JP2012107387A - Power-assisted door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power-assisted door having comfortable operation feeling.SOLUTION: A power-assisted door for supporting door movement by motor power is provided with detection means installed in the neighborhood of a door handle for detecting the door's movement operation and a control unit that performs a first initial motion control of applying a specific voltage to the motor when the door's movement operation is detected by the detection means at the time when the door is in full closed position or in full open position and in a stop state, followed by performing a normal control of adjusting the electric power supply amount to the motor based on the current flowing in the motor.

Description

  The present invention relates to a power assist door, and more particularly to a power assist door that assists the operation of a door by human power with the power of a motor.

  In a one-box type or minivan type vehicle, the side door of the rear seat may be a power slide door that is driven (opened / closed) by the power of a motor. In this type of power slide door, in order to facilitate the operation when opening and closing by human power, it may be used as support using the power of the motor for human power, that is, as power assist.

  And in the power assist door that assists human power in this way, in order to improve the feeling of opening and closing operation, the operation force detected by the grip torque sensor provided on the handle of the door and the light door operation force set virtually are set. The motor force is controlled by the controller so that the comparison result (deviation) becomes small (see, for example, paragraph numbers 0008-0016 and FIGS. 1-5 of Patent Document 1).

JP 2007-9650 A

  In order to enable power assist as described in Patent Document 1 described above, the door must be provided with a sensor for detecting an operation force, and an existing door or sensor cannot be used as it is.

  In addition, an A / D converter for processing the detection result of the sensor for detecting the operation force, an interface to which the output of the A / D converter is input or a CPU port, and a control program for controlling according to the operation force are also required. become.

  In addition, when the operator grips strongly, a stronger assist force than expected may occur due to differences in how the operator grips the grip torque sensor, or due to differences in the hand size or grip strength of the operator. May cause only a weak assist force less than expected. As a result, there is a problem that a comfortable operation feeling cannot be obtained depending on the difference in gripping method of the gripping torque sensor.

  On the other hand, when the grip torque sensor described above is not used, a method of detecting the operation force of the operator by some means and assisting by a motor is also conceivable. In this case, in the case of a clutchless structure in which the clutch is not provided at any position of the drive motor and the drive gear, the motor and the door are in a directly connected state via the gear. In the initial fixed time, the operation becomes heavier than a door without assist.

  And the above subject is a problem common also about power assist control of not only a slide door but other various doors, such as a back door and a trunk lid.

  An object of the present invention is to realize a power assist door that can provide power assistance for comfortable operation feeling from the start of an operation according to an operator's door operation without using an operation force detection sensor or the like.

  The above problems are solved by each invention described below.

  The first invention is a power assist door that supports the movement of the door by the power of the motor, and the detection means provided in the door handle for detecting the operation of the movement of the door, and the door is in the fully closed position or When the movement of the door is detected by the detection means in a stopped state at the fully open position, first initial control is performed to apply a constant voltage to the motor, and power is supplied to the motor based on the current flowing through the motor. And a control unit that performs normal control for adjusting the amount.

  Further, the present invention is a power assist door that supports the movement of the door with the power of the motor, the detection means provided on the door handle for detecting the movement operation of the door, and the movement of the door by the sensor. A power assist door, comprising: a control unit that starts power feeding to the motor when the start is detected and adjusts the amount of power fed to the motor based on a current flowing through the motor.

  According to a second invention, in the first invention, the control unit switches between the first initial control and the normal control based on a detection result of a lock sensor that detects unlocking of the door. Features.

  According to a third invention, in the first or second invention, the control unit is configured to control the second initial movement based on a detection result of a moving direction of the door when the door is other than the fully closed position and other than the fully opened position. It is characterized by performing.

  In a fourth aspect based on the third aspect, the second initial movement control is control for gradually applying a voltage to the motor. Here, gradually applying voltage to the motor means gradually increasing the voltage and duty applied to the motor.

  In a fifth aspect based on the first to fourth aspects, the control unit sets a deceleration threshold value and an acceleration threshold value as a threshold value related to the current, and compares the current with the acceleration threshold value to determine a predetermined value. When in the first state, the power supply amount to the motor is increased to perform acceleration control, and when the current is compared with the deceleration threshold, the power supply amount to the motor is determined when in the predetermined second state. It is characterized by performing deceleration control by reducing the number.

  In the first to fifth inventions described above, a clutchless structure is provided between the door and the motor.

  In this invention, when the movement of the door is supported by the power of the motor in the movement direction of the door, the control is performed to adjust the amount of electric power supplied to the motor based on the current flowing through the motor. When detected, power supply to the motor is started.

