JP2007238014A - Door opening/closing assist device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door opening/closing assist device capable of easily performing the setting and the development or the like with a clear configuration by establishing a control logic by a small number of parameters. <P>SOLUTION: The door opening/closing assist device comprises a torque sensor 10 for detecting the door opening/closing operational force to a door knob of a vehicle, a speed sensor 72 for detecting the door opening/closing speed, a motor 1 for assisting the door opening/closing operational force, and a controller 8 for controlling the motor 1 by the assist force command value to be operated from the door opening/closing operational force and the opening/closing speed. The controller 8 operates the assist force command value based on the door mass, the viscous friction coefficient to be determined from the viscous friction force to be applied to the door and the moving speed, and the imaginary mass and the imaginary viscous friction coefficient for obtaining the ideal operational feeling. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to the technical field of a door opening / closing assist device that assists the force of an actuator so that a vehicle door can be operated with a light force.

It has control means consisting of target current signal setting means, acceleration calculation means, acceleration coefficient generation means, speed coefficient generation means, correction means, deviation calculation means, and drive control means, and corresponds to target current signals and acceleration signals corresponding to torque signals. A correction signal corresponding to the acceleration coefficient and the speed coefficient corresponding to the speed signal is generated, and an assisting force (opening / closing assisting force) is generated by driving the electric motor based on the correction signal (see, for example, Patent Document 1). .)
JP-A-9-328957 (page 2-11, all figures)

  However, in the past, in order to obtain a natural feeling of operation, setting of the assist force correction coefficient for obtaining a sense of incongruity has been insufficient.

  The present invention has been made paying attention to the above-mentioned problems, and its purpose is to establish a door opening / closing assist that allows control logic to be established with a small number of parameters and allows easy setting and development with a clear configuration. To provide an apparatus.

  In order to achieve the above object, the present invention assists the operation force detecting means for detecting the door opening / closing operation force to the door knob of the vehicle, the opening / closing speed detecting means for detecting the door opening / closing speed, and the door opening / closing operation force. An actuator, and a control means for controlling the actuator by an auxiliary force command value calculated from an opening / closing operating force and an opening / closing speed of the door, the control means moving the mass of the door, the viscous friction force acting on the door, and the movement The auxiliary force command value is calculated based on the viscous friction coefficient determined from the speed relationship, and the virtual mass and virtual viscous friction coefficient that provide an ideal operational feeling.

  Therefore, in the present invention, the control logic can be established with a small number of parameters, and setting, development, and the like can be easily performed with a clear configuration.

  Hereinafter, an embodiment for realizing the door opening / closing assist device of the present invention will be described based on Example 1 corresponding to claims 1 to 3.

First, the configuration will be described.
FIG. 1 is an explanatory diagram illustrating an outline of the door opening / closing assist device according to the first embodiment. FIG. 2 is an explanatory diagram of a vehicle in which the door opening / closing assist device according to the first embodiment is mounted on the vehicle. FIG. 3 is an explanatory diagram of a torque sensor of the door opening / closing assist device according to the first embodiment.

The door opening / closing assist device according to the first embodiment includes a motor 1, a speed reduction mechanism 2, a drive pulley 3, guide pulleys 4a to 4c, a drive arm 5, a slide door 6, a support member 7, a position sensor 71, and a controller 8 as main components. Yes.
The motor 1 outputs a driving force for assisting to the output shaft under the control of the controller 8.
The speed reduction mechanism 2 performs a constant speed reduction with respect to the output of the motor 1 according to the ratio of the number of gear teeth, and obtains a large torque corresponding to the speed reduction.

