JP2009228280A - Opening/closing member control unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening/closing member control unit which can detect that foreign matter is pinched by an opening/closing member, and which enables the opening/closing member to be surely operated in consideration of the following situations, even if the opening/closing member has not been operated for a long period of time. <P>SOLUTION: This opening/closing member control unit 1 comprises: a driving means 2 for driving the opening/closing of the opening/closing member 11; a movement speed detecting means for outputting a speed detection signal according to the movement of the opening/closing member 11; a movement speed storage means for prestoring movement speed data as learning data; a pinching detecting means for detecting the pinching of the foreign matter by the opening/closing member 11 on the basis of operation information stored in the storage means; a movement speed updating means for updating the learning data; a current date and time acquiring means; an operation date and time storage means; and an operation determination means for determining an operation or a nonoperation by determining the rejection of the operation of the opening/closing member 11. The operation determination means compares the nearest preceding operation date and time with a current date and time, and makes the opening/closing member operate normally only when an interval between them is equal to/shorter than a predetermined one. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

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

  Currently, in an automotive opening / closing member control device, when a foreign object is caught during the closing operation, it is detected that the foreign object has been caught due to a change in the speed of the motor that drives the opening / closing member, etc. Those having a pinching prevention function for stopping the member closing operation and switching to the opening operation are mainly used.

As an example of this control, a threshold value is set for detection data (for example, window drive motor rotation speed, etc.) detected corresponding to the load applied to the window glass, and sandwiched based on this threshold value. What is to be detected is known.
Various techniques for updating (learning) the threshold based on the detection data have been proposed. Thus, by updating the threshold value by learning, it is possible to eliminate the influence of a change in sliding resistance due to a secular change or the like and perform more stable pinching detection.

However, when the window glass is opened and closed, the load applied to the window glass may be affected by various situations at that time, even when the window glass is not caught.
For example, it is assumed that the opening / closing state of the door provided with the window glass, the difference in the running state of the vehicle, the past opening / closing state of the window glass, and the like.
Specifically, for example, when driving on rough roads, the load on the window glass is naturally greater than when the vehicle is stopped. When updating (learning) is performed in such a state, the threshold value is There is a possibility that a problem of not detecting pinching may occur even in a state where foreign objects are pinched due to being set excessively.

In order to avoid such a situation, various techniques have been proposed for updating (learning) the threshold (see, for example, Patent Document 1).
In the technique described in Patent Document 1, when changing (learning) the threshold value, vehicle conditions (door open / closed state, vehicle running state, etc.) are detected, and the threshold value is set only in a predetermined state. I decided to change it.
Specifically, the threshold value change is executed only when the vehicle is stopped and the door is closed from the vehicle speed sensor and the door switch.
Since it is configured in this manner, the threshold value can be accurately updated, and abnormal data due to a difference in vehicle state can be prevented from being reflected in the new threshold value.

JP 2002-144864 A

As described above, in the technique disclosed in Patent Document 1, the threshold value update (learning) is performed in consideration of the vehicle situation in order to improve the detection accuracy of the sandwiching when the window glass is opened and closed.
However, in the technique according to Patent Document 1, the past use situation of the window glass is not taken into account. For example, when the window glass is not opened and closed for a long period of time, learning / memory is performed due to aging of the glass run or the like. There may be a difference between the speed fluctuation and the speed change due to the load during actual window glass operation.

In other words, if the window glass is not opened and closed for a long period of time, a difference may occur because the glass run or the like undergoes secular change even though the threshold change (learning) as described above is not executed. I cannot deny sex.
In this way, if there is a difference between the learned and memorized speed fluctuation and the speed change due to the load when the actual window glass is activated, there is a risk that erroneous reversal will occur or reversal addition during pinching will increase. is there.

  An object of the present invention is to solve the above-mentioned problems, and it is possible to detect the trapping of foreign matter by the opening / closing member, and even when the opening / closing member has not been operated for a long period of time, taking this situation into consideration. The present invention relates to an opening / closing member control device capable of reliably operating an opening / closing member.

