JP2012112173A - Power assisted door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power assisted door with comfortable operational feeling.SOLUTION: A power assisted door that assists with the door movement using power of a motor includes an inclination sensor that detects an inclination of the door in a moving direction, a determination part that makes a comparison between a value of current applied to the motor during the door movement and a predetermined threshold value, and an adjustment part that adjusts an amount of power fed to the motor based on the comparison result made by the determination part. The determination part changes at least one of the threshold value and the current value in accordance with the inclination detection result of the inclination detection means.

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 rear seat side slide door 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 above-described gripping torque sensor is not used, a method of detecting the operating force of the operator by some means and assisting with a predetermined torque by the motor is also conceivable.

  By the way, in the power assist door that does not use the grip torque sensor in this way, the assist force of the motor cannot be finely variably controlled. Although there is no problem in the normal state, when the sliding door is operated in the inclined state, a phenomenon occurs in which the door operation becomes heavier than usual or lighter.

  When the slide door is operated rearward in the state of being lowered forward as shown in FIG. 4A, a force to raise the slide door along the inclination is required, and thus the operation becomes heavy. When the slide door is operated forward in the state of being lowered forward as shown in FIG. 4B, a force (gravity) for lowering the slide door along the inclination acts, so that the operation becomes lighter. When the sliding door is operated rearward in a state where it is lifted forward as shown in FIG. 4C, the operation is lightened because a force (gravity) for lowering the sliding door along the inclination acts. When the slide door is operated forward in a state where it is lifted forward as shown in FIG. 4D, a force to raise the slide door along the inclination is required, and the operation becomes heavy. As described above, the feeling of operation of the power assist door has changed in the inclined state.

  An object of the present invention is to realize a power assist door that can provide power assistance for comfortable operation feeling even in an inclined state in accordance with an operator's door operation.

  The above problems are solved by each invention described below.

  (1) The first invention is a power assist door that supports the movement of the door with the power of the motor, the inclination detecting means for detecting the inclination of the movement direction of the door, and the motor during the movement of the door. Based on the determination result of the current value and a predetermined threshold value, and the determination result of the determination unit, the power supply amount to the motor is increased during acceleration control, and the power supply amount to the motor is decreased during deceleration control. An adjustment unit that adjusts the amount of power supplied to the motor as described above, and the determination unit sets a first threshold value and a second threshold value that are larger in ascending order as the threshold value, and the current value is greater than the first threshold value. In a state where it is determined to be small, acceleration control for increasing the amount of power supplied to the motor is determined, and in a state where it is determined that the current value is greater than the second threshold value, it is determined to perform deceleration control for decreasing the amount of power supplied to the motor If you want to When the door is moved in the direction of falling along the inclination, the deceleration control is likely to occur, the acceleration control is less likely to occur, or the door is moved in the direction of rising along the inclination. At the time of movement, at least one of the threshold value and the current value is set according to the inclination detection result from the inclination detection means so that the acceleration control is likely to occur and the deceleration control is difficult to occur. The value of is changed.

  (2) In the second aspect, in the case where the threshold value is changed in accordance with the inclination detection result from the inclination detection means in (1) above, the determination unit is configured to move the door in a direction to be lowered along the inclination. When moving the door, at least one of the first threshold or the second threshold is lowered, and when moving the door in the direction of rising along the inclination, at least the first threshold or the second threshold is moved. It is characterized by raising one.

  (3) In the third invention, in the case where the current value is changed according to the inclination detection result from the inclination detection means in the above (1) or (2), the determination unit is arranged along the inclination. When moving the door in the downward direction, add a predetermined positive constant to the current value or multiply by a predetermined coefficient of 1 or more, and move the door in the upward direction along the inclination. A predetermined negative constant is added to the current value, or a coefficient greater than a predetermined 0 and less than 1 is multiplied.

