JP2009256920A - Door opening/closing assist device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door opening/closing assist device which can be properly operated even on a sloped passage by reducing a decrease in the estimated accuracy of the sloped passage, when a speed is estimated and used. <P>SOLUTION: A door opening/closing control computing section 81 includes: a target door speed computing section 811 which performs computing in such a manner that a door speed when a virtual sliding door 6 lighter than an actual sliding door is operated by a detected door opening/closing operating force is set as a target door speed; and a door speed estimation section 812 which computes an estimated value of the door speed from the door opening/closing operating force, an opening/closing position, and a drive command value of a motor 1, on the basis of a state equation which expresses the motion of the sliding door 6 and which has a force, acting on the sliding door 6 by the inclination of a road surface, as one of quantities of state. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

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

  Torque sensor and position sensor for detecting operator's door opening / closing operation, motor for assisting door opening / closing operation force, virtual light door operation is set as a target, door opening / closing operation of target and torque sensor Is provided with a controller that controls the motor to output an assisting force that reduces the deviation from the above, and the position of the operator is sufficiently reflected and the operation feeling is improved (for example, see Patent Document 1).

In addition, there is also one that detects the inclination of the road surface by an inclination sensor and a speed sensor and is used for door opening / closing assist control (see, for example, Patent Document 2).
JP 2007-9650 (page 2-16, all figures) JP 2008-2130 A (page 2-9, all figures)

  In the past, when assisting the door in consideration of the slope of the road surface without using the inclination sensor and estimating the speed without using the speed sensor, and using it for control, the estimated speed is estimated due to the influence of the inclination. There was a problem to enlarge.

  The present invention has been made paying attention to the above-mentioned problems, and the object of the present invention is to reduce a decrease in estimation accuracy on a gradient road and to operate well on the gradient road when the speed is estimated and used. The object is to provide a door opening / closing assist device.

  In order to achieve the above object, in the present invention, an actuator for assisting an operation force of a vehicle door, a driving force transmission mechanism for transmitting a driving force of the actuator to a mechanism for moving the vehicle door, and a door knob of the vehicle. An operation force detecting means for detecting a door opening / closing operation force, a door position detecting means for detecting an opening / closing position of a vehicle door, and a door for calculating and controlling a drive command value of the actuator based on at least the door opening / closing operation force Control means, and the door control means, with the detected door opening / closing operation force, a target door speed calculation means for calculating a door speed when a virtual door lighter than actual is operated as a target door speed; The door opening / closing operation based on a state equation representing the movement of the vehicle door, having a force acting on the vehicle door by a road gradient as one of the state quantities. A door speed estimation means for calculating an estimate of the door speed from the drive command value of the actuator and the closing position and,

  It is characterized by having provided.

  Therefore, in the present invention, when the speed is estimated and used, a decrease in estimation accuracy on the gradient road is reduced, and the operation can be favorably performed on the gradient road.

  Hereinafter, an embodiment for realizing the door opening / closing assist device of the present invention will be described based on Example 1 corresponding to claims 1 and 2.

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

The door opening / closing assist device according to the first embodiment includes a motor 1, speed reduction mechanisms 2a to 2e, a drive pulley 3, guide pulleys 4a and 4b, a drive arm 5, a slide door 6, a support member 7, a position sensor 71, a controller 8, and a clutch 16. Is the main component.
The motor 1 outputs a driving force for assisting to the output shaft under the control of the controller 8. The output shaft of the motor 1 uses a single worm gear. Since the single worm gear does not require a tight twist angle, it is possible to obtain a strong engagement. However, for this purpose, it is difficult to rotate the motor 1 by transmitting force from the outside to the output shaft.
The gears 2a to 2e of the speed reduction mechanism perform a constant speed reduction on the output of the motor 1 according to the ratio of the number of gear teeth, and obtain a large torque corresponding to the speed reduction.

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

The support member 7 is fixed to the belt 9 and transmits the rotating force of the belt 9 to the drive arm 5.
A position sensor 71 that detects the opening / closing speed of the slide door 6 by detecting a change in the position of the support member 7 is provided inside the support member 7.
The clutch 16 performs on / off switching of rotation transmission between the gears 2 b and 2 c of the gears 2 a to 2 e of the speed reduction mechanism under the control of the controller 8.

In the first embodiment, as shown in FIG. 2, the detection of the door operating force is performed by a torque sensor 10 provided at the door knob portion.
The torque sensor 10 is mainly composed of a substrate 11, a brush 12, a door knob 13, and a spring 14.
The substrate 11 detects a change in the contact position with the brush 12 as a change in resistance.
The brush 12 has a proximal end attached to the inside of the door of the door knob 13, the distal end portion contacts the substrate 11, and slides while being in contact with the substrate 11 as the door knob 13 slides.

