JP2016098601A - Operation auxiliary control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation auxiliary control device capable of preventing an impact from being generated when an operation object is manually operated and reaches a terminal position of an operation range.SOLUTION: A power backdoor control device comprises: a position detection part that detects a door position; a speed calculation part that calculates a door speed based on a time variation of the door position; and an output voltage calculation part 16 that calculates an output voltage Va based on the door position and the door speed. The power backdoor control device gives an auxiliary force to a manual operation of the backdoor by controlling motor drive based on the output voltage Va. The power backdoor control device has an output voltage restriction part 17, which restricts the output voltage Va based on the door position, and restricts the output voltage Va, which is calculated by the output voltage calculation part 16, to a lower level by the output voltage restriction part 17, and controls the motor drive based on the output voltage Vd after the restriction, when the door position reaches the vicinity of a terminal (completely closed position or completely opened position) of an operation range of the backdoor.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an operation assist control device that applies an assist force so that a person can operate an operation object with a small force.

  Back doors and slide doors mounted on vehicles can be manually opened and closed. In addition, there is an operation assist control device that applies an assisting force by an actuator such as a motor so that the operation object can be operated with a small force when the operation object is manually opened and closed.

  For example, the operation assist control device of Patent Document 1 applies assist force by a motor to an opening / closing operation of a sliding door of a vehicle. At that time, even if the door stops at the fully open position or the fully closed position, the drive of the motor is controlled so that a large impact does not occur. Specifically, when the door position reaches near the fully open position or the fully closed position, if the door speed is greater than a predetermined value, the target speed is decreased so that the actual door speed approaches the target speed. The drive command value for the motor is calculated.

  Moreover, there exists a door opening / closing control apparatus which opens and closes the back door of a vehicle automatically according to switch operation like patent document 2, for example. In this device, in order to open and close the back door smoothly, a target speed for the door position is set in advance, and a deviation between the door speed detected by the encoder and the target speed is calculated so that the deviation becomes zero. , Feedback control of the motor. Further, when the deviation between the door speed and the target speed deviates from a predetermined range, the target speed is reset to a side closer to the door speed.

JP 2008-95407 A JP 2005-23633 A

  When the auxiliary force is applied to the manual operation of the operation target by the actuator, if the movement speed of the operation target is high near the end position of the operation range (such as the fully open position or the fully closed position of the door) An impact occurs when the operation target reaches the end position. Even if the driving force of the actuator is large near the end position, an impact occurs when the operation target reaches the end position.

  The subject of this invention is providing the operation assistance control apparatus which can prevent that an impact generate | occur | produces when the operation target object is operated manually and reaches the end position of the operation range.

  The operation assistance control device according to the present invention includes a position detection unit that detects the position of the operation target, a speed calculation unit that calculates a moving speed of the operation target based on a time change of the position detected by the position detection unit, A control value calculation unit that calculates a control value for controlling driving of the actuator based on the position detected by the position detection unit and the moving speed calculated by the speed calculation unit, and the control amount calculation unit calculates Based on the value, the driving of the actuator is controlled, and an auxiliary force is applied to the operation of the operation target. This configuration further includes a control value limiting unit that limits the control value calculated by the control value calculation unit based on the position detected by the position detection unit, and the position detected by the position detection unit is the operation range of the operation target. When reaching the end, the control value calculated by the control value calculation unit is limited to a small value by the control value limiting unit, and the driving of the actuator is controlled based on the control value after the limitation.

  According to the above, when the operation object is manually operated and reaches the vicinity of the end position of the operation range, the control value for controlling the driving of the actuator is limited to a small value by the control value limiting unit, The drive of the actuator is controlled based on the control value. For this reason, the movement speed of the operation target and the driving force of the actuator are suppressed from increasing near the end position, and an impact can be prevented from occurring when the operation target reaches the end position.

  In the present invention, the operation assistance control device further includes a storage unit that stores a first limit value that is a value for limiting the control value and corresponds to the position of the operation target, The unit reads out the first limit value corresponding to the position detected by the position detection unit from the storage unit, sets the minimum value among the first limit value and the predetermined first maximum control value as the limit value, and controls the limit value and the control value. Of the control values calculated by the value calculation unit, the minimum value may be output as the control value after restriction. Further, the first limit value stored in the storage unit may be set so as to decrease when the position of the operation target reaches near the end of the operation range.