  Here, the control unit performs the first initial control for applying a constant voltage to the motor when the door is stopped at the fully-closed position or the fully-opened position and the door moving operation is detected by the detection unit. Normal control is performed to adjust the amount of power supplied to the motor based on the current flowing through the motor.

  As a result, it is possible to realize a power assist door with a comfortable operation feeling from the start of operation when performing control to adjust the amount of power supplied to the motor based on the current flowing through the motor without using the operation force detection sensor.

  Further, the control unit performs control so as to switch between the first initial motion control and the normal control based on the detection result of the lock sensor that detects unlocking of the door. As described above, by using the detection result of the lock sensor, it is possible to perform the control with the same feeling regardless of the change in operation.

  In addition, regarding the movement of the door from the fully closed position or the fully open position of the door, power supply to the motor can be started without delay with respect to the start of operation by starting power supply to the motor in response to detection of the door operation by the sensor. Therefore, it is possible to realize a power assist door with a comfortable operation feeling from the start of operation. In addition, regarding the movement of the door from a position other than the fully closed position of the door and a position other than the fully open position, the power moving to the motor corresponding to the detection of the door operation by the sensor is not started, so that the moving direction of the door is determined reliably. Only a reliable response is possible.

  In addition, when the door is not in the fully closed position or in the fully open position, the control unit performs control so that the second initial motion control is performed based on the detection result of the door movement direction, so that the same fee is obtained regardless of the change in operation. It becomes possible to control with a ring.

  Further, when the door is not in the fully closed position or in the fully open position, the control unit gradually increases the voltage applied to the motor as the second initial motion control based on the detection result of the door movement direction, thereby changing the operation. It becomes possible to control with the same feeling regardless.

  Further, a deceleration threshold value and an acceleration threshold value are set as current-related threshold values, and when the current flowing through the motor is compared with the acceleration threshold value and the motor is in a predetermined first state, the amount of power supplied to the motor is increased to perform acceleration control. The current flowing through the motor is compared with the deceleration threshold value, and when in the predetermined second state, the amount of power supplied to the motor is reduced to perform deceleration control, so acceleration and deceleration are performed according to the operator's door operation. Therefore, it is possible to realize a power assist door having a comfortable operation feeling with appropriate power support according to the operator's door operation without using an operation force detection sensor or the like.

  In addition, when the door and the motor have a clutchless structure, control for adjusting the amount of power supplied to the motor based on the current flowing through the motor when assisting the movement of the door with the power of the motor in the door movement direction. When the start of door movement is detected in this control, power supply to the motor is started, and the amount of power supplied to the motor is adjusted based on the current flowing through the motor without using the operating force detection sensor. When performing the control, it is possible to realize a power assist door with a comfortable operation feeling from the start of the operation.

It is a block diagram which shows the structure of the power assist door of embodiment. It is explanatory drawing which shows the external appearance of the vehicle to which the power assist door of embodiment is applied. It is a flowchart which shows control of the power assist door of embodiment. It is a characteristic view which shows the characteristic of control mode determination of the power assist door of embodiment. It is a characteristic view which shows the characteristic of control mode determination of the power assist door of embodiment. It is a characteristic view which compares the characteristic of embodiment and the characteristic of a prior art example.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments (embodiments) for carrying out the invention will be described in detail with reference to the drawings. In addition, this invention is not limited to the specific example of embodiment described below, A various deformation | transformation is possible.

[Configuration of power assist door]
The electrical configuration of the power assist door 100 of the present embodiment is shown in FIG. In FIG. 1, a control unit 101 includes a CPU and various processors, and is a control unit that controls each unit of the power assist door 100.

  The control unit 101 extracts a speed V at the time of movement from a detection signal corresponding to the rotation of the motor M or the movement of the door D, and the current value I from the detection result of the current flowing through the motor M. A current extraction unit 1013 for extracting the current, a condition determination unit 1016 for determining whether or not a predetermined condition is satisfied based on the extracted state of the speed V and the current value I, a satisfaction condition of the predetermined condition and a detection result of the sensor A mode determination unit 1017 that determines a control mode in response to this, and an adjustment unit 1018 that adjusts the amount of power supplied to the motor M according to the determined mode are configured.

  The storage unit 102 is a storage unit that stores parameters such as threshold values for condition determination described later, power supply amount data to the motor in each control mode, and other various data, and data can be read or changed from the control unit 101. It is configured to be possible.

  The sensor 104 is a detection means provided in a grip portion of the door handle for detecting the movement operation of the door D, and the detection result regarding the movement operation of the door is transmitted to the control unit 101. In addition, in order to detect the operation of the door movement, a micro switch or the like is used so that the operator can actually detect the gripping part of the door handle or pull the knob, not just the contact state detection. It is desirable.