  According to the opening / closing member control apparatus according to the present invention, the opening / closing member control apparatus performs a foreign object pinching detection and release operation when an automatic operation command is received to control an automatic movement operation of the opening / closing member. The opening / closing member control device includes a driving unit that drives the opening / closing member to open / close, a moving speed detection unit that outputs a speed detection signal corresponding to the movement of the opening / closing member that is driven to open / close by the driving unit, and an opening / closing member. The moving speed storage means for preliminarily storing the moving speed data as learning data, and the trapping of foreign matter on the opening / closing member based on the learning data and the speed detection signal received from the moving speed detection means during the closing operation of the opening / closing member Pinching detection means for detecting, movement speed update means for updating the learning data based on the movement speed data calculated based on the speed detection signal, A current date and time acquisition means for acquiring a current date and time; an operation date and time storage means for storing an operation date and time; and an operation determination means for determining whether the opening / closing member is rejected and determining whether to operate or not. The determination unit compares the latest operation date and time acquired from the operation date and time storage unit with the current date and time acquired from the current date and time acquisition unit, and the interval between the latest operation date and time and the current date and time is equal to or less than a predetermined interval. It is solved by operating the opening / closing member normally only in the case of

As described above, in the present invention, the pinch determination is performed when the opening / closing member is automatically operated, and the latest operation date / time acquired from the operation date / time storage unit is compared with the current date / time acquired from the current date / time acquisition unit. The opening / closing member is normally operated only when the interval between the most recent operation date and time and the current date and time is equal to or less than a predetermined interval.
That is, when the opening / closing member (for example, the window glass of the power window device) is not opened and closed for a long period of time, the learned and stored speed fluctuations and the actual window glass operation time due to the secular change of the glass run or the like. Considering that there may be a difference in speed change due to load, normal operation is permitted only when it is not determined that the opening / closing member (for example, the window glass of the power window device) has not been opened / closed for a long period of time. It was decided.
For this reason, it is possible to effectively prevent erroneous detection of pinching detection, and to open and close the opening and closing member safely and reliably.

Further, at this time, the operation determination unit compares the most recent operation date acquired from the operation date storage unit with the current date acquired from the current date acquisition unit, and the most recent operation date and the current date If it is determined that the interval exceeds the predetermined interval, it is preferable that the automatic movement operation of the opening / closing member is prohibited.
With this configuration, when the opening / closing member (for example, the window glass of the power window device) is not opened and closed for a long period of time, the automatic movement operation itself is prohibited, so that the operation is not performed for a long period of time. It is possible to effectively prevent the malfunction of the pinch detection from occurring during the automatic movement operation due to the influence of the secular change or the like resulting from this.

Further, at this time, when the operation determination means determines that the interval between the most recent operation date and time and the current date and time exceeds a predetermined interval, the operation determination unit prohibits the automatic movement operation of the opening and closing member, and When the automatic movement operation of the opening / closing member is prohibited, it is preferable that the prohibition of the automatic movement operation of the opening / closing member is canceled on condition that the learning data is updated.
With this configuration, when the opening / closing member (for example, the window glass of the power window device) is not opened and closed for a long time, the learning data is updated and new learning data is acquired over time. It is possible to cope with changes and the like, and automatic operation is permitted only after this, so that it is possible to effectively prevent the occurrence of pinching detection malfunction during automatic movement operation, and the convenience is enhanced.

  At this time, the learning data is updated when the automatic movement operation of the open / close member is prohibited, according to the movement of the open / close member driven to open / close by the drive means by performing an operation of moving the open / close member by manual operation. The moving speed detecting means for outputting the detected speed detecting signal, the moving speed storing means for storing the moving speed data of the opening / closing member as learning data, and the learning based on the moving speed data calculated based on the speed detecting signal. It is preferable to be configured to be executed by a moving speed updating means for updating data, because it is possible to easily update the learning data and reflect it.

Further, at this time, the operation determination unit compares the latest operation date acquired from the operation date storage unit with the current date acquired from the current date acquisition unit, and the interval between the latest operation date and the current acquisition date Is determined to exceed the predetermined interval, it is preferable to correct the data for detecting the pinching based on the length of the interval.
When configured in this way, when it is determined that the interval between the most recent operation date and time and the current date and time exceeds a predetermined interval, the learning data can be automatically corrected and reflected, It is possible to prevent malfunction of pinching detection due to secular change caused by long-term inactivity, and easily correct learning data and improve convenience.

  Further, at this time, the data for detecting the pinching includes learning data that is the movement speed data of the past opening / closing member, threshold data for detecting pinching, and current movement speed data of the opening / closing member. One or more selected data is preferable because it is possible to effectively prevent a pinch detection malfunction due to secular change caused by long-term non-operation.

  Further, at this time, the driving means is configured to have a motor, the moving speed detecting means outputs a rotational speed signal of the motor as the speed detecting signal, and the moving speed updating means The motor rotational speed data calculated based on the rotational speed signal is used as the moving speed data.