The drive pulley 3 engages with the speed reduction mechanism 2 and rotates at a predetermined rotation speed, and rotates the belt 9.
The guide pulleys 4a to 4c are smoothly rotated while being stretched around a set path by free rotation.
The drive arm 5 has one end attached to the support member 7 and the other end attached to the slide door 6, and transmits the moving force of the support member 7 to the slide door 6.
As shown in FIG. 2, the sliding door 6 is a door that opens and closes by sliding along the side surface of the vehicle, rather than opening and closing on the side surface of the vehicle. (Hereinafter, the term “door” refers to the sliding door 6)

The support member 7 is fixed to the belt 9 and transmits the rotating force of the belt 9 to the drive arm 5.
A position sensor 71 that detects the opening / closing position of the slide door 6 and a speed sensor 72 that detects the opening / closing speed of the slide door 6 are provided inside the support member 7 by detecting the position of the support member 7.

In the first embodiment, as shown in FIG. 2, the operation force of the door is detected by a torque sensor 10 provided at the door knob portion.
The torque sensor 10 is mainly composed of a substrate 11, a brush 12, a door knob 13, and a spring 14.
The substrate 11 detects a change in the contact position with the brush 12 as a change in resistance.
The brush 12 has a proximal end attached to the inside of the door of the door knob 13, the distal end portion contacts the substrate 11, and slides while being in contact with the substrate 11 as the door knob 13 slides.
The door knob 13 is a portion that the operator holds when opening and closing the door and applies force in each of the opening and closing directions. In the first embodiment, the door knob 13 is predetermined in each of the opening and closing directions. It is a structure that slides by an amount.
The spring 14 applies a force to hold the door knob 13 in the neutral position of opening and closing, and when a force in either the opening or closing direction is applied to the door knob 13 by an operation, a displacement amount corresponding to the spring property is generated. is there.

  That is, the door knob 13 to which the operating force is applied is held in the neutral position by the spring 14, and the brush 12 and the substrate 11 attached to the door knob 13 constitute a sliding potentiometer, so that the position change detected by the potentiometer is Since this corresponds to the amount of displacement of compression or tension of the spring 14, the operating force applied to the doorknob is detected.

The controller 8 processes the detection information of the torque sensor 10 and the position sensor 71 and controls the motor 1 based on the results.
FIG. 5 is a block diagram of the controller 8 of the door opening / closing assist device.
The door opening / closing assisting force calculation unit 81 calculates an assisting force command value from the opening / closing speed, the opening / closing position, and the opening / closing operation force, and outputs it.
The motor drive control unit 82 drives the motor 1 according to the auxiliary force command value.

Next, the door opening / closing assisting force calculation unit 81 will be further described with reference to FIG.
FIG. 6 is a block diagram of the door opening / closing assisting force calculation unit 81.
In the following description and FIG. 6, Mp is a door mass, Mi is a virtual door mass, Dp is a door viscous friction coefficient, and Di is a virtual door viscous friction coefficient.

The multiplier 811 receives the opening / closing operation force as input and performs a calculation that multiplies the calculation result represented by Mp / Mi-1.
The adder 812 adds the outputs of the multipliers 811 and 812 and outputs the result as an auxiliary force command value.
The multiplier 813 receives the opening / closing speed and performs an operation of multiplying the operation result represented by Dp−Di × (Mp / Mi).

The storage output unit 814 stores the virtual door viscous friction coefficient Di, updates and stores Di when there is an input of Di from the outside, and outputs the stored Di.
The coefficient setting unit 815 sets Di to a larger value than usual until the door stops when the door opening / closing position reaches fully closed or near full open.

  When the coefficient setting unit 816 determines that the operation force becomes a value near 0 and the door operation is not performed, the coefficient setting unit 816 sets Di to a larger value than usual.

Next, the operation will be described.
[Auxiliary command value calculation processing]
FIG. 7 is a flowchart showing a flow of auxiliary command value calculation processing executed by the controller 8 of the door opening / closing assist device according to the first embodiment. Each step will be described below.
In the following description and FIG. 7, Fh is an operation force detection value, Xd is a door position detection value, Vd is a door speed, Di is a virtual viscosity coefficient, Di1 is a normal viscous friction coefficient, and Di2 is near a fully closed full open. Viscous friction coefficient for arrival (larger than Di), Di3 is a viscous friction coefficient when released (Di larger than Di), Di2 flag is a flag for switching between Di1 and Di2 (Di2 is used when set) ),

  In step S1, it is determined whether the Di2 flag is 0. If it is 0, the process proceeds to step S2, and if it is not 0, the process proceeds to step S5.