  (4) A fourth invention is characterized in that, in the above (1) to (3), the determination unit responds to a tilt detection result obtained by the tilt detection means when the door is stopped. And

  In the present invention, when assisting the movement of the door in the moving direction of the door with the power of the motor, control is performed to adjust the amount of power supplied to the motor based on a comparison result between the current flowing through the motor and a predetermined threshold. At this time, at least one of the threshold value and the current value is changed according to the inclination detection result. Here, when the door is moved in the downward direction along the inclination, deceleration control is likely to occur, acceleration control is less likely to occur, or at least one of the threshold value and the current value is set. When changing and moving the door in the direction of rising along the slope, change the threshold value or current value so that acceleration control is likely to occur and deceleration control is less likely to occur Thus, a power assist door with a comfortable operation feeling can be realized regardless of the tilted state.

  Further, the first threshold value and the second threshold value that are set in ascending order as threshold values are set, and in a state where the current value is determined to be smaller than the first threshold value, acceleration control for increasing the amount of power supplied to the motor is performed, and the current value is When it is set to perform deceleration control to reduce the amount of power supplied to the motor in a state determined to be larger than the threshold value, when moving the door in the direction of descending along the inclination, the first threshold value or the second threshold value is set. Lowering at least one and moving the door in the direction of rising along the slope raises at least one of the first threshold or the second threshold to realize a power assist door with a comfortable operation feeling regardless of the tilted state it can.

  Further, the first threshold value and the second threshold value that are set in ascending order as threshold values are set, and in a state where the current value is determined to be smaller than the first threshold value, acceleration control for increasing the amount of power supplied to the motor is performed, and the current value is When it is set to perform deceleration control that reduces the amount of power supplied to the motor when it is determined that it is greater than the threshold value, when moving the door in the direction of descending along the inclination, the current value is a predetermined positive constant Or multiply by a predetermined coefficient of 1 or more, and when moving the door in the direction of rising along the slope, add a predetermined negative constant to the current value or multiply the current value by a coefficient greater than 0 and less than 1 Thus, a power assist door with a comfortable operation feeling can be realized regardless of the tilted state.

  In addition, when the door is stopped, the tilt detection result is affected by vibration when the door moves by controlling the threshold value or current value to be changed according to the tilt detection result acquired by the tilt detection means. It is possible to perform accurate tilt measurement and control.

  That is, by changing the comparison threshold and current value according to the inclination angle as described above, the acceleration and deceleration determination criteria are changed, and as a result, the timing of changing the power supply amount is optimized. The amount of power supplied to the motor is adjusted so as to offset the influence of the door's own weight due to the angle, so that the operator does not feel the weight and lightness of the door due to the downward movement or upward movement, and the inclination state is maintained. Regardless, it is possible to realize a power assist door with a comfortable operation feeling.

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 explanatory drawing which shows the state of the vehicle to which the power assist door of embodiment is applied. 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 of the power assist door of embodiment. It is a characteristic view which shows the characteristic of control of the power assist door of embodiment.

  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 includes a movement information extraction unit 1011 that extracts a movement speed and a movement direction from a detection signal of the movement detection unit 140 according to the rotation of the motor M and the movement of the door D, and detection of a current flowing through the motor M. A current extraction unit 1013 that extracts the current value I from the result, and a determination unit 1016 that determines a control mode by performing threshold determination, current value / threshold comparison, and the like from the extracted movement direction, movement speed, current value I, and inclination angle And an adjusting unit 1018 that adjusts the amount of power supplied to the motor M in accordance with the determined mode.

  The storage unit 102 changes parameters when changing at least one of a threshold value and a current value according to parameters such as a threshold value for determination described later, power supply amount data to the motor in each control mode, and inclination detection result The storage unit stores parameters and other various data, and is configured to be able to read and change data from the control unit 101.

  The sensor 104 is a detection unit that detects a stop position of the door, pinching, and the like, and the detection result is transmitted to the control unit 101.

  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 tilt sensor 108 is tilt detecting means installed in the vehicle so as to detect the tilt of the door D with respect to the movable direction, and the detection 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.

  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. A specific example is a sliding door on the side of a vehicle.

  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]
The operation of the power assist door will be described below with reference to the flowchart of FIG. 3, the explanatory diagram of FIG. 4, the characteristic diagram of FIG. 5, and the time chart of FIG.