According to the present invention, when the opening / closing member is not operated for a long period of time, automatic operation of the opening / closing member is not permitted.
In such a case, if it is confirmed that the learning data is re-updated, the prohibition of the automatic operation of the opening / closing member is canceled.
Furthermore, according to the present invention, even when the opening / closing member has not been operated for a long period of time, the learning data is changed in consideration of the change over time during the period in which the opening / closing member has not been operated, and then automatic operation is performed to detect pinching. It can be performed.
Since it is configured in this manner, it is possible to effectively prevent the malfunction of the pinching detection caused by the change over time caused by the non-operation for a long period of time and to safely operate the opening / closing member.
As described above, according to the opening / closing member control apparatus according to the present invention, it is possible to detect the foreign object being caught by the opening / closing member and to operate the opening / closing member safely and reliably.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
Note that the configuration described below does not limit the present invention and can be variously modified within the scope of the gist of the present invention.
In this embodiment, it is possible to detect a foreign object caught by the opening / closing member, and even when the opening / closing member is not operated for a long time, the opening / closing member can be operated safely and reliably in consideration of the circumstances. The present invention relates to a power window device as an open / close member control device.

1 to 5 show a first 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 of FIG. 1, and FIG. 3 is a power window. It is a flowchart which shows the closing process of the window glass with which the apparatus was equipped.
4 and 5 are flowcharts showing a second embodiment of the present invention.

(First embodiment)
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 the present embodiment, and FIG. 2 is an electrical configuration diagram thereof.
The power window device 1 according to the present embodiment operates a window glass 11 as an opening / closing member disposed on a door 10 of a vehicle to move up and down (open / close) by a rotational drive 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. .

An example of the configuration of the drive unit 2 according to the present embodiment will be briefly described with reference to FIG.
The configuration of the driving means 2 is not limited to this, and any driving means capable of opening and closing the window glass 11 provided in the power window device 1 such as an X arm type may be used. Also good.

The driving means 2 of the present embodiment mainly includes upper and lower brackets 21a and 21b, a guide rail 22, a motor 23, a tape 24, and a slider 25.
The brackets 21a and 21b are disposed on the inner panel 10a of the door 10, and a guide rail 22 is disposed so as to connect the upper and lower brackets 21a and 21b.

The motor 23 is attached to a lower bracket 21b, and an endless tape 24 is rotatably spanned between a sprocket connected to the output shaft of the motor 23 and the upper bracket 21a. .
The slider 25 is attached to the tape 24 and is slidably guided by the guide rail 22.

The motor 23 according to the present embodiment 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 according to the present embodiment, when the motor 23 rotates forward and backward, a 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 guided to the guide rail 22. Is guided in the vertical direction.
Next, when the slider 25 is guided along the guide rail 22 in the vertical direction, the slider 25 moves the window glass 11 in the vertical direction via the carrier plate 11a.
Thus, the driving means 2 opens and closes the window glass 11 by the operation of the motor 23.

As shown in FIG. 2, the motor 23 according to the present embodiment is integrally provided with a rotation detection device 27.
The rotation detection device 27 outputs a pulse signal (speed detection signal, rotation speed signal, etc.) synchronized with the rotation of the motor 23 to the control means 3.
As the rotation detection device 27 according to the present embodiment, a detection device using a Hall element is used.
The rotation detection device 27 is configured to detect a magnetic change of a magnet that rotates together with the output shaft of the motor 23 by 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 moving speed of the window glass 11 which is substantially proportional to the rotating speed of the motor 23.
As will be described later, the controller 31 provided in the control means 3 detects the opening / closing position of the window glass 11 based on this pulse signal.

In the present embodiment, the rotation detection device 27 using a Hall element is employed, but the present invention is not limited to this, and an encoder or the like may be employed.
In the present embodiment, the rotation detector 27 is provided integrally with the motor 23. However, the present invention is not limited to this, and the position and moving speed of the window glass 11 may be directly detected by known means. Good.

Further, the control means 3 in the present embodiment 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 the battery 5 mounted on the vehicle.
The controller 31 according to the present embodiment includes a microcomputer including a memory such as a CPU 31a, a ROM 31b, a RAM 31c, and an EEPROM 31d, a date / time information generator 31e, an input circuit (not shown), an output circuit, and the like.
The CPU 31a, the memories 31b to 31d, an input circuit and an output circuit (not shown) are connected to each other via a bus.
The configuration is not limited to this, and the configuration of the controller 31 can be changed as appropriate without departing from the spirit of the present invention.

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 based on this pulse signal, it is possible to detect the inclusion of a foreign object between the upper end portion of the window glass 11 and the window frame.
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 according to the present embodiment functions as a storage unit and a pinch detection unit.

The drive circuit 32 according to the present embodiment is configured by an FET, and switches the polarity of power supply to the motor 23 based on an input signal from the microcomputer 31.
That is, when receiving a forward rotation command signal from the controller 31, the drive circuit 32 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 microcomputer 31. When power is supplied, electric power is supplied to the motor 23 so as to rotate the motor 23 in the reverse rotation direction.
The configuration of the drive circuit 32 is not limited to this, and the polarity may be switched using, for example, a relay circuit.
Alternatively, the drive circuit 32 may be incorporated in the controller 31.

