JP2008005656A - Automatic opening/closing device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve followability of an opening/closing body to a target speed by improving a regenerative braking force of an electric motor. <P>SOLUTION: The electric motor that drives a sliding door so as to be opened or closed is connected to an H-bridge circuit. The H-bridge circuit executes drive control and regenerative braking control of the electric motor. Speed control is executed so that an opening/closing speed of the sliding door becomes identical to the target speed by PWM-controlling a switching element of the H-bridge circuit. When the opening/closing speed of the sliding door becomes faster than the target speed, the electric motor is subjected to regenerative braking while setting a carrier frequency of a PWM signal lower than that of when driving the electric motor in order to improve the regenerative braking force of the electric motor. The carrier frequency of the PWM signal is reduced while increasing a duty ratio in order to further improve the regenerative braking force of the electric motor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an automatic opening / closing device for a vehicle that automatically opens and closes an opening / closing body provided in a vehicle.

  In an automatic opening and closing device for a vehicle that automatically opens and closes a sliding door provided on a side portion of a vehicle using an electric motor as a drive source, the sliding door is switched by switching the rotation direction of the electric motor between normal rotation and reverse rotation. It is designed to operate in both opening and closing directions. Such an automatic switchgear requires a drive circuit for rotating the electric motor in both forward and reverse directions. As such a drive circuit, for example, as shown in Patent Document 1, an H bridge circuit (full bridge) is used. Circuit) is often used.

  The H-bridge circuit has a first forward switching element having one end connected to one power supply terminal of the electric motor and the other end connected to the power supply, and one end connected to the other power supply terminal of the electric motor and the other end grounded. The first forward switching element, one end connected to the other power supply terminal of the electric motor and the other end connected to the power source, and one end connected to one power supply terminal of the electric motor. A second reverse switching element that is connected and grounded at the other end. By turning on these switching elements in a predetermined combination, the electric motor can be rotated forward and backward. ing. In other words, by switching on the two forward switching elements, it is possible to cause the electric motor to rotate forward by passing a current between both power supply terminals via these switching elements, and to turn on the two reverse switching elements. By switching, the electric motor can be reversed by flowing a current in the opposite direction to that during forward rotation between the power supply terminals. In addition, the second forward switching element and the second reverse switching element, or the first forward switching element and the first reverse switching element are switched on, and electric power is supplied via these switching elements. A regenerative braking force can be generated in the electric motor by short-circuiting both power supply terminals of the motor.

  As a switching element used in the H-bridge circuit, a semiconductor switch such as an FET (electrolytic effect transistor) is usually used, and a CPU (Central Processing Unit) is used as a control means for controlling on / off of these switching elements. And a microcomputer provided with a memory or the like. In the memory of the microcomputer, a speed control map for forward rotation, a speed control map for reverse rotation, and a control map for braking are stored. The CPU selects each switching element by a control signal calculated according to these control maps. The driving is performed in a predetermined combination.

On the other hand, in order to quickly open and close the slide door and increase safety in the vicinity of the fully closed position or the fully open position, the opening and closing speed of the slide door is reduced near the fully open position and the fully closed position, and increased at the intermediate opening. Thus, there is known an automatic opening / closing device that performs speed control. For example, in the automatic opening / closing devices disclosed in Patent Documents 2 and 3, PWM (Pulse Width Modulation) control is performed on one of a pair of switching elements that are simultaneously turned on when an electric motor is driven. The rotational speed of the electric motor is controlled to open and close the sliding door at a desired target speed. That is, when the opening / closing speed of the sliding door is slower than the target speed, the duty ratio of the switching element that is PWM controlled is increased to increase the rotation speed of the electric motor so that the sliding door becomes the target speed. On the contrary, when the open / close speed of the slide door becomes equal to or higher than the target speed due to an external force or the like, the electric motor is regeneratively braked to reduce the open / close speed of the slide door to the target speed. In this case, as a calculation method of the duty ratio for controlling the sliding door to the target speed, control by PI control (proportional integral control) is often performed, and thereby the sliding door is caused to smoothly follow the target speed. ing.
JP 2004-98913 A Japanese Patent Laid-Open No. 10-246061 JP-A-11-343774