  In step S2, it is determined whether Xd (-1)> Xcl and Xd (0) ≦ Xcl are satisfied with respect to Xcl which is a position set as a position slightly opened from the fully closed position. If so, the process proceeds to step S4. If not established, the process proceeds to step S3. Here, Xd (-1) indicates a state before one operation indicating that the Di2 flag is initialized to 0 when the controller power is turned on. Xd (0) indicates the detected value of the current door position. That is, it is a determination as to whether or not the threshold value set slightly to the fully open side from the fully closed position has been exceeded.

  In step S3, it is determined whether or not Xd (-1) <Xop and Xd (0) ≧ Xop is satisfied with respect to Xop which is a position threshold set as a position slightly closed from the fully open position. If not, the process proceeds to step S4. If not established, the process proceeds to step S7. Xd (-1) indicates the state before one calculation, and Xd (0) indicates the detected value of the current door position. That is, it is a determination as to whether or not the threshold value set slightly closer to the fully closed position than the fully opened position is exceeded.

  In step S4, the Di2 flag is set to 1.

  In step S5, it is determined whether or not | Vd | <Const1 is satisfied. If satisfied, the process proceeds to step S6, and if not satisfied, the process proceeds to step S7. That is, it is a determination as to whether the absolute value of the door speed has become smaller than the stop determination threshold.

  In step S6, the Di2 flag is set to 0.

  In step S7, it is determined whether the Di2 flag is 1. If it is 1, the process proceeds to step S9, and if it is 0, the process proceeds to step S8.

  In step S8, Di = Di1.

  In step S9, Di = Di2.

  In step S10, it is determined whether or not | Fh | <Const2 is satisfied. If satisfied, the process proceeds to step S11. If not satisfied, the process proceeds to step S12.

  In step S11, Di = Di3. Di3 is the viscous friction coefficient (make larger than Di) when the hand is released.

  In step S12, the door opening / closing assisting force is calculated from the operation force detection value Fh and the door speed Vd.

[Door opening and closing assist control]
In the door opening / closing assist device according to the first embodiment, ideal and light ideal door operations are set by setting ideal values for the door mass and door viscous friction coefficient, and the door opening / closing assisting force calculation unit 81 performs calculation. Thus, door opening / closing assist control is performed so as to obtain an ideal operation feeling.

In the door opening / closing assist control according to the first embodiment, the operation of the door opening / closing assisting force calculation unit 81 including the multipliers 811 and 813 and the adder 812 will be described.
FIG. 9 is a block diagram of a control target model assumed in the door opening / closing assist device of the first embodiment.

The adder 831 adds the detection value of the opening / closing operation force, the door opening / closing assist force, and the output of the multiplier 835.
The multiplier 832 performs an operation of multiplying the input by the operation result represented by 1 / Mp. That is, it is a calculation for converting the force for opening the door including the assist force in consideration of the viscosity into acceleration.
The integrator 833 calculates the door speed by integrating the door acceleration.
The integrator 834 obtains the door position by integrating the door speed.
Multiplier 835 multiplies door speed by Dp to determine viscous resistance.

Next, FIG. 10 is a block diagram of a virtual model assumed as an ideal case in the door opening / closing assist device of the first embodiment. In addition, about the block which performs the same process as FIG. 9, the same code | symbol is attached | subjected and description is abbreviate | omitted.
The adder 836 performs a calculation for subtracting the viscous resistance from the input operation force.
The multiplier 837 performs an operation of multiplying the input by the operation result represented by 1 / Mi. That is, it is an operation for converting a force for opening the door in consideration of viscosity into acceleration.
The multiplier 838 multiplies the door speed by Di to determine the viscous resistance.
Note that FIG. 10 is a diagram in which the configuration of FIG. 8 and the configuration of FIG. 9 are combined and equivalently converted.

