 4 (while the operation switch 4 is being operated), so that the window glass 11 is Close operation.
When the controller 31 receives an auto-open command signal from the operation switch 4, the controller 31 drives the motor 23 via the drive circuit 32 to automatically open the window glass 11 to the fully open position. On the other hand, when receiving an auto close command signal from the operation switch 4, the controller 31 drives the motor 23 via the drive circuit 32 to cause the window glass 11 to automatically close to the fully closed position.

When the window glass 11 is closed (normally closed or auto-closed), the controller 31 monitors whether the window glass 11 is caught. That is, when the pinching occurs, the moving speed of the window glass 11 and the rotational speed of the motor 23 are reduced in relation to this (the rotational cycle becomes longer). For this reason, the controller 31 of this example constantly monitors fluctuations in the rotational speed of the motor 23.
The controller 31 of this example first detects the start of pinching based on the fluctuation of the rotation speed, and then determines that pinching has occurred when it detects that the rotation speed fluctuates by a predetermined amount after the start of pinching is detected. (Determine.

  When the pinching is confirmed, the controller 31 controls the motor 23 to reverse so as to release the foreign matter pinched by the window glass 11 and to open the window glass 11 by a predetermined amount. In addition, when it determines with pinching, even if it controls so that the operation | movement of the motor 23 is stopped and the further closing operation | movement of the window glass 11 is stopped, the foreign material pinched by the window glass 11 can be released. Good.

  Next, based on FIG. 3, the outline process of the pinch determination in the power window apparatus 1 of this example is demonstrated. In the power window device 1 of this example, the controller 31 as the movement speed calculation means calculates the rotation speed ω of the motor 23 based on the pulse signal received from the rotation detection device 27, and the RAM 31c as the movement speed storage means The calculated rotation speed ω is stored. FIG. 3A shows the fluctuation state of the rotational speed ω calculated in this way. The vertical axis in FIG. 3A corresponds to the motor rotation speed, and the horizontal axis corresponds to the pulse count number. The example of FIG. 3A is a situation in which the rotational speed ω of the motor 23 is decelerated halfway due to the pinching. The data line A1 shows a situation where the rotational speed ω decreases with a large deceleration rate with a hard object sandwiched, and the data line B1 sandwiches a soft object with a rotational speed ω decreasing with a small deceleration rate. Indicates the situation. In FIGS. 3B and 3C, the data lines A2 and A3 correspond to the case where a hard object is sandwiched, and the data lines B2 and B3 correspond to the case where a soft object is sandwiched.

In the power window device 1 of this example, the CPU 31a as the moving speed fluctuation value calculating means calculates the difference between the current rotational speed ω and the rotational speed ω several pulse edges before based on the rotational speed ω data. A certain rotational speed difference Δω is calculated. That is, the fluctuation value of the current rotational speed ω with respect to the rotational speed ω several pulses before is calculated. The rotational speed difference Δω corresponds to the rate of change of the rotational speed (moving speed) (or corresponds to the amount of change or the amount of change in the rotational speed from several pulse edges before). FIG. 3B shows the fluctuation state of the rotational speed difference Δω. In FIG. 3A, it can be seen that the absolute value of the rotational speed difference Δω is larger in the data line A1 than in the data line B1.
First, the controller 31 as the sandwiching start detection means determines whether or not the rotational speed difference Δω calculated in this way has exceeded the fluctuation determination threshold value α. When the fluctuation determination threshold value α is exceeded, it is determined that the pinching has started. In FIG. 3B, the start of pinching is detected at points P1 and P2. However, since pinching is not confirmed at this time, the motor 23 continues to rotate and the window glass 11 continues to rise. This fluctuation determination threshold value α is set to such a magnitude that the rotational speed difference Δω caused by this even when the power window device 1 sandwiches a soft object, exceeds this value.

  In this way, once the start of pinching is detected, in the power window device 1, the controller 31 as the pinching confirmation means determines the cumulative value of the rotation speed difference Δω from this point in time (that is, the change in the rotation speed ω). It is determined whether or not the amount has exceeded the pinching determination threshold value β. When the amount of change in the rotational speed ω exceeds the pinching determination threshold value β, pinching is detected (determined). FIG. 3C shows a fluctuation state of the accumulated value of the rotational speed difference Δω. When the accumulated value exceeds the pinching determination threshold value β, the controller 31 determines (confirms) pinching.