  However, in the conventional automatic opening / closing device, the vehicle is on an inclined ground or the like, and its own weight is applied to the sliding door in the same direction as the moving direction, or a manual operation force in the same direction as the moving direction is applied to the sliding door by an occupant. Therefore, if the opening / closing speed of the sliding door greatly exceeds the target speed, even if the electric motor is regeneratively braked, the regenerative braking force is insufficient and it is difficult to make the sliding door follow the target speed. There was a case.

  In particular, when the electric motor is controlled by PI control (proportional integral control), the calculation takes time, so the timing of starting regenerative braking is delayed, and the followability to the target speed of the sliding door is further increased. It was supposed to decline. Further, even if the gain of PI control is increased in order to increase the calculation speed, hunting of the calculation result occurs, so that it is difficult to sufficiently improve the followability.

  An object of the present invention is to increase the regenerative braking force of the electric motor and improve the followability to the target speed of the opening / closing body.

  An automatic opening and closing device for a vehicle according to the present invention is an automatic opening and closing device for a vehicle that automatically opens and closes an opening and closing body provided in a vehicle, and includes an electric motor that opens and closes the opening and closing body, and an H that is connected to the electric motor. PWM control of the switching circuit provided in the bridge circuit and the H bridge circuit drives or regeneratively brakes the electric motor to control the opening / closing body to a target speed, and when regeneratively braking the electric motor, the electric motor And a control means for setting the carrier frequency of the PWM signal lower than when the motor is driven.

  In the automatic opening / closing apparatus for a vehicle according to the present invention, the control means regeneratively brakes the electric motor when the opening / closing speed of the opening / closing member that is driven by the electric motor to open / close is higher than a predetermined target speed. It is characterized by that.

  The automatic opening / closing apparatus for a vehicle according to the present invention is characterized in that when the electric motor is regeneratively braked, the control means sets a duty ratio of the PWM signal higher than before the regenerative braking is started.

  In the vehicular automatic switching apparatus according to the present invention, the H bridge circuit includes a first forward switching element having one end connected to one power supply terminal of the electric motor and the other end connected to a power source, and one end connected to the electric motor. A second forward switching element connected to the other power supply terminal of the motor and grounded at the other end, and a first reverse rotation having one end connected to the other power supply terminal of the electric motor and the other end connected to the power source. And a second reverse switching element having one end connected to one power supply terminal of the electric motor and the other end grounded.

  The automatic opening / closing device for a vehicle according to the present invention is characterized in that the switching element is a field effect transistor.

  According to the present invention, when the electric motor is regeneratively braked, the carrier frequency of the PWM signal for driving the H-bridge circuit is set lower than when the electric motor is driven, so that the regenerative braking force of the electric motor is increased. be able to. Thus, the opening / closing body can be efficiently decelerated and quickly controlled to the target speed. In particular, when the opening / closing speed of the opening / closing body becomes faster than the target speed due to the application of the vehicle's own weight, external force, etc., the PWM signal carrier frequency is set low to increase the regenerative braking force of the electric motor. By increasing it, it becomes possible to control the opening / closing body to quickly match the target speed.

  According to the present invention, when the electric motor is regeneratively braked, the PWM signal carrier frequency is set lower than when the electric motor is driven, and the duty ratio of the PWM signal is set higher. By further increasing the braking force, the opening / closing body can be controlled to the target speed more quickly.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a side view showing a one-box type vehicle, and FIG. 2 is a plan view showing an automatic opening / closing device for a vehicle according to an embodiment of the present invention.