  First, the control unit 101 confirms whether the vehicle to which the power assist door is attached is stopped (step S101 in FIG. 3). If the vehicle is moving, the process is interrupted until stoppage can be confirmed (NO in step S101 in FIG. 3). If the vehicle is stopped, the process proceeds (in FIG. 3). YES in step S101).

  If the vehicle is stopped (YES in step S101 in FIG. 3), control unit 101 detects the position of door D via sensor 104 or the like (step S102 in FIG. 3). Here, the position of the door D is detected as a fully closed position / fully opened position / halfway position (a position other than fully opened or fully closed).

  In the state where the door D is stopped, the determination unit 1016 reads the output of the inclination sensor 108 and measures the inclination (θ in FIG. 4) with respect to the movable direction of the door D (step S103 in FIG. 3). . Here, when the door D is stopped, the inclination detection result of the inclination sensor 108 is read and the inclination is measured, so that the inclination sensor 108 is not affected by vibration during the movement of the door, and the accurate inclination Measurement and control can be performed.

  Further, the control unit 101 confirms whether or not the lock switch that prohibits the movement of the door D is in a locked state, whether there is any circumstances in which the movement of the door D cannot be permitted, etc. (step S104 in FIG. 3). ).

  Here, if the lock switch or the like that prohibits the movement of the door D is in the locked state or there is some circumstances that cannot permit the movement of the door D, the control unit 101 performs the following processing until these circumstances are resolved. Is interrupted and waits (NO in step S104 in FIG. 3).

  On the other hand, the control unit 101 moves the door D by the operator when the lock switch or the like that prohibits the operation is not locked and there are no other circumstances (YES in step S104 in FIG. 3). Wait until manual operation occurs (NO in step S105 in FIG. 3).

  Here, when the movement detection unit 140 generates a detection signal according to the movement of the door D due to the operation of the door D and the rotation of the motor M associated therewith, the movement information extraction unit 1011 receives the detection signal of the movement detection unit 140 and receives the door. The moving speed and moving direction of D are extracted and transmitted to the determination unit 1016 (YES in step S105 in FIG. 3, step S106). The movement information extraction unit 1011 that has received the pulse-shaped detection signal from the movement detection unit 140 transmits the movement generation and the movement direction to the determination unit 1016 when the pulse-shaped detection signal continues for a certain number of times.

  By the way, when the motor drive signal applied to the motor M from the drive circuit 110 is constant, the current flowing through the motor M that generates the assist force during the movement of the door D corresponds to the load of the motor M and the load is small. When the motor current is small, the motor current increases as the load increases.

For this reason, if the motor current value assists the motor D to move the door D in a steady state instead of acceleration or deceleration, the motor current value is If, and the direction in which the door D is moved by the motor M matches the operation direction by human power. If the motor current value is If and the motor current value when the direction in which the door D is moved by the motor M is opposite to the operation direction by human power is Ifb,
If <If <Ifb,
The relationship is established.

  Therefore, the control unit 101 uses a predetermined first threshold Th1 (hereinafter simply referred to as threshold Th1) and second threshold Th2 (hereinafter simply referred to as threshold Th2) having a relationship of Th1 <Th2 with respect to the value of the current flowing through the motor M. By determining the relationship of If <If <Ifb, it is determined whether the operator is trying to accelerate the door D manually, decelerate (stop), or move constantly without accelerating or decelerating. Judgment can be made. Then, the control unit 101 adjusts the power supply amount based on the comparison between the motor current and the threshold values Th1 and Th2 (FIG. 5A), and performs each control of steady control / acceleration control / deceleration (stop) control. It can be performed appropriately according to the intention of the operator.

  The threshold values Th1 and Th2 are stored in a lookup table or the like in the storage unit 102, and are referred to by the determination unit 1016 when necessary.

  Here, when the door D moves in a downward direction along the inclination, that is, when the door D moves forward (closed direction) with the vehicle inclined downward (in the closing direction of FIG. 4B). In the direction of the arrow), when the door D moves rearward (opening direction) with the vehicle inclined downward (in the direction of the arrow in FIG. 4C), the movement of the door D is lightened by its own weight. Since the moving speed is likely to increase, it is difficult to generate acceleration control and to generate deceleration control compared to the state without inclination, and it is necessary to change the control.