  As described above, when the accumulated value of the rotational speed difference Δω after the start of the pinching is detected (that is, the amount of change in the rotational speed ω) exceeds the pinching determination threshold value β, pinching is performed. Instead of detecting (determining), the accumulated value of the rotational speed difference Δω for a predetermined period after the start of pinching is detected, or the accumulated value of the rotational speed difference Δω for a predetermined number (that is, in these cases) May be configured to detect (determine) pinching when the change rate of the rotational speed ω exceeds the pinching determination threshold value β.

As described above, in the power window device 1 of this example, two threshold values are set, but one fluctuation determination threshold value α is set for the rotational speed difference Δω, and the other is sandwiched. The determination threshold value β is set with respect to the amount of change in the rotational speed ω (the sum of the rotational speed differences Δω), and these are subject to determination.
In the power window device 1 of this example, it is not determined that pinching has actually occurred depending on the duration after the rotation speed difference Δω exceeds the fluctuation determination threshold value α, the number of pulse signals, and the like. The trapping is determined by the amount of fluctuation of the rotational speed ω after the speed difference Δω exceeds the fluctuation determination threshold value α.

Therefore, in the power window device 1 of this example, when a foreign object is sandwiched, the sandwiching load does not become excessively large, so that the sandwiching can be confirmed without damaging the sandwiched foreign object.
Further, in the power window device 1 of the present example, even when a soft object is sandwiched, the rotational speed difference Δω exceeds the fluctuation determination threshold value α at a relatively early stage. The pinching is determined when the value β is exceeded. In this case, since the sandwiched object is soft, the rotational speed difference Δω does not become a small value (a large value as an absolute value). However, once the fluctuation determination threshold value α is exceeded, accumulation of the rotational speed difference Δω is started. Therefore, it is possible to reliably determine the pinching when the accumulated value exceeds the pinching determination threshold value β.

In addition, even when a medium-hardness object is sandwiched, the rotational speed difference Δω exceeds the fluctuation determination threshold α at an early stage, as in the case where a soft object is sandwiched, and the rotational speed difference Δω is accumulated. Is started, it is possible to reliably determine the pinching when this value exceeds the pinching determination threshold value β.
Thus, in the power window device 1 of this example, it is possible to reliably determine the pinching with a low load regardless of the hardness or softness of the pinching.

  In addition, when the window glass 11 moves, the rotational speed of the motor 23 is affected by sliding resistance and external factors even if there is no pinching. As a result, even if the rotational speed difference Δω exceeds the fluctuation determination threshold value α, if the accumulated value of the rotational speed difference Δω does not exceed the sandwiching determination threshold value β, the trapping is determined. Therefore, even if the variation determination threshold value α is set to a value for when a soft object is sandwiched, erroneous determination does not occur, but rather the start of sandwiching can be detected reliably.

Next, the pinching determination process of the controller 31 of this example will be described with reference to FIG.
First, the controller 31 of this example updates the rotation speed data of the motor 23 based on the pulse signal received from the rotation detection device 27 (step S1). Specifically, the controller 31 first detects a pulse edge by performing signal processing on the pulse signal received from the rotation detection device 27. Each time a pulse edge is detected, a pulse width (time interval) T between the pulse edge detected last time and the pulse edge detected this time is calculated and sequentially stored in the memory.

  In this example, the pulse width T is updated in order every time a new pulse edge is detected, and the latest four pulse widths T (0) to T (3) are stored. In other words, when a pulse edge is detected, a new pulse width T (0) is calculated, and the previous pulse widths T (0) to T (2) are shifted by 1 to respectively change the pulse widths T (1) to T (T). Store as (3) and erase the previous pulse width T (3).