  The vehicle 11 shown in FIG. 1 is provided with a slide door 14 as an opening / closing body in order to open / close an opening 13 provided on a side portion of the vehicle body 12. As shown in FIG. 2, the slide door 14 is provided with a roller assembly 15, and the roller assembly 15 is guided by a guide rail 16 fixed to the side of the vehicle body 12. In FIG. 2, it can be opened and closed between a fully open position indicated by a solid line and a fully closed position indicated by a one-dot chain line. Further, a curved portion 16a that curves toward the vehicle interior side is provided on the vehicle front side of the guide rail 16, and when the roller assembly 15 is guided to the curved portion 16a, the slide door 14 is flush with the side surface of the vehicle body 12. So that it is retracted inside the vehicle body 12 so as to fit in the vehicle. Although not shown, the roller assembly 15 is also provided in the upper and lower portions (upper portion and lower portion) of the front end portion of the slide door 14 in addition to the portion (center portion) shown in the drawing, and the opening portion of the vehicle body 12 corresponding thereto Guide rails (not shown) corresponding to the upper portion and the lower portion are also provided at the upper and lower portions of 13, and the slide door 14 is supported by the vehicle body 12 at a total of three locations.

  As shown in FIG. 2, the vehicle 11 is provided with a vehicle automatic opening / closing device 21 (hereinafter referred to as an opening / closing device 21) in order to automatically open and close the slide door 14. The opening / closing device 21 has a drive unit 22 that is fixed to the inside of the vehicle body 12 adjacent to a substantially central portion of the guide rail 16 in the vehicle front-rear direction, and from the drive unit 22 toward the vehicle front side and the rear side. The cables 23a and 23b are drawn out, and the cable 23a drawn from the drive unit 22 to the front side of the vehicle is connected to the roller assembly from the front side (closed side) of the vehicle via a reversing pulley 24a provided at the front end of the guide rail 16. 15 is connected to the roller assembly 15 from the vehicle rear side (open side) via a reversing pulley 24b provided at the rear end of the guide rail 16. The drive unit 22 drives the cables 23a and 23b. When the cables 23a and 23b are driven by the drive unit 22, the slide door 14 is pulled by the closed cable 23a or the open cable 23b. It is designed to open and close automatically. That is, the switchgear 21 is a so-called cable type.

  FIG. 3 is an explanatory diagram showing a control system of the automatic opening / closing device shown in FIG. 2, and FIG. 4 is a circuit diagram of the motor driving device shown in FIG.

  The drive unit 22 has an electric motor 25 serving as a drive source for opening and closing the slide door 14, and the rotation of the electric motor 25 is reduced to a predetermined number of rotations by a speed reducer 26 fixed thereto. As a result, it is output from the output shaft 27. The electric motor 25 is a DC motor with a brush, and can rotate in both forward and reverse directions according to the direction of the supplied current.

  A cylindrical drum 28 is fixed to the output shaft 27, and the cables 23 a and 23 b are wound around the outer peripheral surface of the drum 28 a plurality of times. As a result, when the electric motor 25 rotates in the forward direction, the drum 28 rotates clockwise in FIG. 3 so that the cable 23a on the closing side is wound around the drum 28, and the slide door 14 is pulled by the cable 23a and automatically closes. To do. On the other hand, when the electric motor 25 rotates in the reverse direction, the drum 28 rotates counterclockwise in FIG. 3 and the open cable 23b is wound around the drum 28, and the slide door 14 is pulled by the cable 23b and automatically opens. To do.

  The speed reducer 26 includes an electromagnetic clutch (not shown). When the slide door 14 is manually opened and closed, the power transmission path between the electric motor 25 and the output shaft 27 is interrupted and cut off by the electromagnetic clutch. 14 manual opening and closing operation force is reduced. Although not shown, a tensioner is provided between the drum 28 and the slide door 14, and the cable tension is kept constant by the tensioner.

  In order to control the operation of the electric motor 25 so as to open and close the slide door 14 at a preset target speed, the drive unit 22 is provided with a motor drive device 31.