The door knob 13 is a portion that the operator holds when opening and closing the door and applies force in each of the opening and closing directions. In the first embodiment, the door knob 13 is predetermined in each of the opening and closing directions. It is a structure that slides by an amount.
The spring 14 applies a force to hold the door knob 13 in the neutral position of opening and closing, and when a force in either the opening or closing direction is applied to the door knob 13 by an operation, a displacement amount corresponding to the spring property is generated. is there.

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

The controller 8 processes the detection information of the torque sensor 10 and the position sensor 71 and controls the motor 1 based on the results.
FIG. 4 is a block diagram of the controller 8 of the door opening / closing assist device.
The controller 8 has a door opening / closing control calculation unit 81 and a motor drive control unit 82 as main components.
The door opening / closing control calculation unit 81 calculates an assist force from the door opening / closing operation force from the torque sensor 10 and the door opening / closing position from the position sensor 71, and outputs a drive command value. Moreover, the connection / disconnection of the clutch 16 is controlled as necessary.
The motor drive control unit 82 drives the motor 1 according to the drive command value.

FIG. 5 is a block diagram of the door opening / closing control calculation unit 81 of the first embodiment.
The door opening / closing control calculation unit 81 includes a target door speed calculation unit 811, a door speed estimation unit 812, and a motor command value calculation unit 813.
The target door speed calculation unit 811 calculates the target door speed from the door operating force of the torque sensor 10. Details will be described later.
The door speed estimation unit 812 estimates the door speed from the door operation force, the door position, and the motor drive command value.
The motor command value calculation unit 813 calculates the motor command value from the target door speed and the estimated door speed by, for example, proportional control, that is, multiplying the deviation between the target door speed and the estimated door speed by a gain.

FIG. 6 is a block diagram of a target door speed calculation unit of the door opening / closing control calculation unit according to the first embodiment.
The target door speed calculation unit 811 includes a Coulomb friction force output unit 811a, an adder 811b, a calculation unit 811c, a viscous friction coefficient calculation unit 811d, and an integrator 811e.
The coulomb friction force output unit 811a stores and outputs a preset virtual door coulomb friction force.
The adder 811b performs a calculation for subtracting the Coulomb friction force and the viscous friction force from the door operation force.

The calculation unit 811c performs a calculation of multiplying the calculation result of the adder 811b by / (virtual door mass).
The viscous friction coefficient calculation unit 811d determines the viscous friction coefficient of the virtual door from the target door speed, calculates the viscous friction force, and outputs it to the adder 811b.
The integrator 811e integrates the calculation result of the calculation unit 811c to calculate and output a target door speed.

Next, the structure of the door opening / closing control calculation part of Example 1 is demonstrated in detail.
FIG. 7 is an explanatory diagram of a model assumed for the sliding door. FIG. 8 is a block diagram of the sliding door model.
In the door opening / closing assist device according to the first embodiment, the slide door 6 is driven via a plurality of gears and the belt 9, but as shown in FIG. Approximately, a model representing the actual machine can be created.
A block diagram of this model is shown in FIG. The force acting on the slide door 6 includes assist force by the motor 1, operation force, friction force generated in the opposite direction to the movement of the slide door 6, and gradient resistance generated when the vehicle is on a gradient road.

  The frictional force of the sliding door 6 is usually a coulomb frictional force and can be regarded as a constant value. If the door speed is estimated based on the observer's theory, it can be used if the four inputs and one output in FIG. 8 are known. However, since the road surface gradient is not usually measured, the first embodiment estimates the door speed without knowing the road surface gradient.

  The block diagram in FIG. 8 is expressed by the following equations 1 to 8, for example. In the following formulas 1 to 8, Ke is the back electromotive force constant, Kt is the torque constant, Jm is the motor inertia, r is the pinion radius, Md is the door mass, xd is the door position, vd is the door speed, and Fh is the operating force. , Fc is the Coulomb friction force, g is the gravitational acceleration, θ is the road gradient angle, VB is the battery voltage, R is the motor winding resistance value, and uduty is the motor drive command value (PWM control duty).

  (Equation 1)

  dx / dt = Ax + Bu

  (Equation 2)

y = Cx

  (Equation 5)

C = [1 0]

  (Equation 8)

  y = xd

Here, as described above, since the road surface gradient angle (θ) is not known, the input (u) of the state equation cannot be obtained by the controller. Therefore, an observer cannot be provided as it is.
Therefore, a gradient resistance (= Md · g · sin (θ)) is added as one of the state quantities, and an observer is provided by treating the gradient resistance as a signal that cannot be detected. This point will now be described with reference to FIG.