Then, the controller 31 calculates the rotational speed ω from the reciprocal of the sum (pulse period P) of the pulse width T of n pulse edges that are continuous in time. This rotational speed ω is a value proportional to the actual rotational speed.
In this example, the (average) rotational speed ω (0) is calculated from the pulse widths T (0) to T (3) from the current pulse edge to the previous four pulse edges. When the next pulse edge is detected, the rotational speed ω (0) is updated with the newly calculated pulse widths T (0) to T (3). At this time, the previous rotation speed ω (0) is stored as the rotation speed ω (1). In this way, the latest eight rotation speeds ω (0) to ω (7) updated every time a pulse edge is detected (every predetermined movement amount or every predetermined rotation angle) are stored in the controller 31. Always remembered. In this way, by calculating the rotational speed ω using the plurality of pulse widths T, it is possible to cancel the variation in the sensor duty of each received pulse signal output and calculate the rotational speed in which the error variation is cancelled.

  Next, the controller 31 calculates an (average) rotational speed difference (rotational speed change rate) Δω from the rotational speed ω (step S2). Specifically, the rotational speed ω (0) to ω (3) is the current block data, the rotational speed ω (4) to ω (7) is the previous block data, and the process of subtracting the sum of the data in each block is performed. ing. That is, the rotational speed difference Δω is calculated by subtracting the sum of the rotational speeds ω (0) to ω (3) from the sum of the rotational speeds ω (4) to ω (7), and every time a pulse edge is detected ( It is updated every predetermined movement amount or every predetermined rotation angle. Note that the calculated value may be divided by the number of data (4 in this example). Thus, the phase difference between the rotational speeds ω can be canceled by calculating the rotational speed difference Δω using a plurality of rotational speeds ω.

And the controller 31 of this example adds the calculated rotational speed difference (DELTA) omega on the basis of the predetermined position of the window glass 11 (step S3). Every time the rotational speed difference Δω is calculated, this difference is accumulated to calculate the difference in rotational speed ω with respect to the reference position.
Next, it is determined whether or not the calculated rotational speed difference Δω exceeds the disturbance determination threshold value γ on the positive side (step S4). When the vehicle rides on a step or the window glass 11 is closed, an impact is applied to the window glass 11 due to such disturbance, and as a result, the rotational speed of the motor 23 may be affected. In this example, this process prevents erroneous detection of pinching due to disturbance.

  As shown in FIG. 5, when a disturbance is applied, the rotational speed difference Δω usually takes a large value in positive and negative. The fact that the rotational speed difference Δω swings to the positive side means that the rotation of the motor 23 is accelerated in the direction in which the window glass 11 is closed, and conversely, that the rotational speed difference Δω swings to the negative side means that It means that the rotation is decelerated. The fluctuation of the rotational speed difference Δω on the negative side simulates pinching. Here, the disturbance determination threshold value γ is a value set on the positive side. In the controller 31 of this example, when the rotational speed difference Δω exceeds the disturbance determination threshold value γ on the positive side, the disturbance determination threshold value γ Is determined to have occurred.

  When it is determined that a disturbance has occurred (step S4; present), the controller 31 increases the pinching determination threshold value β to the negative side (step S7), and then proceeds to step S8. As a result, even if the rotation speed difference Δω is swung to the negative side due to disturbance and the start of pinching is detected, the cumulative value of the subsequent rotation speed difference Δω exceeds the pinching determination threshold value β. Therefore, it is possible to prevent erroneous determination of pinching. In this example, the disturbance determination threshold value γ is set regardless of the fluctuation determination threshold value α. For example, the disturbance determination threshold value γ is a value obtained by reversing the positive / negative sign of the fluctuation determination threshold value α. May be set.

If it is not determined in step S4 that a disturbance has occurred (step S4; no), the controller 31 performs a pinching start determination process (step S5). Specifically, when the rotation speed difference Δω exceeds the fluctuation determination threshold value α on the negative side, it is determined that the pinching has started, and when it has not exceeded, it is not determined that the pinching has started.
If it is determined that the pinching has started (step S5; present), the process proceeds to step S8. On the other hand, if it is not determined that the pinching has started (step S5; no), an accumulated value of the rotational speed difference Δω and an initial value for the pinching determination threshold value β are set in step S6. Specifically, the cumulative value of the rotational speed difference Δω calculated in step S3 is set to the initial change amount S ₀ of the rotational speed ω, and the pinching determination threshold value β is returned to the normal value that is not increased. It is. In this way, when it is determined that the disturbance period has ended, the pinching determination threshold value β is returned to the normal value, and normal processing is performed.