  The switch 106 is an operation means for inputting various instructions relating to door driving, and the input result is transmitted to the control unit 101.

  The drive circuit 110 is a drive unit such as a driver circuit that supplies a motor drive signal having a predetermined duty to the motor based on an instruction to adjust the amount of power supplied from the control unit 101. In this embodiment, changing the duty of the motor drive signal substantially corresponds to changing the voltage or power supply applied to the motor.

  The motor M is a support power supply source that generates a rotational force by a motor drive signal from the drive circuit 110 and drives the door D by the rotational force.

  The current detection unit 120 detects a current flowing through the motor M based on a motor drive signal supplied from the drive circuit 110, and transmits a detection result to the control unit 101. The current detection unit 120 detects a shunt resistor and a voltage generated in the shunt resistor. And detecting means. Note that the current flowing through the motor M changes according to the duty of the motor drive signal and the torque generated by the motor M.

  The driving force transmission unit 130 is a driving force transmission unit that shifts the rotational force of the motor M, further converts the rotational force into a linear motion, and transmits the rotational force to the door D as a driving force.

  The door D is various movable objects such as various doors, and is a movable body that moves at a predetermined speed in a predetermined direction by the driving force transmitted from the driving force transmitting unit 130 and the operation force of the operator.

  The movement detection unit 140 detects the rotation of the motor M or the movement of the door D, generates a signal corresponding to the presence or absence of movement, the movement speed, or the movement direction, and transmits the signal to the control unit 101. The movement detection unit 140 includes, for example, a hall element, a photo sensor, and the like, and generates a signal having a pulse width and a pulse number corresponding to the rotation speed and the movement speed.

  FIG. 2 shows an overall external view when the power assist door 100 is applied to a one-box type vehicle. Here, the door D corresponds to a rear slide door or the like that is movably attached to the body B. Here, the rotation of the motor M is changed by the driving force transmission unit 130, and the rotational force is converted into a linear motion via a wire (not shown), and the door D moves along the rail R provided on the body B. It is movable.

  In this embodiment, the clutch is not provided with any clutch in any position of the motor M, the driving force transmission unit 130, and the door D, and the motor M and the door D are connected via the driving force transmission unit 130. The description will be made assuming that it is in a directly connected state.

[Operation of power assist door]
Hereinafter, referring to the flowchart of FIG. 3, the characteristic diagram of FIG. 4, and the time chart of FIG. 5, the operation of the power assist door 100 is performed in stop mode, initial motion mode (initial motion control), steady mode (steady motion control), acceleration mode ( (Acceleration control) and deceleration mode (deceleration control) will be described separately.

[Stop mode]
First, as an initial state, it is assumed that the door D is stopped in the power assist door 100 and that support (power assist) is also in an off state (before time t0 in FIG. 5). In this state, the control unit 101 detects the position where the door D is stopped by using various position sensors (not shown) (step S101 in FIG. 3). In the following embodiment, it is assumed that the door D is in the fully closed position or the fully open position (YES in step S102 in FIG. 3).

[First initial operation mode]
In the stop mode described above, an operation for moving the door D by the operator occurs at time t0 (YES in step S103 in FIG. 3). The operation of the door D is detected by a sensor 104 provided in a grip portion of the door handle. That is, when the operator grasps the grip portion of the door handle, detection is performed by the sensor 104, and immediately after that, the operator starts moving the door D using the door handle. Therefore, immediately before the operator starts moving the door D, the sensor 104 detects the operation of grasping the door handle.

  Here, the mode determination unit 1017 in the control unit 101 that has received the detection result of the sensor 104 changes the control mode from the stop mode to the first initial operation mode, and supports the movement of the door D using the power of the motor M ( Decide to start (Power Assist). Here, the first initial motion mode is the first initial motion control in the claims.

  The adjustment unit 1018 that has received the determination of the first initial operation mode sets the duty of the motor drive signal to a predetermined value (first value from 0 or a lower limit value) immediately after time t0, as shown in FIGS. Adjustment is made so as to start the power supply to the motor M by raising the initial operation mode value d01).

  As a result, a motor drive signal in a predetermined duty d01 state is supplied from the drive circuit 110 to the motor M (step S104 in FIG. 3), and the motor M accelerates the door D in accordance with the operation of the operator. In the first initial movement mode in this case, the operation of moving the door D by the operator by accelerating the door D in the first initial movement mode in the opening direction when fully closed and in the closing direction when fully opened (see FIG. 5 (a) (a1)) coincides with the operation direction. Here, since the support by the motor M is started in the first initial movement mode immediately after the time t0, the operator can experience a comfortable operation feeling that has received power support from the start of the operation (FIG. 5B). (B01)). In this case, the current I flowing through the motor is i01, and the moving speed V of the door D is v01 (FIGS. 5D, 5E, and 5F).