  The motor driving device 31 is provided with an H bridge circuit (full bridge circuit) 32, and the electric motor 25 is connected to the H bridge circuit 32 and is driven in both forward and reverse directions. As shown in FIG. 4, the H-bridge circuit 32 is formed by connecting four switching elements SW1 to SW4, each of which is a field effect transistor (FET), in an H shape, and serves as a first normal switching element. The switching element SW1 has one end connected to one power supply terminal 25a of the electric motor 25 and the other end connected to a power source mounted on the vehicle 11, that is, the battery 33. The switching element SW2 as the first reverse switching element has one end The other end of the electric motor 25 is connected to the power supply terminal 25b and the other end is connected to the battery 33. The switching element SW3 as the second reverse switching element is connected to one power supply terminal 25a of the electric motor 25 and the other end. Is grounded, and one end of the switching element SW4 as the second forward switching element is electrically The other end is connected to the other power supply terminal 25b of the motor 25 is grounded.

  In order to control the operation of the switching elements SW1 to SW4, the motor driving device 31 is provided with a control device 34 as a control means.

  The control device 34 is a microcomputer having a CPU (Central Processing Unit) (not shown), a ROM for storing a control program, and a memory such as a RAM for temporarily storing data. Signals such as opening / closing positions and opening / closing speeds are calculated based on PI control (proportional integral control), and control signals are output to the switching elements SW1 to SW4. The control signal output from the control device 34 is converted into a drive signal by the drive circuit 35 and input to the switching elements SW1 to SW4, and the switching elements SW1 to SW4 to which the drive signal is input are switched from OFF to ON. It is like that.

  FIG. 5 is a chart of each control signal when the electric motor is driven in forward rotation, reverse rotation, and regenerative braking. This control device 34 controls on / off of the switching elements SW1 to SW4 in the pattern shown in FIG. By doing so, the electric motor 25 is driven in both forward and reverse directions and regenerative braking is performed. That is, the control device 34 turns on the switching element SW1 and the switching element SW4 to connect the power supply terminal 25a to the battery 33 via the switching element SW1 and ground the power supply terminal 25b via the switching element SW4. The electric motor 25 is driven to rotate forward. Further, the control device 34 turns on the switching element SW2 and the switching element SW3, thereby connecting the power supply terminal 25b to the battery 33 via the switching element SW2 and grounding the power supply terminal 25a via the switching element SW3. The motor 25 is driven in reverse. Further, the control device 34 turns on the switching element SW3 and the switching element SW4, thereby short-circuiting the power supply terminals 25a and 25b via the switching elements SW3 and SW4 to regeneratively brake the electric motor 25.

  Further, the control device 34 performs PWM control of the switching elements SW3 and SW4 on the lower side of the electric motor 25, that is, the side where the power supply terminals 25a and 25b are grounded, among the switching elements SW1 to SW4 provided in the H bridge circuit 32. By doing so, the operating speed of the electric motor 25 can be increased or decreased. That is, the control device 34 performs normal on / off control for each of the switching elements SW1 and SW2, outputs a control signal for each of the switching elements SW3 and SW4 as a pulsed PWM signal, and the duty of the PWM signal. By changing the ratio, the operating speed of the electric motor 25 can be increased or decreased.

  A target speed with the opening / closing position of the slide door 14 as a parameter is stored in the memory of the control device 34, and the control device 34 is configured to operate the electric motor so that the opening / closing speed of the slide door 14 becomes a predetermined target speed. 25 is controlled. That is, the control device 34 drives the electric motor 25 in the forward rotation direction or the reverse rotation direction, and the duty ratio of the switching elements SW3 and SW4 so that the opening / closing speed of the slide door 14 matches the target speed stored in the memory. Is set by PI calculation to control the operating speed of the electric motor 25. When the opening / closing speed of the slide door 14 becomes faster than the target speed, the electric motor 25 is regeneratively braked to reduce the opening / closing speed of the slide door 14 to the target speed.