  On the other hand, when the door D moves in the upward direction along the inclination, that is, when the door D moves rearward (opening direction) with the vehicle inclined downward (arrow in FIG. 4A). Direction), when the door D moves forward (closed direction) with the vehicle tilted downward (in the direction of the arrow in FIG. 4D), the movement of the door D becomes heavy due to its own weight. Since the speed is unlikely to increase, it is easier to generate acceleration control and to generate deceleration control compared to the state without tilt, and it is necessary to change the control.

  Therefore, the door D is moved in the direction of descending along the inclination (steps S103 in FIG. 3) and the door D moving direction detection (step S106 in FIG. 3) (FIGS. 4B and 4C). 3) (YES in step S107 in FIG. 3), the determination unit 1016 sets the thresholds Th1 and Th2 as the downward movement adjustment so that the deceleration control is easily generated and the acceleration control is difficult to be generated. At least one of the current value I is relatively changed (step S109 in FIG. 3). As the downward movement adjustment, the determination unit 1016 lowers the normal threshold value Th1 from the downward threshold value Th1 ″ (FIG. 5C), so that acceleration control is less likely to occur than before the adjustment. By reducing the threshold value Th2 for normal use from the threshold value Th2 ″ for downward movement (FIG. 5C), deceleration control is more likely to occur than before adjustment. Alternatively, as this downward movement adjustment, a comparison positive current value I ′ obtained by adding a predetermined positive constant to the current value I to be compared with the threshold value or multiplying by a predetermined coefficient of 1 or more is compared with the threshold value. Therefore, acceleration control is less likely to occur and deceleration control is more likely to occur than before adjustment.

  Further, the door D is moved in the upward direction along the inclination by the inclination measurement (step S103 in FIG. 3) and the door D movement direction detection (step S106 in FIG. 3) (FIGS. 4A and 4D). 3) (NO in step S107 in FIG. 3 and YES in S108), the determination unit 1016 adjusts the threshold value so that acceleration control is easily generated and deceleration control is not easily generated as an upward movement adjustment. At least one of Th1 and Th2 and the current value I is relatively changed (step S111 in FIG. 3). As this upward movement adjustment, the determination unit 1016 increases the normal threshold value Th1 to the upward movement threshold value Th1 '(FIG. 5B), so that acceleration control is more likely to occur than before the adjustment. Further, by increasing the threshold value Th2 for normal time to the threshold value Th2 'for upward movement (FIG. 5B), deceleration control is less likely to occur than before adjustment. Alternatively, as this upward movement adjustment, a comparison current value I ′ obtained by adding a predetermined negative constant to the current value I to be compared with the threshold value or multiplying the current value I by a coefficient greater than the predetermined 0 and less than 1 is compared with the threshold value. By doing so, acceleration control is more likely to occur than before adjustment, and deceleration control is less likely to occur.

  In the downward movement adjustment and the upward movement adjustment described above, the threshold value, the addition constant, and the multiplication coefficient may be continuously changed according to the inclination angle θ, or stepwise for each fixed inclination angle. It may be changed.

  Further, when it is determined by the inclination measurement (step S103 in FIG. 3) and the door D movement direction detection (step S106 in FIG. 3) that the door D moves without any inclination (step S107 in FIG. 3). NO in S108 and NO in S108), the determination unit 1016 does not change the thresholds Th1 and Th2 and the current value I (step S110 in FIG. 3).

  Then, the determination unit 1016 determines to provide support in a certain state using the power of the motor M with respect to the movement of the door D in the movement direction obtained in the door D movement direction detection (step S106 in FIG. 3). Receiving this determination, the adjustment unit 1018 adjusts the power supply amount to the motor M to be constant by keeping the duty of the motor drive signal constant at a steady value. As a result, the motor drive signal with the duty kept constant is supplied from the drive circuit 110 to the motor M, and the motor M supports the movement of the door D with a constant assist force (step S112 in FIG. 3). .