In step S8, a calculation process of the change amount S of the rotational speed ω is performed. Specifically, the controller 31 calculates the rotational speed calculated in step S3 from the initial change amount S ₀ (cumulative value of the rotational speed difference Δω) of the rotational speed ω set in step S6 immediately before it is determined that the pinching is started. By subtracting the accumulated value of the difference Δω, the amount of change S (the accumulated value of the rotational speed difference Δω) of the rotational speed ω after the start of pinching is calculated. Thereby, the amount of change in rotational speed due to the pinching (that is, the pinching load) can be reliably calculated.

  In this example, the difference in the amount of change from the reference value is calculated to calculate the amount of change in the rotational speed ω after the start of pinching. However, the present invention is not limited to this, and when the start of pinching is not detected, the rotational speed The accumulated value of the difference Δω is initialized, and when the entrapment start is detected, it is not initialized, and the rotation speed difference Δω is accumulated only for the portion after the start of entrapment detection, whereby the amount of change in the rotation speed ω is It may be calculated.

Next, the controller 31 determines whether or not the change amount S of the rotational speed ω calculated in step S8 has exceeded the pinching determination threshold value β (step S9).
When it is determined that the change amount S of the rotational speed ω has exceeded the pinching determination threshold value β (step S9; present), the controller 31 performs the pinching release process (step S10) and ends the process. Specifically, in the sandwiching release process, the controller 31 reverses the motor 23 to release the foreign matter as described above, and opens the window glass 11 by a predetermined amount.
On the other hand, when it is determined that the change amount S of the rotational speed ω does not exceed the pinching determination threshold value β (step S9; no), the processing is ended as it is.

In the above embodiment, the variation determination threshold value α, the sandwiching determination threshold value β, and the disturbance determination threshold value γ are constant values regardless of the position of the window glass 11. However, the present invention is not limited to this. It may be set so as to vary depending on the position of 11.
Moreover, in the said embodiment, although the example which applied the opening-and-closing member control apparatus of this invention to the power window apparatus 1 of the vehicle was shown, it opens and closes opening-and-closing members, such as not only this but a sunroof opening-and-closing apparatus and a sliding door opening-and-closing apparatus The present invention may be applied to all devices.

It is explanatory drawing of the power window apparatus which concerns on one Embodiment of this invention. It is an electrical block diagram of the power window apparatus of FIG. It is explanatory drawing of a pinching determination process. It is a processing flow of pinching determination. It is explanatory drawing of the rotational speed difference when a disturbance arises.

Explanation of symbols

1. Power window device 2. Drive means 3. Control means 4. Operation switch
5 ... Battery, 10 ... Door, 10a ... Inner panel, 11 ... Window glass,
11a: carrier plate, 21a, 21b: bracket, 22: guide rail,
23 ... motor, 24 ... tape, 25 ... slider, 26a, 26b ... guide frame,
27... Rotation detection device, 31... Controller, 31a... CPU, 31b.
31c RAM, 32 Drive circuit

Claims (16)