  In the fully closed position, the door D is locked or held, and in the fully opened position, the door D is held so as to be stable at the fully opened position so as not to move freely. Therefore, the power support of the duty d01 in the first initial movement mode is for causing the door D in the fully closed position or the fully open position to move without imposing an excessive burden on the operator. It should be noted that the duty d01 from the time t0 in the first initial operation mode may be a constant level as shown in the figure, or may change according to the time.

[Transition from the first initial operation mode to the steady mode]
Then, since the movement of the door D is started by the operation from the time t0 and the power support immediately after the above, at the time t1 slightly delayed from the time t0, the door is detected by the movement detection unit 140 using a hall element or various sensors. A movement signal for detecting the movement of D is generated and transmitted to the control unit 101. In response to the transmission of the movement signal, the speed extraction unit 1011 generates a speed signal extracted from the speed V (here, V = v01) when the door D is moving, and transmits the speed signal to the condition determination unit 1016.

  Here, in the condition determination unit 1016, the first initial movement mode is determined from the value of the speed V based on a certain amount of movement or movement detection of the door D (c1 at time t1 in FIG. 5C) or no detection of the sensor 104. If it is determined that the end condition is satisfied (YES in step S105 in the figure), the process proceeds to a steady mode to be described later.

  Here, the condition determination unit 1016 determines that the movement of the door D has occurred and the first initial movement mode has been completed, and transmits the determination result to the mode determination unit 1017. The mode determination unit 1017 receives the determination result from the condition determination unit 1016, changes the control mode from the first initial operation mode to the steady mode, and starts support of the steady mode using the power of the motor M with respect to the movement of the door D. Decide as follows. Here, the steady mode is steady control.

  Receiving the determination of the steady mode, the adjusting unit 1018 changes the duty of the motor drive signal from the first initial operation mode value d01, as will be described later, as shown in FIGS. 5 (d), (d12), and (d23) immediately after time t1. The amount of power supplied to the motor M is adjusted to one steady value d12 or d23.

  It should be noted that the duty at the end of the first initial operation mode is such that the duty at the end of the first initial operation mode and the duty at the start of the steady mode coincide with each other so that the mode can be shifted smoothly. It is desirable to define

  On the other hand, when the duty at the end of the first initial operation mode and the duty at the start of the steady mode do not match, the mode changes smoothly so that the mode can be shifted so as not to be discontinuous. It is desirable to determine the duty to be performed. In this case, the duty at the end of the first initial operation mode can be freely determined. In addition, by using the power assistance in a state where the duty is smoothly changed in this way, the operating force of the operator does not change greatly between the first initial operation mode and the steady mode.

[Second initial mode]
Note that when the door D does not exist in the fully closed position or the fully open position and exists in an intermediate position between the fully closed position and the fully open position (NO in step S102 in FIG. 3), the first initial movement mode is performed. Since the moving direction at the time is not determined in advance, the first initial movement mode, which is a characteristic process of the present embodiment, is not applied (NO in step S106 in FIG. 3).

  In this case, since the movement of the door D is started by the operation from the time t0 described above, the movement detection unit 140 using a hall element or various sensors detects the movement of the door D at the time t1 slightly delayed from the time t0. A movement signal is generated and transmitted to the control unit 101. In response to the transmission of the movement signal, the speed extraction unit 1011 generates a speed signal extracted from the speed V when the door D moves, and transmits the speed signal to the condition determination unit 1016 (YES in step S106 in FIG. 3). Here, the condition determination unit 1016 starts the second initial movement mode in the moving direction of the door D from the value of the speed V (step S107 in FIG. 3).

  Receiving the determination of the second initial operation mode, the adjustment unit 1018 gradually increases the duty of the motor drive signal from 0 toward the first steady value d23 immediately after time t1, as shown in FIGS. 5 (d) and (d12 '). As d12 ′ in a state of being smoothly connected to the motor M, the amount of power supplied to the motor M is adjusted to gradually increase. As a result, a motor drive signal with the duty gradually increasing is supplied from the drive circuit 110 to the motor M, and the motor M accelerates the door D (FIG. 5 (f) v12 '). As described above, the power support in the second initial operation mode by the motor M smoothly changing from the duty 0 to d12 'is started, so that the operating force of the operator does not change greatly from the start of the operation. Note that the control unit 101 executes the control in the second initial operation mode until the duty reaches d23, that is, until the duty reaches a predetermined voltage, and when the duty reaches the predetermined voltage (YES in step S108 in FIG. 3). Then, the control in the second initial motion mode is finished, and the routine proceeds to a steady mode to be described later.