  Note that the target speed is set in advance through experiments or the like to a value using the open / close position of the slide door 14 as a parameter, for example, slow in the vicinity of the fully open position and the fully closed position of the slide door 14 and fast in the intermediate opening.

  In order to command the opening / closing operation of the sliding door 14, the sliding door 14 is provided with a door handle 36 having a function as an opening / closing switch. When the door handle 36 is operated by an operator such as an occupant, this door is operated. An opening / closing command signal is input from the handle 36 to the control device 34. For example, when the door handle 36 is operated to the close side, a command signal for closing the slide door 14 is input to the control device 34, and the control device 34 drives the electric motor 25 to rotate forward to automatically close the slide door 14. Make it work. Conversely, when the door handle 36 is operated to the open side, a command signal for opening the slide door 14 is input to the control device 34, and the control device 34 drives the electric motor 25 in reverse to automatically open the slide door 14. Make it work.

  In addition, a rotation sensor 37 is connected to the control device 34 in order to detect the opening / closing speed and opening / closing position of the slide door 14. As shown in FIG. 3, the rotation sensor 37 includes a multipolar magnetized magnet 38 having a large number of magnetic poles magnetized in the circumferential direction and fixed to the output shaft 27, and a multipole magnetized magnet 38. A pair of Hall ICs 39a and 39b arranged with a predetermined phase difference from each other is provided. When the output shaft 27 rotates, a pulse signal having a period proportional to the rotational speed of the output shaft 27 is output from the Hall ICs 39a and 39b. It is designed to output. The pulse signals output from the Hall ICs 39a and 39b are input to the control device 34, and the control device 34 detects the rotational speed of the electric motor 25, that is, the opening / closing speed of the slide door 14, based on the period of these pulse signals. That is, the rotation sensor 37 has a function as an opening / closing speed detecting means for detecting the opening / closing speed of the slide door 14. The control device 34 detects the rotation direction of the electric motor 25, that is, the opening / closing direction of the slide door 14, based on the appearance timing of the pulse signals input from the Hall ICs 39a, 39b. The opening / closing position of the slide door 14 is detected by counting (accumulating) pulse signals starting from the time when the fully closed position is reached.

  The rotation sensor 37 for detecting the opening / closing speed and opening / closing position of the slide door 14 is not limited to the one using the multipolar magnetized magnet 38 and the Hall ICs 39a and 39b, and a resolver, a rotary encoder, or the like may be used. .

  FIG. 6A is a chart showing a PWM signal when the electric motor is driven, and FIG. 6B is a chart showing a PWM signal when the electric motor is regeneratively braked.

  As shown in FIG. 6 (a), in this switching device 21, when the electric motor 25 is driven and controlled, the carrier frequency of the PWM signal for the switching element SW3 or SW4 is controlled by the control device 34 to a predetermined frequency for driving. Set to This driving frequency is set in advance by experiments or the like, and is set to about 9.8 KHz in this embodiment. This frequency is selected in consideration of a control sound (such as an operating sound of the switching element when generating a PWM signal), a heat generation amount of the switching element, a control response, and the like. When the carrier frequency of the PWM signal is increased, the regenerative current is less likely to flow due to the L component of the internal coil of the electric motor 25. Therefore, the vehicle 11 is on a sloping ground or the like, and its own weight is applied to the slide door 14 in the same direction as the movement direction. Or a manual operation force in the same direction as the moving direction is applied to the slide door 14 by an occupant or the like, so that the braking force is insufficient when the opening / closing speed of the slide door 14 greatly exceeds the target speed. Sometimes. Here, the carrier frequency of the PWM signal is the frequency of each pulse of the PWM signal. When the carrier frequency decreases, the cycle of each pulse signal becomes longer.

  On the other hand, as shown in FIG. 6B, when the electric motor 25 is regeneratively braked by short-circuiting the power supply terminals 25a and 25b by the switching element SW3 and the switching element SW4, the carrier frequency of the PWM signal is controlled by the control device 34. The braking frequency is set lower than the driving frequency when the electric motor 25 is driven. In this embodiment, the frequency is about 156 Hz.