The controller 31 according to the present embodiment detects the rising and falling portions (pulse edges) of the pulse signal from the input pulse signal, and the rotational speed (rotation) of the motor 23 based on the interval (cycle) of the pulse edge. Period) and the rotational direction of the motor 23 is detected based on the phase difference of each pulse signal.
That is, the controller 31 indirectly calculates the movement speed of the window glass 11 based on the rotation speed (rotation period) of the motor 23 and specifies the movement direction of the window glass 11 based on the rotation 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 microcomputer 31 specifies the opening / closing position of the window glass 11 based on the magnitude of the pulse count value.

Further, the controller 31 stores the rotational speed data of the motor 23 in the memory as learning data.
In this embodiment, after the learning data is written by the initialization process, the controller 31 updates the learning data every time the window glass 11 is closed in principle in the normal use state.
In the present embodiment, except when pinching is detected, during high-speed traveling such as when an external force that affects the rotational speed data is applied to the window glass 11, during door opening / closing operation, during freezing, during rough road traveling, etc. Even if it exists, it is comprised so that learning data may be updated reflecting such a situation.

In the present embodiment, as many learning opportunities as possible are secured by updating the learning data even when various external forces are applied.
Specifically, when a disturbance occurs, the learning data is updated by determining the disturbance and performing data correction.
As a result, it is possible to always maintain learning data suitable for the use state, and to reduce the occurrence of erroneous detection of pinching.
However, the configuration is not limited to this, and the learning data may be updated only when the external force is not applied as in the conventional case.

In this case, it is preferable to determine whether or not the external force is applied to the window glass 11 based on various sensor inputs.
However, if the learning opportunity is increased, even if the external force is applied, the learning data is updated so as not to cause erroneous detection of pinching when the window glass 11 is subsequently closed. Judgment processing becomes unnecessary.
Thereby, it becomes possible to simplify the whole structure and to suppress an increase in cost.

The operation switch 4 according to the present embodiment includes a swing switch that can be operated in two steps, and is disposed at a position (for example, a door lining) that can be operated by a passenger in the vehicle interior.
The operation switch 4 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 association with this (the rotational cycle becomes longer).
For this reason, the controller 31 according to the present embodiment constantly monitors changes in the rotational speed of the motor 23.
As described above, the controller 31 according to the present embodiment detects pinching based on the change in the rotational speed.

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

In the present embodiment, devices such as the navigation 6 are also connected to the controller 31.
The controller 31 is configured to acquire date information and the like from the navigation 6.

Next, a process of closing (raising) the window glass 11 in the power window device 1 according to the present embodiment will be described with reference to FIG.
This process is executed by the CPU 31a provided in the controller 31.
This process starts when the operation switch 4 is operated.
First, when the process starts, it is determined whether or not a closing operation command (window glass 11 ascending command) is received in step S1.
If it is determined in step S1 that the command is not a closing operation command (step S1: No), the received command can be determined to be an opening operation command, and thus the window glass 11 is opened in step S2.
Specifically, a command for rotating the motor 23 in the opening direction of the window glass 11 is transmitted to the drive circuit 32.

Next, in step S3, it is determined whether or not the opening operation is continued.
Specifically, the on / off information of the open switch and the position information of the window glass 11 are monitored.
If it is determined in step S3 that the opening operation is continued (step S3: Yes), that is, if it is determined that the open switch is on and the window glass 11 is not yet fully open, In step S4, it is determined whether a predetermined time has elapsed.

When it determines with predetermined time not having passed in step S4 (step S4: No), a process returns to step S3 and determines whether it is an open operation continuation.
If it is determined in step S4 that the predetermined time has elapsed (step S4: Yes), the motor 23 is stopped in step S5 and the process is terminated.

The predetermined time is set to a time sufficient for the window glass 11 to be fully opened.
In other words, when the predetermined time has elapsed, the case where the fully opened state has not yet been reached is that there is a high possibility that some abnormality has occurred, so the motor 23 is stopped and the process is terminated. It is.
In such a case, an abnormality flag is set, and when the motor 23 is stopped in step S5, the presence / absence of the abnormality flag is determined. When the abnormality flag is set, a warning sound or the like is generated. You may comprise.

  Requested when it is determined in step S3 that the opening operation is not continued (step S3: No), that is, when it is determined that the open switch is off or the window glass 11 is fully opened. In step S5, the motor 23 is stopped and the processing is terminated.