FIG. 9 is a control diagram of the sliding door model based on the state equation in the first embodiment.
When the state equations of Equation 1 to Equation 8 are shown in a block diagram, they can be modified as shown in FIG. 9, and the calculation result of the door speed does not change.
If the gradient resistance is added to the state quantity based on this model and the state equation is obtained again, the gradient resistance can be handled as an unknown parameter (one of the estimated quantities), and an observer can be provided. This is shown in FIG.
FIG. 10 is a control diagram of the sliding door model set to provide the observer in the first embodiment.
Equations 9 to 16 below show the state equations based on FIG. Note that Fsl represents the gradient resistance.

（数１０）
ｙ＝Ｃ_２ｘ_２

(Equation 10)
y = C ₂ x ₂

By making the state equation in this way, an observer can be provided to remove the gradient resistance, which is an unknown parameter, at the input of the state equation.
Next, the control configuration of this observer will be described.
FIG. 11 is a block diagram of the observer.
The observer shown in FIG. 11 includes arithmetic units 812a, 812d, 812e, 812f, 812g, adders 812b, 812h, and an integrator 812c.
The calculation unit 812a is a calculation unit that performs the calculation of Expression 12.
The adder 812b adds the calculation results of the calculation units 812a, 812d, and 812e and outputs the result.

The integrator 812c integrates the output of the adder 812b.
The calculation unit 812d is a calculation unit that performs the calculation of Equation 11.
The calculation unit 812e indicates a matrix L, and calculates and outputs matrix data set such that the eigenvalue of A ₂ -LC ₂ is, for example, a negative real number. Note that if the negative real number is large, the estimated delay in the door speed decreases, but it is more susceptible to sensor noise.
The calculation unit 812f stores and outputs the data of Formula 13.
The calculation unit 812g stores and outputs the matrix [0 1 0].
The adder 812h calculates a deviation between the input door position and the estimated door position, and outputs it to the calculation unit L.
This observer constitutes the door speed estimation unit 812 of FIG. Therefore, the door speed considering the gradient resistance is estimated by the calculation excluding the gradient resistance.

Next, the operation will be described.
[Assist control processing]
In the door opening / closing assist device of the first embodiment, the drive command value is calculated so that the door opening / closing operation can be performed with a light operation according to the door opening / closing operation force detected by the torque sensor 10, and the motor 1 is driven to assist. I do.

[Action to suppress a decrease in estimation accuracy on slope roads]
In the door opening / closing assist device according to the first embodiment, the target door speed calculation unit 811 performs the control calculation corresponding to the slide door model shown in FIG. 6 and considered by the door speed estimation unit 812 in FIG. Set.
And the door speed estimation part 812 estimates a door speed by the observer control calculation structure except the gradient resistance, considering the slide model of FIG.
Therefore, the door speed is accurately estimated in consideration of the road surface gradient without detecting the road surface gradient.
FIG. 12 is a graph of test results of operating force, target door speed, actual door speed, and estimated door speed when control is performed using the estimated speed without providing a tilt sensor. FIG. 13 is a graph of test results of operating force, target door speed, actual door speed, and estimated door speed in Example 1.

In FIG. 12 and FIG. 13, the operation force has the same pattern, and the road gradient is 10 degrees in the direction in which the door operation becomes heavy.
12 and 13, in FIG. 12, the actual door speed is smaller than the estimated door speed. This is because the influence of the gradient is not considered in the speed estimation. That is, since it is estimated that there is no gradient, the estimated value is larger than the actual door speed.
On the other hand, in Example 1, the estimated door speed matches the actual door speed by considering the gradient. On an inclined road surface, a larger assist force is generated to achieve the target door speed.

  As described above, in the first embodiment, the door speed is accurately estimated even on the gradient road surface, thereby obtaining an actual door speed closer to the target door speed calculated from the operation force. In other words, the influence of the gradient is less likely to appear in the operational feeling, and a good operational feeling is always achieved.