  During execution of the assist by the motor M, the current value I flowing through the motor M is extracted by the current detection unit 120 and the current extraction unit 1013 and transmitted to the determination unit 1016. Here, the determination unit 1016 adjusts the amount of power supply based on the comparison between the threshold values Th1 and Th2 and the current value I to perform each control of steady control / acceleration control / deceleration (stop) control to the operator's intention. It is done together. When the inclination is detected, the current value I is compared with the threshold value Th1 ′ · Th2 ′ or Th1 ″ · Th2 ″ changed according to the inclination detection result as described above, or The threshold values Th1 and Th2 are compared with the comparison current value I ′ subjected to constant addition or coefficient multiplication according to the inclination detection result.

  Here, if there is no change in the operating force of the door D by the operator, the load of the motor M does not change, and as a result, the current value I flowing through the motor M does not change greatly (normally in steps S112 and S113 in FIG. 3). ). In this case, the determination unit 1016 determines to maintain the steady mode and continue to support the fixed state using the power of the motor M with respect to the movement of the door D (step S114 in FIG. 3). Until the door D is stopped (NO in step S116 in FIG. 3), the above assist and current value detection (step S112 in FIG. 3), and comparison between the threshold value and the current value I (step S113 in FIG. 3). ) And repeat.

  In addition, when an operation for accelerating the door D in the moving direction is generated by the operator, the load on the motor M is reduced, and as a result, the current value I flowing through the motor M is reduced as compared with the steady state. When the current value I decreases from the first threshold value (current value <first threshold value in step S113 in FIG. 3), the determination unit 1016 determines that the movement of the door D matches the “acceleration condition”. Then, the determination unit 1016 determines to change the control mode from the steady mode to the acceleration mode based on the determination result that the acceleration condition is met, and to increase the assistance (power assist) using the power of the motor M regarding the movement of the door D. (Step S115 in FIG. 3). Receiving the determination of the acceleration mode, the adjustment unit 1018 adjusts the power supply amount to the motor M by increasing the duty of the motor drive signal from the steady value. As a result, a motor drive signal in a state where the duty is increased is supplied from the drive circuit 110 to the motor M, and the motor M assists the door D more strongly than in the steady mode. Until the door D is stopped (NO in step S116 in FIG. 3), the above assist and current value detection (step S112 in FIG. 3), and comparison between the threshold value and the current value I (step S113 in FIG. 3). ) And repeat.

  Further, any one of an operation of loosening the movement operation of the door D by the operator, an operation of decelerating the movement of the door D by the operator, or an operation of stopping the movement of the door D by the operator When an operation (hereinafter referred to as “deceleration operation”) occurs, the load on the motor M increases, and as a result, the current value I flowing through the motor M increases compared to the steady state. When the value I increases from the second threshold value (current value> second threshold value in step S113 in FIG. 3), it is determined that the movement of the door D matches the “deceleration condition”. The control mode is changed from the steady mode to the deceleration mode based on the determination result that the deceleration condition is met, and it is determined to reduce the assistance (power assist) using the power of the motor M with respect to the movement of the door D (step in FIG. 3). S116) Upon receiving the determination of the deceleration mode, the adjusting unit 1018 adjusts the power supply amount to the motor M to decrease by decreasing the duty of the motor drive signal from the steady value, thereby driving the drive circuit 110. The motor drive signal in a state where the duty is lowered is supplied to the motor M, and the motor M weakens the assist force of the door D as compared with that in the steady mode until the door D stops (step S116 in FIG. 3). NO), the above-described assist, current value detection (step S112 in FIG. 3), and comparison between the threshold value and the current value I (step S113 in FIG. 3) are repeated.