If it is determined in step S1 that the command is a closing operation command (step S1: Yes), the current date and time is acquired in step S6.
Specifically, the current date and time is obtained from the date and time information generator 31e provided in the controller 31.
If the navigation system is installed, date / time information may be acquired from the navigation 6.

Next, in step S7, it is determined whether T time has elapsed since the previous closing operation.
Specifically, date and time information when the motor is closed is stored in an EEPROM 31 d provided in the controller 31.
Therefore, the CPU 31a compares the current date and time information (T1) acquired in Step S6 with the latest motor close operation date and time information (T2) stored in the EEPROM 31d, and the elapsed time from T2 to T1. It is determined whether or not T time is exceeded.

When it determines with T time not having passed since the last operation time (step S7: No), the window glass 11 is closed by step S8.
Specifically, a command for rotating the motor 23 in the closing direction of the window glass 11 is transmitted to the drive circuit 32.
When it is determined that T time has elapsed from the previous operation time (step S7: Yes), speed fluctuation data is calculated from the elapsed time in step S9.

This is expressed, for example, as a function of the speed variation with respect to the elapsed time.
As an example, it is preferable to obtain a speed fluctuation amount corresponding to the elapsed time calculated in step S7 by acquiring a speed fluctuation amount with respect to the elapsed time and using this as a function by performing regression calculation.
Next, in step S10, the speed fluctuation amount is calculated and corrected by adding / subtracting to / from the learning data stored in the memory (for example, in the RAM 31c), and the window glass 11 is closed in step S8.

Next, in step S11, the difference between the learning data and the current speed change is calculated.
A specific processing example will be described.
In the present embodiment, the controller 31 first detects a pulse edge by performing signal processing on the pulse signal received from the rotation detector 27. Each time a pulse edge is detected, the pulse count value is incremented, and 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. Go.

In the present embodiment, 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.
That is, 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 obtain pulse widths t (1) to t (1), respectively. Store as (3) and erase the previous pulse width t (3).

Then, the controller 31 calculates the rotational speed ω ₀ from the reciprocal of the sum (pulse period P) of the pulse width t of n pulse edges that are temporally continuous. This rotational speed ω ₀ is a value proportional to the actual rotational speed.
In the present embodiment, the (average) rotational speed ω ₀ (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 (0) is updated with the newly calculated pulse widths t (0) to t (3).
At this time, the previous rotational speed ω ₀ (0) is stored as the rotational speed ω ₀ (1).

In this way, the latest eight rotation speeds ω ₀ (0) to ω ₀ (7) updated every time a pulse edge is detected (every predetermined movement amount or every predetermined rotation angle) are stored in the controller 31. ) Is always stored.
Thus, by calculating the rotational speed ω ₀ using a plurality of pulse widths t, it is possible to cancel the variation in the sensor duty of each received pulse signal output and to calculate the rotational speed in which the error variation is canceled. .

Next, the controller 31 calculates an (average) rotational speed difference (rotational speed change rate) Δω ₀ from the rotational speed ω ₀ .
That is, the rotation speed omega ₀ a ₍₀₎ ~ω 0 (3) present block data, the rotational speed _{ω 0 (4) ~ω (7} ) 0 and previous block data, the processing of subtracting the sum of the block data Is going.

That is, the rotation speed difference [Delta] [omega ₀ is calculated by subtracting the sum of the rotational speed _{ω 0 (4) ~ω 0 (} 7) rotational speed omega ₀ from the sum of _{(0) ~ω 0 (3)} , the pulse edge Every time it 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 ₀ can be canceled by calculating the rotational speed difference Δω ₀ using a plurality of rotational speeds ω ₀ .
This rotational speed difference Δω ₀ is temporarily stored in the memory corresponding to the pulse count value.
Thus, in this embodiment, the rotational speed data of the motor 23 is used as the moving speed data of the window glass 11.

The controller 31 according to the present embodiment calculates a difference value d obtained by subtracting the learning data Δω corresponding to the pulse count value at this time from the calculated rotation speed difference Δω ₀ with the predetermined position of the window glass 11 as a reference. To do.

Next, in step S12, it is determined whether or not the difference value d is equal to or less than a specified value (corresponding to a threshold value for pinching determination).
When it is determined that the difference value d is equal to or less than the specified value (the sandwiching determination threshold value) (step S12: Yes), it is determined in step S13 whether the closing operation of the window glass 11 is continuing.
When it determines with the closing operation | movement of the window glass 11 continuing in step S13 (step S13: Yes), it is determined whether predetermined time passed in step S14.

When it determines with predetermined time not having passed by step S14 (step S14: No), a process returns to step S11 and calculates the difference of learning data and the present speed change.
If it is determined in step S14 that the predetermined time has elapsed (step S14: Yes), the motor 23 is stopped in step S5 and the process is terminated.