[Transition from 2nd initial operation mode to steady mode]
When the condition determination unit 1016 detects that the duty of the motor drive signal has reached a predetermined first steady value d23, the condition determination unit 1016 determines that the movement of the door D matches the completion of the second initial operation mode, and the determination result is determined. This is transmitted to the mode determination unit 1017. Here, the mode determination unit 1017 receives the determination result of the completion of the second initial operation mode in the condition determination unit 1016, changes the control mode from the second initial operation mode to the steady mode, and increases the power of the motor M with respect to the movement of the door D. It is determined to support the used fixed state (step S109 in FIG. 3).

  Receiving the determination of the steady mode, the adjustment unit 1018 keeps the duty of the motor drive signal constant at the first steady value d23 when the second initial operation mode is completed, as shown in FIGS. 5 (d) and (d23). The amount of power supplied to the motor M is adjusted to be constant. As a result, a motor drive signal with the duty kept constant is supplied from the drive circuit 110 to the motor M, and the motor M assists the door D to move at a constant speed (FIG. 5 (f) v23). .

  In addition, by starting the power support in the steady mode by the motor M in the state of smoothly changing from the duty d12 ′ to d23 in this way, the operating force of the operator is in the second initial motion mode (FIG. 5B). (B12)) does not change significantly ((b) and (b23) in FIG. 5).

  In the above steady mode, if the operator does not change the operating force on the door D, the load on the motor M does not change, and as a result, the current flowing through the motor M does not change (steps S110 and S111 in FIG. 3). Usually). In this case, the mode determination unit 1017 maintains the steady mode in response to the determination result of the condition determination unit 1016, and continues to support a fixed state using the power of the motor M with respect to the movement of the door D (in FIG. 3). Step S112).

[Transition from steady mode to acceleration mode]
In the above steady mode, when an operation for accelerating the door D in the moving direction by the operator at time t3 (FIGS. 5B and 5B) occurs, the load on the motor M decreases, and as a result, the motor M flows. The current decreases more than before (FIG. 5 (e) i23 → i34).

  Note that the magnitude of the current flowing through the motor M corresponds to the magnitude of the load on the motor M. When the load is small, the motor current is small, and the motor current tends to increase as the load increases.

When this is applied to power assist, the relationship between the operation (human power) by the operator, the load of the motor M, and the current flowing through the motor M is as follows.
When the motor force is dominant to move the door in the direction of travel, the motor load is moderate and the motor current is moderate.
• When the operator's force is dominant in moving the door in the direction of travel, the motor load is small and the motor current is small.
・ When the movement of the operator who moves the door in the direction of travel is slowed or when an operation to stop is applied, the load on the motor increases due to the resistance applied to the door, and the motor current increases accordingly. To do.

  Here, as shown in FIG. 4, a first current threshold value Ith1 and a second current threshold value Ith2 that are large in ascending order with respect to the current value I are set, and the condition determination unit 1016 determines that the extracted current value I is the first value. When it is smaller than the current threshold value Ith1, it means that an acceleration operation is performed by the operator. Therefore, it is determined that acceleration control that matches the “acceleration condition” and increases the amount of power supplied to the motor M is necessary.

  The first current threshold Ith1 is an acceleration threshold for the current value, and the second current threshold Ith2 is a deceleration threshold for the current value. Further, when the extracted current value I is smaller than the first current threshold Ith1, the current value corresponds to the predetermined first state in the claims.

  Then, the condition determination unit 1016 determines that the movement of the door D matches the “acceleration condition” based on the decrease in the current value (decrease in step S111 in FIG. 3) (step S113 in FIG. 3), and determines the determination result in the mode. It transmits to the determination part 1017.

  The mode determination unit 1017 receives the determination result that the acceleration condition is met by the condition determination unit 1016, changes the control mode from the steady mode to the acceleration mode, and uses the power of the motor M for the movement of the door D (power assist). Is determined to increase (step S113 in FIG. 3).

  Receiving the determination of the acceleration mode, the adjustment unit 1018 gradually increases the duty of the motor drive signal from the first steady value as shown in FIGS. Adjust to increase. As a result, a motor drive signal in a state where the duty gradually increases is supplied from the drive circuit 110 to the motor M, and the motor M accelerates the door D more than in the steady mode (FIG. 5 (f) v34).

  By shifting to the acceleration mode as described above, acceleration can be achieved by appropriately responding to the operator's door operation without using an operation force detection sensor or the like, and a feeling according to the operator's door operation. It is possible to provide good and appropriate power support.