In the first embodiment, control is performed to reduce the deviation between the ideal model shown in FIG. 10 and the actual model shown in FIG. When FIG. 9 and FIG. 10 are compared, it can be seen that the part for obtaining the door acceleration from the operation force and the part for obtaining the viscous resistance are important.
Therefore, the part which calculates | requires door acceleration from operation force is set as the multiplier 811, and the calculation using the ratio of virtual door mass and real door mass is performed by Mp / Mi-1. Further, the part for obtaining the viscous resistance from the door speed is set as a multiplier 813, and the calculation using the difference between the virtual viscosity coefficient and the actual viscosity coefficient is performed by Dp−Di × (Mp / Mi).

Furthermore, since the input to the multiplier 811 uses the door opening / closing operation force actually detected, and the input to the multiplier 813 uses the actually detected door opening / closing speed, the model of FIG. The computation of FIG. 8 to approximate the state of FIG. 10 can be made more accurate.
As a result, the input amount as the door opening / closing assisting force in FIG. 9 becomes the control amount that brings FIG. 9 closer to FIG. 10, and as a result, a state close to FIG. 10 can be obtained.

FIG. 11 is a graph comparing the assisting state and the ideal state when the door opening / closing assisting force calculating unit 81 is configured with multipliers 811 and 813 and an adder 812 as shown in FIG. FIG. 11 is a graph showing a change in door operation force and command assisting force with respect to time on the left side, and a change in door position with respect to time on the right side.
In FIG. 11, the operation part shown in FIG. 8 functions, and as shown in FIG. 11 (a), the same operational feeling as in the ideal state (see FIG. 11 (b)) can be obtained.

  Furthermore, in the first embodiment, the processing from step S1 to S9 is performed by the coefficient setting unit 815, so that the door viscous friction coefficient in the vicinity of fully closed and fully opened is made larger than usual to increase the viscous resistance, and the door and body Can be moderated (see FIG. 12).

  Furthermore, in Example 1, since the coefficient setting unit 816 performs the processing of steps S10 and S11, the parameter used as the viscosity of the ideal door when it is detected that the operating force is lost and the hand is released from the doorknob. Increasing the size of the door will cause the door to become heavier when it is released from the door, so that it will not pinch objects or people, and at that time, the door will be slowed as much as possible. Can be reduced.

Next, the effect will be described.
In the door opening / closing assist device according to the first embodiment, the following effects can be obtained.

  (1) Torque sensor 10 for detecting the door opening / closing operation force to the door knob of the vehicle, speed sensor 72 for detecting the door opening / closing speed, motor 1 for assisting the door opening / closing operation force, and door opening / closing operation force A controller 8 that controls the motor 1 based on an auxiliary force command value calculated from the opening / closing speed. The controller 8 has a door mass, a viscous friction coefficient determined from the relationship between the viscous friction force acting on the door and the moving speed, and an ideal Since the auxiliary force command value is calculated based on the virtual mass and virtual viscous friction coefficient that provide a realistic operational feeling, the control logic can be established with a small number of parameters, making it easy to set and develop with a clear configuration. Can be.

  (2) A position sensor 71 for detecting the door opening / closing position is provided, and when the controller 8 detects that the door opening / closing position is in the fully closed or full open area, the virtual viscous friction coefficient is set to a value larger than usual. Therefore, the collision between the door and the body can be moderated by increasing the parameter used as the viscosity of the ideal door when fully closed or near full open.

  (3) If it is detected from the door opening / closing operation force that the door is not operated, the virtual viscous friction coefficient is set to a larger value than usual, so if the operation force is lost and it is detected that the hand is released from the door knob. By increasing the parameter used as the viscosity of the ideal door, it is possible to achieve a gentle door moving speed when an object is caught.

  As described above, the door opening / closing assist device of the present invention has been described based on the first embodiment. However, the specific configuration is not limited to these embodiments, and the invention according to each claim of the claims. Design changes and additions are allowed without departing from the gist.