The predetermined time is set to a time sufficient for the window glass 11 to be fully opened.
In other words, when the predetermined time has elapsed, the case where the fully closed state has not yet been reached is highly likely that some abnormality has occurred, so the motor 23 is stopped and the process is terminated. Is.
In such a case, an abnormality flag is set, and when the motor 23 is stopped in step S5, the presence / absence of the abnormality flag is determined. When the abnormality flag is set, a warning sound or the like is generated. You may comprise.

Moreover, when it determines with the closing operation | movement of the window glass 11 not continuing in step S13 (step S13: No), it is determined whether the window glass 11 is a fully closed state by step S16.
If it is determined in step S16 that the window glass 11 is not in the fully closed state (step S16: No), the motor is stopped in step S5 and the process ends.
Moreover, when it determines with the window glass 11 being a fully closed state by step S16 (step S16: Yes), learning data is updated by step S17, and a process is complete | finished.

An example of this update process will be briefly described.
The controller 31 according to the present embodiment subtracts the corresponding learning data Δω from the rotational speed difference Δω ₀ stored in association with each pulse count value for each predetermined movement amount (or for each predetermined rotation angle), and performs a pulse count. The difference value d is calculated for each value.
Then, a value obtained by multiplying the difference value d by the learning update coefficient alpha (0 <α <1) and the current learning data Δω is registered as an update value.
That is, if the learning data before update is Δω _before and the learning data after update is Δω _after , Δω _after = Δω _before + α × d.

When performing the disturbance determination, similarly to a known method, one or more threshold values for disturbance determination may be used to determine the disturbance and prevent erroneous detection.
Further, when a disturbance occurs, the learning data may be configured not to be updated. When the learning data is updated even when a disturbance occurs, the difference value d is set according to the occurrence of the disturbance. The learning data may be updated by correction.

Next, when it is determined in step S12 that the difference value d is not equal to or less than a specified value (thresholding determination threshold value) (step S12: No), pinching is detected in step S18, and the motor 23 is reversed for a predetermined time. Then, the motor 23 is stopped in step S5 and the process is terminated.
That is, when the pinching is detected, the controller 31 according to the present embodiment reverses the motor 23 to release the pinched foreign matter and opens the window glass 11 by a predetermined amount (may be fully opened).

  In the present embodiment, the moving speed data of the past window glass 11 (in this embodiment, the moving speed data of the motor 23 is used as learning data to be corrected after a certain period of time has passed since the most recent operation date and time. However, the present invention is not limited to this. For example, threshold data for detecting pinching, current moving speed data of the opening / closing member, or a combination thereof Data or the like may be subject to correction.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIGS. 4 and 5.
Note that the same configuration and description as those of the first embodiment are omitted or simplified.
In the present embodiment, the automatic closing operation of the window glass 11 is prohibited unless relearning due to secular change is completed.
This process is executed by the CPU 31a provided in the controller 31.

This process starts when the operation switch 4 is operated.
First, when the process starts, it is determined in step S101 whether a closing operation command (window glass 11 ascent command) has been received.
If it is determined in step S101 that it is not a closing operation command (step S101: No), the received command can be determined to be an opening operation command, and thus the window glass 11 is opened in step S102.
Specifically, a command for rotating the motor 23 in the opening direction of the window glass 11 is transmitted to the drive circuit 32.

Next, in step S103, it is determined whether or not the opening operation is continued.
Specifically, the on / off information of the open switch and the position information of the window glass 11 are monitored.
When it is determined in step S103 that the opening operation is continued (step S103: Yes), that is, when it is determined that the open switch is on and the window glass 11 is not yet fully opened, In step S104, it is determined whether or not a predetermined time has elapsed.

When it determines with predetermined time not having passed in step S104 (step S104: No), a process returns to step S103 and determines whether it is continuation of an open operation.
If it is determined in step S104 that the predetermined time has elapsed (step S104: Yes), the motor 23 is stopped in step S105 and the process is terminated.

The predetermined time is set to a time sufficient for the window glass 11 to be fully opened.
In other words, when the predetermined time has elapsed, the case where the fully opened state has not yet been reached is that there is a high possibility that some abnormality has occurred, so the motor 23 is stopped and the process is terminated. It is.
In such a case, when an abnormality flag is set and the motor 23 is stopped in step S105, the presence / absence of the abnormality flag is determined. When the abnormality flag is set, a warning sound or the like is generated. You may comprise.

  Requested when it is determined in step S103 that the opening operation is not continued (step S103: No), that is, when it is determined that the open switch is turned off or the window glass 11 is fully opened. In step S105, the motor 23 is stopped and the processing is terminated.