  Further, in the above movement of the door D, the determination unit 1016 monitors whether or not a predetermined time elapses in advance, that is, the necessity of stopping the door D (a predetermined time has elapsed in step S113 in FIG. 3). ). In other words, the determination unit 1016 determines that deceleration control that satisfies the deceleration condition and reduces the amount of power supplied to the motor M is necessary when a predetermined time has elapsed during the movement of the door D (step in FIG. 3). In step S113, the control mode is changed to the deceleration mode, and the support using the power of the motor M (power assist) for the movement of the door D is determined to be reduced toward the stop (step in FIG. 3). S116). Receiving the determination of the deceleration mode, the adjustment unit 1018 adjusts the power supply amount to the motor M to be decreased by gradually decreasing the duty of the motor drive signal from the steady value. 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 weakens the assist force of the door D than in the steady mode.

  The determination unit 1016 monitors whether or not the stop condition is met in each of the above control modes, and matches the speed V = 0 for a certain time or the duty = 0 of the motor drive signal for a certain time or more. If so, it is determined that stop control for ending support to the motor M is necessary (YES in step S116 in FIG. 3). Note that the above duty = 0 is generated in accordance with the deceleration control described above. 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. 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. Thereby, 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 (step S117 in FIG. 3).

[Effect (1) by this embodiment]
Hereinafter, the effect of the power assist door of the present embodiment will be described with reference to FIG. 6 showing a state of comparison between the current I flowing through the motor M and the threshold value.

  FIG. 6A shows a specific example in which it is determined that the door D moves in a state where there is no inclination, and the determination unit 1016 compares the threshold values Th1 and Th2 and the current value I without changing them. .

  FIG. 6B shows a case where it is determined that the door D moves upward along the inclination while the inclination is detected, and the determination unit 1016 increases the threshold values Th1 and Th2 to change them to the threshold values Th1 ′ and Th2 ′. Thus, a specific example for comparison with the current value I is shown. Note that the operation by the operator is the same as in FIG.

  In this case, in order to move the door D upward along the inclination, the load of the motor M increases due to the dead weight of the door D, and the current value I flowing through the motor M is larger as a whole compared to FIG. It has become. For this reason, in the state where the threshold values Th1 and Th2 are not changed (broken line in FIG. 6B), the period in which I <Th1 (acceleration control period) is shorter than the no-tilt state, and the period in which I> Th2 ( The period of deceleration control) becomes longer than the state without inclination. That is, in a state where the threshold value is not changed, it is difficult to accelerate and decelerate easily.

  Therefore, when the threshold values Th1 ′ and Th2 ′ are changed to the current value I after changing to the threshold values Th1 ′ and Th2 ′ (FIG. 6B), the period in which I <Th1 ′ (acceleration control period) is longer than before the threshold change. Thus, the period in which I> Th2 ′ (deceleration control period) is shorter than before the threshold is changed. That is, the state in which the acceleration is difficult and the deceleration is easy before the threshold change is improved after the threshold change.

  FIG. 6C shows a case where it is determined that the door D moves downward along the inclination in a state where the inclination is detected, and the determination unit 1016 decreases the threshold values Th1 and Th2 and changes them to the threshold values Th1 ″ and Th2 ″. Thus, a specific example for comparison with the current value I is shown. Note that the operation by the operator is the same as in FIG.

  In this case, in order to move the door D downward along the inclination, the load of the motor M is reduced by the dead weight of the door D, and the current value I flowing through the motor M is generally smaller than that in FIG. It has become. For this reason, in a state in which the threshold values Th1 and Th2 are not changed (broken line in FIG. 6C), a period in which I <Th1 (acceleration control period) is longer than the no-tilt state, and a period in which I> Th2 ( The period of deceleration control) becomes shorter than the state without inclination. That is, in a state where the threshold value is not changed, it is easy to accelerate and difficult to decelerate.

  Therefore, when the threshold values Th1 ″ and Th2 ″ (the two-dot chain line in FIG. 6C) are changed and compared with the current value I, the period of I <Th1 ″ (acceleration control period) is more than that before the threshold change. The period becomes shorter and the period of I> Th2 ″ (deceleration control period) becomes longer than before the threshold value is changed. That is, after the threshold is changed, it is improved from a state in which acceleration is easy and acceleration is difficult before the threshold is changed.