The light door set virtually does not need to have a constant mass, and may be changed in an initial stage of operation, a moving state, an end stage of operation, or the like, or non-linearly.
As an actuator, a motor has been described as an example. However, an actuator using air pressure or hydraulic pressure may be used, and the actuator is not limited to a motor.
The torque sensor may be a magnetostrictive type.
The position sensor includes a contact type and a non-contact type, and may be of any type and configuration as long as accuracy is satisfied.

In the embodiment, the configuration of FIG. 8 is shown as a part of the door opening / closing assisting force calculation unit 81, FIG. 9 is shown as a control target model at that time, and the equivalent conversion is performed by combining the configuration of FIG. 8 and the configuration of FIG. The result is shown in FIG. What is actually incorporated in the controller 8 with respect to FIGS.
However, the configuration of FIGS. 8 to 10 or a part thereof may be incorporated in the controller 8 as a block diagram.

  The present application can be easily used for a door of a building as well as a door of a moving body.

It is explanatory drawing which shows the outline of the door opening / closing assist apparatus of Example 1. FIG. It is explanatory drawing of the vehicle which mounts the door opening / closing assist apparatus of Example 1 in the vehicle. It is explanatory drawing of the torque sensor of the door opening / closing assist apparatus of Example 1. FIG. It is a state transition diagram of the operation mode of the door opening / closing assist apparatus of Example 1. It is a block diagram of the controller of the door opening / closing assist apparatus of Example 1. FIG. It is a block diagram of the door opening / closing auxiliary | assistant force calculating part of the door opening / closing assist apparatus of Example 1. FIG. It is a flowchart which shows the flow of the auxiliary command value calculation process performed with the controller 8 of the door opening / closing assist apparatus of Example 1. FIG. It is a block diagram of a part of a door opening / closing assisting force calculation unit of the door opening / closing assist device according to the first embodiment. It is a block diagram of the control object model assumed with the door opening / closing assist apparatus of Example 1. FIG. It is a block diagram of a virtual model assumed as an ideal case in the door opening / closing assist device of the first embodiment. FIG. 9 is a graph comparing the assisting state and the ideal state when the door opening / closing assisting force calculating unit 81 is configured with multipliers 811, 813 and an adder 812 as shown in FIG. 8. It is a time chart which shows time, a door position, and the state of Di2 flag.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor 2 Deceleration mechanism 3 Drive pulley 4a-4c Guide pulley 5 Drive arm 6 Sliding door 7 Support member 71 Position sensor 72 Speed sensor 8 Controller 81 Door opening / closing auxiliary force calculating part 82 Motor drive control part 811 Multiplier 812 Adder 813 Multiplication 814 Memory output unit 815 Coefficient setting unit 816 Coefficient setting unit 831 Adder 832 Multiplier 833 Integrator 834 Integrator 835 Multiplier 836 Adder 837 Multiplier 838 Multiplier 9 Belt 10 Torque sensor 11 Substrate 12 Brush 13 Door knob 14 Spring

Claims (3)

An operation force detecting means for detecting a door opening / closing operation force to the door knob of the vehicle;
An opening / closing speed detecting means for detecting the opening / closing speed of the door;
An actuator that assists the door opening and closing force,
Control means for controlling the actuator by an auxiliary force command value calculated from an opening / closing operation force and an opening / closing speed of the door;
With
The control means includes
The viscous friction coefficient determined from the relationship between the mass of the door, the viscous friction force acting on the door and the moving speed,
An imaginary mass and an imaginary viscous friction coefficient that provide an ideal feeling of operation;
Auxiliary force command value is calculated based on
A door opening / closing assist device. The door opening / closing assist device according to claim 1,
An opening / closing position detecting means for detecting the door opening / closing position is provided,
The control means includes
If it detects that the door open / close position is in the fully closed or full open area,
Make the virtual viscous friction coefficient larger than usual,
A door opening / closing assist device. In the door opening and closing assist device according to claim 1 or 2,
When detecting that the door is not operated from the door opening and closing operation force,
Make the virtual viscous friction coefficient larger than usual,
A door opening / closing assist device.

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