  When the carrier frequency of the PWM signal is lowered, even if the duty ratio is the same, the period of each pulse signal is lengthened, so that a regenerative current flows efficiently to the electric motor 25, thereby causing the regenerative braking force of the electric motor 25. Can be enhanced. Therefore, for example, the sliding door 14 that automatically opens and closes when the vehicle 11 tilts or the like is given its own weight in the same direction as the opening and closing direction, or a manual operation force by an occupant or the like is applied in the same direction as the opening and closing direction. Even when the sliding door 14 is opened and closed at an opening / closing speed faster than the target speed, the electric motor 25 is regeneratively braked, and the carrier frequency of the PWM signal is set lower than that during driving, so that the regenerative braking force of the electric motor 25 is increased. Thus, the sliding door 14 can be quickly decelerated to the target speed.

  FIG. 7 is a flowchart showing a carrier frequency setting procedure by the control device.

  A carrier frequency setting procedure will be described with reference to FIG.

  First, at step S1, the PWM signal duty ratio is PI-calculated from the opening / closing position of the slide door 14 and the actual opening / closing speed difference with respect to the target speed, and at step S2, it is determined whether the PI calculation result is drive control or braking control. Is done. If it is determined in step S2 that the electric motor 25 is in drive control, the carrier frequency is set to a driving frequency in step S3, and a PWM signal having the carrier frequency is output in step S4. Driven at the target speed.

  On the other hand, if it is determined in step S2 that the PI calculation result is braking control, the carrier frequency is set to a braking frequency lower than the driving frequency in step S5, and the PWM signal of the carrier frequency is set in step S4. Is output. The electric motor 25 is regeneratively braked with a high braking force, and the slide door 14 is quickly decelerated to the target speed.

  As described above, in this switching device 21, when the electric motor 25 is regeneratively braked, the carrier frequency of the PWM signal is set lower than when the electric motor 25 is driven. Therefore, the regenerative braking force of the electric motor 25 is set. Can be increased. Thereby, even if the opening / closing speed of the slide door 14 becomes faster than the target speed by applying the own weight, external force, or the like due to the inclination of the vehicle 11, the regenerative braking force of the electric motor 25 is increased and the slide door 14 is quickly moved. The target speed can be controlled.

  Moreover, in this switchgear 21, the braking force can be increased without adding an electrical circuit other than the H-bridge circuit 32, and without adding a mechanical braker. The cost can be reduced.

  FIG. 8 is a chart showing a modified example of PWM control by the control device, (a) is a chart showing a PWM signal when driving the electric motor, and (b) is when regenerative braking of the electric motor is performed. It is a chart figure which shows a PWM signal.

  In the case shown in FIG. 6, when the electric motor 25 is regeneratively braked, the control device 34 sets the PWM signal carrier frequency lower than that during driving while keeping the duty ratio of the PWM signal constant. On the other hand, in the case shown in FIG. 8, the carrier frequency of the PWM signal is set lower than that during driving, and the duty ratio of the PWM signal is set higher than before the start of regenerative braking. Thereby, the regenerative current increased due to the decrease in the carrier frequency can be further increased by increasing the duty ratio, and the regenerative braking force of the electric motor 25 can be further increased.

  Thus, in this switching device 21, when the electric motor 25 is regeneratively braked, the carrier frequency of the PWM signal is set lower than when the electric motor 25 is driven, and the duty ratio of the PWM signal is set higher. Therefore, the regenerative braking force of the electric motor 25 can be further increased, and the slide door 14 can be controlled to the target speed more quickly.

  It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, in the present embodiment, the opening / closing body is the slide door 14 mounted on the vehicle. However, the present invention is not limited to this. Other opening / closing bodies, such as a back door that can be freely opened and closed via a hinge at the end, may be used.