  In other words, when assisting the movement of the door in the direction of door movement with the power of the motor, when adjusting the amount of power supplied to the motor based on the comparison result between the current flowing through the motor and a predetermined threshold value, it is comfortable regardless of the inclination state. A power assist door with a comfortable operation feeling can be realized.

  6 shows an example of changing the threshold values Th1 and Th2, but as described above, the above threshold values may be changed continuously according to the inclination angle θ (see FIG. 4) or fixed. You may change in steps for every inclination angle.

  As described above, by changing the comparison threshold according to the inclination angle, the determination criteria for acceleration and deceleration are changed, and as a result, the timing for changing the amount of power supply is optimized, and the door D is changed depending on the inclination angle. The amount of power supplied to the motor is adjusted so as to offset the influence of its own weight, so that the operator does not feel the weight and lightness of the door D due to downward movement or upward movement, and is comfortable regardless of the tilted state. A power assist door with a comfortable operation feeling can be realized.

[Effect (2) of this embodiment]
Hereinafter, the effect of the power assist door of the present embodiment will be described with reference to FIG. 7 showing a state of comparison between the current I flowing through the motor M and the threshold value.

  FIG. 7A illustrates a specific example in which it is determined that the door D moves without a tilt, and the determination unit 1016 performs a comparison without changing the threshold values Th1 and Th2 and the current value I. .

  FIG. 7B shows a case where it is determined that the door D moves upward along the inclination while the inclination is detected, and the determination unit 1016 sets a predetermined negative value to the current value I (broken line in FIG. 7B). To generate a comparison current value I ′ (dotted line in FIG. 7 (b)) by multiplying a constant greater than 0 and less than 1 to generate the comparison current value I ′ and threshold values Th1 and Th2. A specific example in which comparison is made is shown. Note that the operation by the operator is the same as that in FIG.

  In this case, in order to move the door D upward along the inclination, the load of the motor M increases due to the dead weight of the door D, and the current value I flowing through the motor M is larger as a whole compared to FIG. It has become. Therefore, when the current value is I (the broken line in FIG. 7B), the period in which I <Th1 (acceleration control period) is shorter than the no-tilt state, and the period in which I> Th2 (deceleration control period). Becomes longer than the state without inclination. That is, in comparison with the threshold value of the state of the current value I as it is, it is difficult to accelerate and decelerate easily.

  Therefore, when the current value for comparison I ′ (FIG. 7B, the one-dot chain line) is changed and compared with the threshold values Th1 and Th2, the period in which I ′ <Th1 (acceleration control period) is longer than before the change. Thus, the period in which I ′> Th2 (deceleration control period) is shorter than before the change. That is, the state in which acceleration and deceleration are difficult before the change is improved after the change to the comparison current value I ′.

  FIG. 7C shows a case where it is determined that the door D moves downward along the inclination in a state where the inclination is detected, and the determination unit 1016 sets the current value I (a broken line in FIG. 7C) to a predetermined positive value. To generate a comparison current value I ′ (two-dot chain line in FIG. 7C) by multiplying by a coefficient greater than a predetermined one, and the comparison current value I ′ and threshold values Th1 and Th2 Shows a specific example of comparison. Note that the operation by the operator is the same as that in FIG.

  In this case, in order to move the door D downward along the inclination, the load of the motor M is reduced by the dead weight of the door D, and the current value I flowing through the motor M is smaller as a whole compared to FIG. It has become. For this reason, when the current value is I (the broken line in FIG. 7C), the period in which I <Th1 (acceleration control period) is longer than the no-tilt state, and the period in which I> Th2 (deceleration control period). Becomes shorter than the state without inclination. That is, in comparison with the threshold value of the state of the current value I as it is, it is easy to accelerate and difficult to decelerate.

  Therefore, when the current value for comparison I ′ (FIG. 7 (c), two-dot chain line) is changed and compared with the threshold values Th1 and Th2, the period in which I ′ <Th1 (acceleration control period) is longer than before the change. The period becomes shorter, and the period of I ′> Th2 (deceleration control period) becomes longer than before the change. That is, after the change to the comparison current value I ′, the state is improved from the state of being easy to accelerate and difficult to decelerate before the change.