If it is determined in step S101 that it is a closing operation command (step S101: Yes), the current date and time are acquired in step S106.
Specifically, the current date and time is obtained from the date and time information generator 31e provided in the controller 31.
If the navigation system is installed, date / time information may be acquired from the navigation 6.

Next, in step S107, it is determined whether T time has elapsed since the previous closing operation.
Specifically, date and time information when the motor is closed is stored in an EEPROM 31 d provided in the controller 31.
Therefore, the CPU 31a compares the current date / time information (T1) acquired in step S106 with the latest motor close operation date / time information (T2) stored in the EEPROM 31d, and the elapsed time from T2 to T1. It is determined whether or not T time is exceeded.

When it is determined that T time has elapsed from the previous operating time (step S107: Yes), the window glass 11 is prohibited from being automatically operated in step S108.
Next, in step S109, the motor 23 is operated.
In this state, since the automatic operation is prohibited, only the closing operation by the normal operation (so-called manual operation) is possible.

Next, a relearning process is performed in step S110.
This process is the same as the learning data update process (see step S17) in the first embodiment.
That is, the controller 31 subtracts the corresponding learning data Δω from the rotation speed difference Δω ₀ stored in association with each pulse count value for each predetermined movement amount (or for each predetermined rotation angle), and for each pulse count value. The difference value d is calculated.
Then, a value obtained by multiplying the difference value d by the learning update coefficient α (0 <α <1) and the current learning data Δω is registered as an update value.
That is, if the learning data before update is Δω _before and the learning data after update is Δω _after , Δω _after = Δω _before + α × d.

Next, in step S111, it is determined whether or not the relearning process is completed.
For example, a completion flag is set when the relearning ends, and the presence / absence of the completion flag is determined.
If it is determined in step S111 that relearning has not been completed (step S111: No), it is determined in step S112 whether a predetermined time has elapsed.

If it is determined in step S112 that the predetermined time has not elapsed (step S112: No), the process returns to S111 to determine whether or not the relearning has ended.
If it is determined in step S112 that the predetermined time has elapsed (step S112: Yes), the possibility of malfunctioning cannot be denied, so the motor 23 is stopped in step S114 and the process is terminated.

If it is determined in step S111 that the relearning is completed (step S111: Yes), the automatic closing operation of the window glass 11 is permitted in step S113, the motor 23 is stopped in step S114, and the process is terminated.
Thus, when the predetermined time has passed since the previous operation, the automatic closing operation of the window glass 11 is prohibited and the relearning process is executed.
And when this re-learning process is normally completed, the automatic closing operation of the window glass 11 is permitted, and the automatic closing operation can be performed from the next time.

If it is determined that T time has not elapsed since the previous operation time (step S107: No), the motor 23 is operated in step S115, and the process proceeds to step S116 in FIG. And the difference in current speed change.
That is, in this case, a normal closing operation is executed.
A specific processing example is the same as that in the first embodiment, and thus description thereof is omitted.

Next, in step S117, it is determined whether or not the difference value d calculated in step S116 is equal to or less than a predetermined value (threshold determination threshold value).
If it is determined in step S117 that the difference value d is equal to or less than the specified value (pinch determination threshold value) (step S117: Yes), it is determined in step S118 whether the closing operation of the window glass 11 is continuing.

If it is determined in step S118 that the closing operation of the window glass 11 is continuing (step S118: Yes), it is determined whether or not a predetermined time has elapsed in step S119.
When it determines with predetermined time not having passed by step S119 (step S119: No), a process returns to step S116 and calculates the difference of learning data and the present speed change.
If it is determined in step S119 that the predetermined time has elapsed (step S119: Yes), the process returns to FIG. 4 via B, and the motor is stopped in step S114 to end the process.

The predetermined time is set to a time sufficient for the window glass 11 to be fully opened.
In other words, when the predetermined time has elapsed, the case where the fully closed state has not yet been reached is highly likely that some abnormality has occurred, so the motor 23 is stopped and the process is terminated. Is.
In such a case, an abnormality flag is set, and when the motor 23 is stopped in step S114, the presence / absence of the abnormality flag is determined. When the abnormality flag is set, a warning sound or the like is generated. You may comprise.

Moreover, when it determines with the closing operation | movement of the window glass 11 not continuing in step S118 (step S118: No), it is determined whether the window glass 11 is a fully closed state by step S120.
If it is determined in step S120 that the window glass 11 is not in the fully closed state (step S121: No), the process returns to FIG. 4 via B, the motor is stopped in step S114, and the process is terminated.
If it is determined in step S120 that the window glass 11 is fully closed (step S121: Yes), the learning data is updated in step S121, the process returns to FIG. 4 via B, and the motor is stopped in S114. The process ends.
Since this update process is the same as that in the first embodiment, a description thereof will be omitted.