[Transition from acceleration mode to steady mode]
Thereafter, as the door D is accelerated with the assistance of the motor M in the acceleration mode described above, at time t4, the operator loosens the acceleration operation (FIGS. 5B and 5B) and performs the normal operation (FIG. 5). (B) (b45)). As a result, the load reduction state of the motor M is alleviated, and the motor M operates with a normal load. As a result, the current value I extracted by the current extraction unit 1013 returns to the normal current state (FIG. 5 (e) (i45)) from the immediately previous acceleration decrease state (FIG. 5 (e) (i34)).

  Here, as shown in FIG. 4, when the extracted current value I is larger than the first current threshold Ith1 and smaller than the second current threshold Ith2, the condition determination unit 1016 decelerates the acceleration operation by the operator. Since this means that no operation has been performed, it is determined that steady control is required to meet the “steady condition” and keep the amount of power supplied to the motor M in a steady state (normally in steps S110 and S111 in FIG. 3). As described above, the condition determination unit 1016 determines that the steady condition is satisfied based on the current value I, and transmits the determination result to the mode determination unit 1017. The mode determination unit 1017 receives the determination result of the steady condition match in the condition determination unit 1016, changes the control mode from the acceleration mode to the steady mode, and supports the constant state using the power of the motor M with respect to the movement of the door D. Decide to do.

  Receiving the determination of the steady mode, the adjustment unit 1018 keeps the duty of the motor drive signal constant at the second steady value at the completion of the acceleration mode, as shown in FIGS. The amount of power supplied to is adjusted to be constant (step S112 in FIG. 3). As a result, the drive circuit 110 supplies a motor drive signal with the duty kept constant to the motor M, and the motor M assists the door D to move at a constant speed (FIG. 5 (f) v45). .

  By shifting to the steady mode as described above, it is possible to shift to the steady mode by appropriately responding to the operator's door operation without using an operation force detection sensor, etc. Appropriate power support with a good feeling is possible.

[Transition from steady mode to deceleration mode (1)]
In the above steady mode, at time t5, the operator loosens the movement of the door D, the operator attempts to decelerate the movement of the door D, or the operator stops the movement of the door D. When any one of the operations to be performed (hereinafter, this operation is referred to as “deceleration operation”, FIGS. 5B and 5B), the load on the motor M increases, and as a result, the motor M flows. The current increases more than before (FIG. 5 (e) (i56)).

  Note that the magnitude of the current flowing through the motor M corresponds to the magnitude of the load of the motor M, and the motor current tends to increase as the load increases, as already described with reference to FIG.

  Here, when the load on the motor M is increased by the deceleration operation by the operator (FIGS. 5B and 5B), the current value I extracted by the current extraction unit 1013 is in the previous steady state (FIG. 5B e) greatly increases from (i45)) (FIG. 5 (e) (i56)).

  Here, as shown in FIG. 4, the condition determination unit 1016 means that when the extracted current value I is larger than the second current threshold Ith2, it means that the operator has performed a deceleration operation. Therefore, it is determined that the deceleration control for reducing the amount of power supplied to the motor M is necessary. That is, the condition determination unit 1016 determines that the movement of the door D matches the “deceleration condition” from the increase in current value (increase in step S111 in FIG. 3) (step S114 in FIG. 3), and the determination result is set to the mode. It transmits to the determination part 1017. When the extracted current value I is larger than the second current threshold Ith2, the current value corresponds to the predetermined second state in the claims.

  The mode determination unit 1017 receives the determination result that the deceleration condition is met by the condition determination unit 1016, changes the control mode from the steady mode to the deceleration mode, and uses the power of the motor M for the movement of the door D (power assist). Decide to reduce the power.

  Receiving the determination of the deceleration mode, the adjusting unit 1018 gradually decreases the duty of the motor drive signal from the second steady value as shown in FIGS. Adjust to decrease. As a result, a motor drive signal in a state where the duty gradually decreases is supplied from the drive circuit 110 to the motor M, and the motor M decelerates the door D more than in the second steady mode (FIG. 5 (f) v56). .

  By shifting to the deceleration mode as described above, it is possible to appropriately decelerate and respond to the operator's door operation without using an operation force detection sensor or the like. It is possible to provide good and appropriate power support.

[Transition from deceleration mode to steady mode]
Thereafter, when the door D is decelerated with the assistance of the motor M in the above deceleration mode, the operator relaxes the deceleration operation (FIGS. 5B and 5B), and the normal operation (FIG. 5B) is performed at time t6. b) (b67)). Thereby, the load increase state of the motor M is relieved, and the motor M comes to operate with a normal load. As a result, the current value I extracted by the current extraction unit 1013 returns to the normal current state (FIGS. 5 (e) (i67)) from the immediately increasing deceleration state (FIG. 5 (e) (i56)).