  In the present embodiment, FETs are used as the switching elements SW1 to SW4. However, the present invention is not limited to this, and any switching element capable of PWM control may be used.

  Further, in the present embodiment, the switching element SW3 and the switching element SW4 are turned on to regeneratively brake the electric motor 25. However, the present invention is not limited to this, and the switching element SW1 and the switching element SW2 are turned on. The electric motor 25 may be regeneratively braked.

  Furthermore, in this embodiment, the switching elements SW3 and SW4 are PWM-controlled. However, the present invention is not limited to this, and the switching elements SW1 and SW2 may be PWM-controlled.

It is a side view showing a one-box type vehicle. It is a top view which shows the automatic opening / closing apparatus for vehicles which is one embodiment of this invention. It is explanatory drawing which shows the control system of the automatic opening / closing apparatus shown in FIG. FIG. 4 is a circuit diagram of the motor drive device shown in FIG. 3. It is a chart figure of each control signal when carrying out forward rotation drive, reverse rotation drive, and regenerative braking of an electric motor. (A) is a chart showing a PWM signal when the electric motor is driven, and (b) is a chart showing a PWM signal when the electric motor is regeneratively braked. It is a flowchart figure which shows the setting procedure of the carrier frequency by a control apparatus. It is a chart figure which shows the modification of PWM control by a control device, (a) is a chart figure showing a PWM signal when driving an electric motor, (b) is a PWM signal when carrying out regenerative braking of an electric motor. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Vehicle 12 Car body 13 Opening part 14 Sliding door (opening-closing body)
DESCRIPTION OF SYMBOLS 15 Roller assembly 16 Guide rail 16a Bending part 21 Vehicle automatic switchgear 22 Drive unit 23a, 23b Cable 24a, 24b Reversing pulley 25 Electric motor 25a, 25b Power supply terminal 26 Reducer 27 Output shaft 28 Drum 31 Motor drive device 32 H bridge Circuit (full bridge circuit)
33 Battery (Power)
34 Control device (control means)
35 Drive Circuit 36 Door Handle 37 Rotation Sensor 38 Multipole Magnetized Magnets 39a, 39b Hall IC
SW1 switching element (first forward switching element)
SW2 switching element (first switching element for reverse rotation)
SW3 switching element (second switching element for reverse rotation)
SW4 switching element (second forward switching element)

Claims (5)

An automatic opening and closing device for a vehicle that automatically opens and closes an opening and closing body provided in a vehicle,
An electric motor for opening and closing the opening and closing body;
An H-bridge circuit connected to the electric motor;
The switching element provided in the H-bridge circuit is PWM controlled to drive or regeneratively brake the electric motor to control the opening / closing body to a target speed, and to drive the electric motor to regeneratively brake the electric motor. And a control means for setting the carrier frequency of the PWM signal lower than that of the vehicle.   2. The automatic opening / closing device for a vehicle according to claim 1, wherein the control means regenerates the electric motor when the opening / closing speed of the opening / closing body that is driven to open / close by the electric motor becomes faster than a predetermined target speed. An automatic opening / closing device for a vehicle characterized by braking.   3. The automatic opening and closing device for a vehicle according to claim 1, wherein when the electric motor is regeneratively braked, the control means sets a duty ratio of the PWM signal higher than before the regenerative braking is started. An automatic opening and closing device for a vehicle.   4. The automatic opening / closing device for a vehicle according to claim 1, wherein the H bridge circuit has a first end connected to one power supply terminal of the electric motor and the other end connected to a power source. A forward switching element, a second forward switching element having one end connected to the other power supply terminal of the electric motor and the other end grounded, and one end connected to the other power supply terminal of the electric motor and the other end A vehicle comprising: a first reverse switching element connected to the power source; and a second reverse switching element having one end connected to one power supply terminal of the electric motor and the other end grounded. Automatic opening and closing device.   The automatic opening / closing apparatus for vehicles according to any one of claims 1 to 4, wherein the switching element is a field effect transistor.

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