Explain the effect. The door opening / closing assist device according to the first embodiment has the effects listed below.
(1) Motor 1 that assists the operation force of the vehicle door, gears 2a to 2e that transmit the driving force of the motor 1 to a mechanism that moves the slide door 6 and the drive pulley 3, and door opening and closing to the door knob 13 of the vehicle A torque sensor 10 for detecting an operation force, a position sensor 71 for detecting an opening / closing position of a vehicle door, a door opening / closing control calculation unit 81 for calculating and controlling a drive command value of the motor 1 based on the door opening / closing operation force; The door opening / closing control calculation unit 81 calculates a door speed when the virtual sliding door 6 that is lighter than actual is operated with the detected door opening / closing operation force as a target door speed. And a door opening / closing operation force, an opening / closing position, and a motor based on a state equation representing the movement of the sliding door 6 having a force acting on the sliding door 6 due to the road surface gradient as one of the state quantities. Because having a door speed estimation unit 812 for calculating the estimated value of the door speed from the drive command value, when used in estimating the velocity, to reduce the deterioration of the estimation accuracy in the slope road can be favorably operated even slope road.
For example, when the estimated door speed is larger than the actual door speed, the assist force decreases due to the estimation error, and the operation becomes heavy. Conversely, if the estimated door speed is smaller than the actual door speed, the assist force increases due to the estimation error, and the operation becomes heavy (too lighter than ideal). In Example 1, such a situation does not occur, and the operational feeling is good.

(2) In the above (1), the door speed estimation unit 812 sets the state equation representing the movement of the slide door 6 by setting the force acting on the slide door 6 due to the road gradient as one of the state quantities. Since the gradient resistance which is an unknown parameter is excluded from the state equation and is an observer (block diagram of FIG. 11) set based on the state equations (Equation 9 to Equation 16), while considering the gradient path, It is possible to estimate the door speed in consideration of the necessity of detecting the gradient resistance, reduce a decrease in estimation accuracy on the gradient road, and operate well on the gradient road.
As described above, the door opening / closing assist device of the present invention has been described based on the first embodiment. However, the specific configuration is not limited to these embodiments, and the invention according to each claim of the claims. Design changes and additions are allowed without departing from the gist.

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

It is explanatory drawing which shows the outline of the door opening / closing assist apparatus of Example 1. FIG. It is explanatory drawing of the vehicle which mounts the door opening / closing assist apparatus of Example 1 in the vehicle. It is explanatory drawing of the torque sensor of the door opening / closing assist apparatus of Example 1. FIG. It is a block diagram of the controller of the door opening / closing assist apparatus of Example 1. FIG. It is a block diagram of the door opening / closing control calculating part of Example 1. FIG. It is a block diagram of the target door speed calculation part of the door opening / closing control calculation part of Example 1. It is explanatory drawing of the model assumed about the slide door. It is a block diagram of a sliding door model. FIG. 3 is a control diagram of the sliding door model based on the state equation in the first embodiment. It is a control diagram of the sliding door model set in order to provide the observer in Example 1. It is a block diagram of an observer. It is a graph figure of the test result of the operation force at the time of controlling using an estimated speed without providing an inclination sensor, a target door speed, an actual door speed, and an estimated door speed. It is a graph figure of the test result of the operation force in Example 1, target door speed, real door speed, and estimated door speed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor 2a Gear (of deceleration mechanism) 2b (Deceleration mechanism) Gear 2c (Deceleration mechanism) Gear 2d (Deceleration mechanism) Gear 2e (Deceleration mechanism) Gear 3 Drive pulley 4a, 4b Guide pulley 5 Drive arm 6 Slide Door 7 support member 71 position sensor 8 controller 81 door opening / closing control calculation unit 811 target door speed calculation unit 811a coulomb friction force output unit 811b adder 811c calculation unit 811d viscous friction coefficient calculation unit,
811e Integrator 812 Door speed estimation unit 813 Motor command value calculation unit 82 Motor drive control unit 9 Belt 10 Torque sensor 11 Substrate 12 Brush 13 Door knob 14 Spring 15 Device installation position 16 Clutch

Claims (2)

An actuator for assisting the operation force of the vehicle door;
A driving force transmission mechanism for transmitting the driving force of the actuator to a mechanism for moving the vehicle door;
An operation force detecting means for detecting a door opening / closing operation force to the door knob of the vehicle;
Door position detecting means for detecting the opening / closing position of the vehicle door;
Door control means for calculating and controlling a drive command value of the actuator based on at least the door opening / closing operation force;
Have
The door control means includes
Target door speed calculation means for calculating the door speed when the virtual door lighter than actual is operated with the detected door opening / closing operation force as the target door speed,
Based on a state equation representing the movement of the vehicle door, which has a force acting on the vehicle door due to a road gradient as one of the state quantities, the door is determined from the door opening / closing operation force, the opening / closing position, and the actuator drive command value. Door speed estimating means for calculating an estimated value of speed;
A door opening / closing assist device characterized by comprising: The door opening / closing assist device according to claim 1,
The door speed estimating means includes
The force acting on the vehicle door due to the road surface gradient is one of the state quantities, and by setting the state equation representing the movement of the vehicle door, the gradient resistance that is an unknown parameter is excluded from the state equation, and the state An observer set based on the equation,
A door opening / closing assist device.

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