  Here, as shown in FIG. 4, when the extracted current value I is larger than the first current threshold Ith1 and smaller than the second current threshold Ith2, the condition determination unit 1016 decelerates the acceleration operation by the operator. Since this means that no operation has been performed, it is determined that steady control is required to meet the steady condition (FIG. 5 (C5)) and keep the power supply to the motor M in a steady state (step S110 in FIG. 3). Usually at S111). As described above, the condition determination unit 1016 determines that the steady condition is satisfied based on the current value I, and transmits the determination result to the mode determination unit 1017.

  The mode determination unit 1017 receives the determination result of the steady condition match in the condition determination unit 1016, changes the control mode from the deceleration mode to the steady mode, and supports the constant state using the power of the motor M with respect to the movement of the door D. Decide to do.

  Receiving the determination of the steady mode, the adjustment unit 1018 keeps the duty of the motor drive signal constant at the first steady value when the deceleration mode is completed, as shown in FIGS. The amount of power supplied to is adjusted to be constant (step S112 in FIG. 3). As a result, a motor drive signal in which the duty is kept constant is supplied from the drive circuit 110 to the motor M, and the motor M assists the door D to move at a constant speed (FIG. 5 (f) v67). .

  By shifting to the steady mode as described above, it is possible to shift to the steady mode by appropriately responding to the operator's door operation without using an operation force detection sensor, etc. Appropriate power support with a good feeling is possible.

[Transition from steady mode to deceleration mode (2)]
In the steady mode from time t6 described above, if the operation for changing the force of the movement operation of the door D by the operator does not occur for a certain period of time, whether or not a predetermined time Ts has elapsed in the steady mode, that is, The condition determination unit 1016 monitors the necessity of stopping the door (a certain time has elapsed in steps S110 and S111 in FIG. 3).

  That is, the condition determination unit 1016 determines that the deceleration control that matches the deceleration condition and reduces the amount of power supplied to the motor M is necessary when a predetermined time Ts that is set in advance has elapsed in the steady mode (step in FIG. 3). The determination result is transmitted to the mode determination unit 1017.

  The mode determination unit 1017 receives the determination result that the deceleration condition is met by the condition determination unit 1016, changes the control mode from the steady mode to the deceleration mode, and uses the power of the motor M for the movement of the door D (power assist). Is determined to decrease toward the stop (step S114 in FIG. 3).

  Receiving the determination of the deceleration mode, the adjustment unit 1018 gradually decreases the duty of the motor drive signal from the first steady value d67 as shown in FIGS. 5D and 5D at time t7. Adjust to reduce the amount of power supplied to M. As a result, a motor drive signal in a state where the duty gradually decreases is supplied from the drive circuit 110 to the motor M, and the motor M decelerates the door D more than in the steady mode (FIG. 5 (f) v78).

[Transition to stop mode]
The condition determination unit 1016 monitors whether or not the stop condition is met in each of the above control modes, and the speed V = 0 for a certain time or more, or the duty of the motor drive signal for a certain time = 0, or If the sensor 104 is not detected, it is determined that the stop condition is met and stop control for ending the support for the motor M is necessary, and the determination result is transmitted to the mode determination unit 1017 (in FIG. 3). In step S115).

  The above duty = 0 is generated in accordance with the deceleration control described above (FIGS. 5D and 5D). Further, the speed V = 0 is generated by deceleration control, when a strong operation by the operator occurs, when the door D reaches the movement end position, and the like, not only in the deceleration mode but also in the steady mode. It can also occur during acceleration mode. The absence of detection of the sensor 104 corresponds to a state in which the operator releases his / her hand from the door handle of the door D.

  Further, the reason why the speed V = 0 and the duty = 0 are set to a certain time or more is that a stop state may be instantaneously generated when the moving direction of the door D is reversed, and the situation at the time of reversal is taken into consideration. It is desirable to set a certain time here.

  Then, the mode determination unit 1017 receives the determination result of the stop condition match in the condition determination unit 1016, changes the control mode to the stop mode, and provides assistance (power assist) using the power of the motor M regarding the movement of the door D. It is determined to end (step S116 in FIG. 3). Receiving the determination of the stop mode, the adjustment unit 1018 adjusts the duty of the motor drive signal to 0 to stop the power supply to the motor M. Thus, the supply of the motor drive signal from the drive circuit 110 is stopped, the rotation of the motor M is also stopped, and the movement of the door D is also stopped (V = 0 in FIG. 5 (f) v78).

[Verification of effects according to this embodiment]
Here, as a comparative example for the present embodiment, a case is assumed in which the first initial movement mode as described above is not adopted from the fully closed position or the fully open position. In FIG. 6, the characteristic according to the present embodiment is indicated by a solid line, and the characteristic according to a conventional comparative example is indicated by a broken line.