If it is determined in step S117 that the difference value d is not less than or equal to the specified value (thresholding determination threshold value) (step S117: No), pinching is detected in step S122, and the motor 23 is reversed for a certain period of time. Then, the motor 23 is stopped in step S114 and the process is terminated.
That is, when the pinching is detected, the controller 31 according to the present embodiment reverses the motor 23 to release the pinched foreign matter and opens the window glass 11 by a predetermined amount (may be fully opened).

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 a flowchart which shows the closing process of the window glass with which the power window apparatus which concerns on 1st Embodiment was equipped. It is a flowchart which shows the closing process of the window glass with which the power window apparatus which concerns on 2nd Embodiment was equipped. It is a flowchart which shows the closing process of the window glass with which the power window apparatus which concerns on 2nd Embodiment was equipped.

Explanation of symbols

1. Power window device 2. Drive means 3. Control means 4. Operation switch
5 Battery, 6 Navigation, 10 Door, 10a Inner panel,
11: Window glass, 11a: Carrier plate, 21a, 21b: Bracket,
22 ... guide rail, 23 ... motor, 24 ... tape, 25 ... slider,
27... Rotation detection device, 31... Controller, 31a... CPU, 31b.
31c... RAM, 31d... EEPROM, 31e.

Claims (7)

An open / close member control device that performs a detection and release operation of a foreign object when receiving an automatic operation command and controlling an automatic movement operation of the open / close member,
The opening / closing member control device comprises:
Drive means for opening and closing the opening and closing member;
A moving speed detecting means for outputting a speed detecting signal according to the movement of the opening / closing member that is driven to open and close by the driving means;
Moving speed storage means for preliminarily storing the moving speed data of the opening and closing member as learning data;
Pinching detection means for detecting pinching of foreign matter in the opening and closing member based on the learning data and a speed detection signal received from the moving speed detection means during the closing operation of the opening and closing member;
Moving speed updating means for updating the learning data based on the moving speed data calculated based on the speed detection signal;
Current date and time acquisition means for acquiring the current date and time;
An operation date storage means for storing the operation date;
An operation determining means for determining refusal of operation of the opening and closing member and determining operation and non-operation;
The operation determination unit compares the latest operation date and time acquired from the operation date and time storage unit with the current date and time acquired from the current date and time acquisition unit, and an interval between the latest operation date and time and the current date and time is equal to or less than a predetermined interval. The opening / closing member control apparatus is characterized in that the opening / closing member is normally operated only in the case of   The operation determination unit compares the most recent operation date and time acquired from the operation date and time storage unit with the current date and time acquired from the current date and time acquisition unit, and an interval between the most recent operation date and time and the current date and time is predetermined. The opening / closing member control device according to claim 1, wherein when it is determined that the interval is exceeded, the automatic movement operation of the opening / closing member is prohibited. The operation determination means includes
When it is determined that the interval between the most recent operation date and time and the current date and time exceeds a predetermined interval, the automatic movement operation of the opening and closing member is prohibited,
3. The prohibition of the automatic movement operation of the opening / closing member is canceled on the condition that the learning data is updated when the automatic movement operation of the opening / closing member is prohibited. The opening-and-closing member control apparatus of description. The update of the learning data when the automatic movement operation of the opening and closing member is prohibited is performed by moving the opening and closing member by manual operation.
A moving speed detecting means for outputting a speed detecting signal corresponding to the movement of the opening / closing member driven to open and close by the driving means;
Moving speed storage means for storing moving speed data of the opening and closing member as learning data;
The opening / closing member control device according to claim 3, wherein the opening / closing member control device is executed by a moving speed updating unit that updates the learning data based on the moving speed data calculated based on the speed detection signal.   The operation determination unit compares the latest operation date and time acquired from the operation date and time storage unit with the current date and time acquired from the current date and time acquisition unit, and the interval between the latest operation date and time and the current acquisition date and time is a predetermined interval. 2. The opening / closing member control apparatus according to claim 1, wherein, when it is determined that the distance exceeds, the data for detecting the pinching is corrected based on the length of the interval.   The data for detecting pinching is one or more selected from learning data that is past movement speed data of the opening / closing member, threshold data for detecting pinching, and current movement speed data of the opening / closing member. 6. The opening / closing member control apparatus according to claim 5, wherein The drive means is configured to have a motor,
The moving speed detection means outputs a rotation speed signal of the motor as the speed detection signal,
The opening / closing member according to any one of claims 1 to 6, wherein the moving speed update means uses rotation speed data of the motor calculated based on the rotation speed signal as the movement speed data. Control device.

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