  In other words, when assisting the movement of the door in the direction of door movement with the power of the motor, when adjusting the amount of power supplied to the motor based on the comparison result between the current flowing through the motor and a predetermined threshold value, it is comfortable regardless of the inclination state. A power assist door with a comfortable operation feeling can be realized.

  FIG. 7 shows an example of changing the comparison current value I ′. However, as described above, the above addition constant and multiplication coefficient are continuously changed according to the inclination angle θ (see FIG. 4). Alternatively, it may be changed stepwise for each fixed inclination angle.

  As described above, by changing the comparison current value according to the inclination angle, the determination criterion for acceleration or deceleration is changed, and as a result, the timing for changing the power supply amount is optimized, and the door D depending on the inclination angle is used. The amount of power supplied to the motor is adjusted so as to offset the influence of its own weight, so that the operator does not feel the weight and lightness of the door D due to the downward movement or upward movement, regardless of the inclination state. A power assist door with comfortable operation feeling can be realized.

[Other Embodiments (1)]
In the above embodiment, when the threshold values Th1 and Th2 are changed according to the inclination angle, only one of the threshold values or both threshold values can be changed at different ratios. That is, ease of acceleration (hardness), ease of deceleration (hardness), and the like can be freely determined by the weight of the door D, the feeling required by the operator, and the like.

[Other Embodiments (1)]
Further, when the thresholds Th1 and Th2 are independently changed as in the other embodiment (1), the same effect can be realized by combining constant addition and coefficient multiplication with respect to the current value I. For example, the relationship with the threshold value Th1 can be greatly changed by adding a constant to the current value I, and the relationship with the threshold value Th2 can be greatly changed by multiplying the current value I by a coefficient.

[Other embodiment (3)]
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.

D door M motor 100 power assist door 101 control unit 102 storage unit 104 sensor 106 switch 108 tilt sensor 110 drive circuit 120 current detection unit 130 driving force transmission unit 140 movement detection unit 1011 movement information extraction unit 1013 current extraction unit 1016 determination unit 1018 Adjustment unit

Claims (4)

A power assist door that supports the movement of the door with the power of the motor,
An inclination detecting means for detecting the inclination of the door;
A determination unit that compares a current value flowing through the motor during movement of the door with a predetermined threshold;
Based on the determination result of the determination unit, an adjustment unit that adjusts the power supply amount to the motor so as to increase the power supply amount to the motor during acceleration control and to decrease the power supply amount to the motor during deceleration control; With
The determination unit
A first threshold value and a second threshold value that are set in ascending order are set as the threshold values,
When the current value is determined to be smaller than the first threshold value, acceleration control is performed to increase the power supply amount to the motor. When the current value is determined to be larger than the second threshold value, the power supply amount to the motor is determined. In the case of determining to perform the deceleration control to reduce the speed, when the door is moved in the direction of descending along the inclination, the deceleration control is likely to occur, and the acceleration control is less likely to occur. Alternatively, when the door is moved in the direction of rising along the inclination, the acceleration control is more likely to occur and the deceleration control is less likely to occur according to the inclination detection result from the inclination detection means. Changing at least one of the threshold value and the current value,
A power assist door characterized by that. In the case of changing the threshold according to the inclination detection result from the inclination detection means,
The determination unit
When moving the door in the downward direction along the slope, lower at least one of the first threshold or the second threshold,
When moving the door in the direction of rising along the inclination, increase at least one of the first threshold value or the second threshold value,
The power assist door according to claim 1. In the case of changing the current value according to the inclination detection result from the inclination detecting means,
The determination unit
When the door is moved in the downward direction along the inclination, the current value is added with a predetermined positive constant or multiplied by a predetermined coefficient of 1 or more,
When moving the door in the direction of rising along the inclination, a predetermined negative constant is added to the current value or a coefficient greater than a predetermined 0 and less than 1 is added.
The power assist door according to claim 1, wherein the power assist door is provided. The determination unit responds to a tilt detection result obtained by the tilt detection means when the door is stopped,
The power assist door according to any one of claims 1 to 3, wherein the power assist door is provided.

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