  In this case, when the operation at time t0 is started, the door D is operated only by the operator's force, and power support starts when the movement of the door D is detected at time t1 (dashed line in FIG. 6 (d)). d12 ”).

  In this case, during the period from time t0 to t1, since there is no power support, the operating force increases as shown by b01 "in FIG. 6B. That is, the motor M, the driving force transmission unit 130, and the door D In the case of the clutchless structure in which no clutch is provided at any of the positions, since the motor M and the door D are in the direct connection state via the driving force transmission unit 130, the operation until the power support by the motor M is generated. Power is heavy and operation feeling is not good.

  In the case of this comparative example, since the first initial operation mode does not exist, the duty d12 ″ of the motor drive signal rises from time t1, and as a result, the moving speed V of the door D is also v12. It rises suddenly with a delay. As a result, the operation feeling is not good in that the moving speed of the door D is slow immediately after time t1. That is, there is a problem in the operation feeling for a plurality of reasons that it is heavy, slow in movement, the operation force suddenly becomes light in the middle, and the door speed changes suddenly.

  On the other hand, in the first initial operation mode in the embodiment described above, the support by the motor M is started in the first initial operation mode immediately after the operation (time t0) of the operator, so that the operator can provide power support from the start of the operation. Can feel the comfortable operation feeling received (FIGS. 6B and 6B). In addition, since the moving speed of the door D rises as the moving speed V of the door D immediately after the time t0 by the power support in the first initial movement mode, the operation feeling is felt well from the viewpoint of the moving speed. . That is, the operation feeling is good for a plurality of reasons that it is light, has a fast start of movement, and does not change its operating force.

  Further, according to the method of this embodiment, there is no need for an operation force sensing sensor or a control program to be controlled according to the operation force, and the door is driven at an unintended speed due to the difference in gripping method of the grip torque sensor by the operator. There is no problem of D moving.

[Other Embodiments (1)]
The power assist door described above is not limited to the vehicle shown in FIG. 2, but is a power assist door for an appropriate application such as a power assist door for a ship or an aircraft, or a power assist door used inside or outside a building. Good. Further, the door is not limited to the entrance and exit of people, and may be a door for taking in and out of luggage.

  In addition, the characteristics shown in the above characteristic diagrams are examples for explanation, and are not limited to the illustrated characteristics. For example, the steady control shown in FIG. 5 has two stages, but a higher or lower steady state may exist depending on the operating force. Also, with regard to acceleration control and deceleration control, a difference between rapid and slow may be provided according to various conditions.

[Other embodiment (2)]
In the above description, at time t1, the movement detection unit 140 using a hall element or various sensors generates a movement signal for detecting the movement of the door D and transmits it to the control unit 101. It was controlled to shift to the mode.

  In this case, if the door D is moved from the fully closed position, a lock sensor for detecting the locked state or the unlocked state of the door D is provided, and the movement of the door D at time t1 is detected based on the detection result of unlocking of the lock sensor. And the control unit 101 may perform control so as to end the first initial operation mode. In this way, by using the detection result of the lock sensor, the release of the mechanical lock state becomes a trigger for the mode change, so that it is possible to control with the same feeling regardless of the change in operation.

D door M motor 100 power assist door 101 control unit 102 storage unit 104 sensor 106 switch 110 drive circuit 120 current detection unit 130 driving force transmission unit 140 movement detection unit 1011 speed extraction unit 1013 current extraction unit 1016 condition determination unit 1017 mode determination unit 1018 Adjustment unit

Claims (5)

A power assist door that supports the movement of the door with the power of the motor,
Detecting means provided on a door handle for detecting an operation of moving the door;
When the door is stopped at the fully closed position or the fully open position and the door moving operation is detected by the detecting means, a first initial control is performed to apply a constant voltage to the motor, and the current flowing through the motor is controlled. A control unit for performing normal control to adjust the amount of power supplied to the motor based on
A power assist door characterized by comprising: The control unit switches between the first initial control and the normal control based on a detection result of a lock sensor that detects unlocking of the door.
The power assist door according to claim 1. The control unit performs the second initial movement control based on a detection result of the movement direction of the door when the door is other than the fully closed position and other than the fully opened position.
The power assist door according to claim 1, wherein the power assist door is provided. The second initial motion control is control for gradually applying a voltage to the motor.
The power assist door according to claim 3. The controller is
As a threshold for the current, set a deceleration threshold and an acceleration threshold,
When the current and the acceleration threshold are compared and in a predetermined first state, the amount of power supplied to the motor is increased to perform acceleration control,
When the current and the deceleration threshold value are compared and in the predetermined second state, the amount of power supplied to the motor is reduced and deceleration control is performed.
The power assist door according to any one of claims 1 to 4, wherein the power assist door is provided.

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