Driving means for driving the opening / closing member to open / close, moving speed detecting means for outputting a speed detection signal corresponding to the movement of the opening / closing member driven to open / close by the driving means, and pinching of foreign matter on the opening / closing member based on the speed detection signal Pinching detection means for detecting
The pinching detection means calculates a change amount of the moving speed based on the speed detection signal, detects the start of the foreign object pinching by the opening / closing member based on the change amount of the moving speed, and detects the start of the pinching An opening / closing member control device characterized by calculating a change amount of the moving speed from the position and determining the foreign object pinching by the opening / closing member when the moving speed change amount exceeds a pinching determination threshold value.   2. The opening / closing member control device according to claim 1, wherein the pinching detection unit detects the start of pinching when the amount of change in the moving speed exceeds a fluctuation determination threshold value.   The pinching detection means calculates a movement speed change amount for each predetermined movement amount of the opening / closing member based on the speed detection signal as the movement speed change amount, and determines the movement speed from when the start of pinching is detected. The opening / closing member control apparatus according to claim 1, wherein a cumulative value of the change amount is calculated as a change amount of the moving speed.   The pinching detection means calculates a movement speed change amount for each predetermined movement amount of the opening and closing member based on the speed detection signal as the movement speed change amount, and determines the movement speed until the start of pinching is detected. The opening / closing member control device according to claim 1, wherein a difference between the accumulated value of the change amount and the accumulated value of the change amount of the moving speed up to the present is calculated as the change amount of the moving speed.   The pinching detection means increases the pinching determination threshold value to the negative side when the amount of change in the moving speed exceeds a disturbance determination threshold value set to the positive side. The opening / closing member control apparatus according to any one of claims 4 to 5.   6. The opening / closing member according to claim 5, wherein when the amount of change in the moving speed does not exceed a predetermined value, the pinching detection means returns the pinching determination threshold value increased to the negative side to an initial value. Control device. The driving means includes a motor,
The moving speed detection means outputs a rotation speed signal of the motor as the speed detection signal,
The said pinching detection means uses the variation | change_quantity of the rotational speed of the said motor calculated based on the said rotational speed signal as the variation | change_quantity of the said moving speed, The any one of Claims 1-6 characterized by the above-mentioned. Opening / closing member control device. The moving speed detection means outputs a pulse signal synchronized with the rotation of the motor as the rotation speed signal,
8. The opening / closing member control apparatus according to claim 7, wherein the pinching detection means calculates a rotation speed of the motor using a predetermined number of the pulse signals that are continuous for each predetermined rotation angle of the motor.   The said pinching detection means calculates the variation | change_quantity of the said moving speed from the average rotational speed which averaged the rotational speed calculated for every predetermined rotational angle of the said motor for every predetermined number of continuous. The opening-and-closing member control apparatus of description. Driving means for opening and closing the opening and closing member;
A moving speed detecting means for outputting a speed detecting signal corresponding to the movement of the opening / closing member that is driven to open and close by the driving means;
A moving speed calculating means for calculating a moving speed of the opening and closing member based on the speed detection signal;
Movement speed storage means for storing the movement speed calculated by the movement speed calculation means;
A moving speed fluctuation value calculating means for calculating a fluctuation value of the moving speed of the opening and closing member based on the moving speed previously stored by the moving speed storage means and the newly stored moving speed;
A pinching start detecting means for detecting the start of pinching based on the fluctuation value calculated by the moving speed fluctuation value calculating means;
An opening / closing member control apparatus comprising: pinching confirmation means for confirming pinching of a foreign object by the opening / closing member based on the fluctuation value after the start of pinching is detected by the pinching start detection means.   11. The opening / closing member control device according to claim 10, wherein the pinching start detection means detects the pinching start when the fluctuation value exceeds a fluctuation determination threshold value.   The pinching determination means calculates a cumulative value of the fluctuation values after the pinching start detection means detects the pinching start, and when the cumulative value exceeds a pinching determination threshold value, 12. The opening / closing member control apparatus according to claim 10 or 11, wherein pinching is confirmed.   The sandwiching determination means increases the sandwiching determination threshold value to the negative side when the fluctuation value exceeds a disturbance determination threshold value set to the positive side. The opening / closing member control apparatus according to claim 1.   14. The opening / closing member control apparatus according to claim 13, wherein when the fluctuation value does not exceed a predetermined value, the pinching determination unit returns the pinching determination threshold value increased to a negative side to an initial value. The driving means includes a motor,
The moving speed detection means outputs a rotation speed signal of the motor as the speed detection signal,
The opening / closing member control apparatus according to claim 10, wherein the moving speed calculation unit calculates a moving speed of the opening / closing member based on the rotation speed signal. The moving speed detection means outputs a pulse signal synchronized with the rotation of the motor as the rotation speed signal,
The opening / closing member control apparatus according to claim 15, wherein the moving speed calculation means calculates a rotation speed of the motor using a predetermined number of the pulse signals that are continuous for each predetermined rotation angle of the motor.

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