  Alternatively, in the present invention, the operation assistance control device further includes a storage unit that stores a speed limit according to the position of the operation target, and the control value limiter is a speed limit according to the position detected by the position detection unit. Is read from the storage unit, and a second limit value for limiting the control value is calculated based on the limit speed and the movement speed calculated by the speed calculation unit, and the second limit value and a predetermined first value are calculated. The minimum value among the maximum control values may be set as the limit value, and the minimum value among the control values calculated by the limit value and the control value calculation unit may be output as the control value after the limit. Further, the speed limit stored in the storage unit may be set so as to decrease when the position of the operation object reaches the vicinity of the end of the operation range.

  Alternatively, according to the present invention, the operation assist control device further includes a storage unit that stores a first limit value and a limit speed that are values for limiting the control value according to the position of the operation target. The control value limiter reads the first limit value and the limit speed corresponding to the position detected by the position detection unit from the storage unit, and sets the second limit based on the limit speed and the movement speed calculated by the speed calculation unit. The limit value is calculated, and the minimum value among the first limit value, the second limit value, and the predetermined first maximum control value is set as the limit value, and the minimum value among the control values calculated by the limit value and the control value calculation unit May be output as a control value after limitation. Further, the first limit value and the speed limit stored in the storage unit may be set so as to decrease when the position of the operation target reaches near the end of the operation range.

  The control value limiting unit compares the moving speed calculated by the speed calculating unit with the limiting speed read from the storage unit, and compares the comparison result, the moving speed, the limiting speed, and a predetermined second maximum control value. Based on the above, the second limit value may be calculated.

  According to the present invention, the operation assistance control device further includes a current detection unit that detects a current flowing through the actuator, and the control value calculation unit includes the position detected by the position detection unit and the movement speed calculated by the speed calculation unit. The control value may be calculated based on the current detected by the current detection unit.

  In the present invention, the operation assistance control device further includes a drive unit for driving the actuator, and the control value calculation unit calculates a voltage value output from the drive unit to the actuator as the control value. May be.

  Furthermore, in the present invention, the operation target is composed of a vehicle back door, the actuator is composed of a motor, and the operation assist control device is a power back that applies assist force by the motor to manual opening / closing operation of the back door. You may comprise from a door control apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the operation assistance control apparatus which can prevent that an impact generate | occur | produces when the operation target object is operated manually and reaches the end position of the operation range.

It is the figure which showed the structure of the power back door control apparatus by embodiment of this invention. It is the figure which showed an example of the back door. It is the control block diagram which showed the detail of the power assist process which the power back door control apparatus of FIG. 1 performs. FIG. 4 is a control block diagram illustrating details of an output voltage limiting process according to the first embodiment executed by an output voltage limiting unit in FIG. 3. It is the figure which showed the 1st limiting voltage at the time of backdoor opening operation which the 1st limiting voltage setting part of FIG. 4 sets. It is the figure which showed the 1st voltage limit at the time of backdoor closing operation which the 1st voltage limit setting part of FIG. 4 sets. It is the figure which showed the speed limit at the time of backdoor opening operation and the 2nd voltage limit which the 2nd voltage limit setting part of FIG. 4 sets. It is the figure which showed the speed limit at the time of backdoor closing operation and the 2nd voltage limit which the 2nd voltage limit setting part of FIG. 4 sets. It is the figure which showed the change of the limiting voltage at the time of backdoor opening operation, and an output voltage. It is the figure which showed the change of the limiting voltage at the time of backdoor closing operation, and an output voltage. It is the control block diagram which showed the detail of the output voltage restriction | limiting process of 2nd Embodiment. It is the control block diagram which showed the detail of the output voltage restriction | limiting process of 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

  First, the configuration of the present embodiment will be described with reference to FIGS. 1 and 2.

  FIG. 1 is a diagram illustrating a configuration of the power back door control device 10. FIG. 2 is a diagram illustrating an example of the back door 30.

  In FIG. 1, a power back door control device 10 is incorporated in a power back door system 100 together with a motor 7, a BD (back door) opening / closing mechanism 8, and a back door 30. The power back door system 100 is mounted on an automobile.

  The power back door control device 10 is provided in the vehicle body 31 in FIG. The BD opening / closing mechanism 8 for opening and closing the back door 30 is provided on the vehicle body 31 and the back door 30. The motor 7 is a power source of the BD opening / closing mechanism 8 and is provided on the vehicle body 31.

  As shown in FIG. 2, the back door 30 is a flip-up type door provided on the rear surface of the vehicle body 31 of the automobile. The back door 30 opens when the lower end swings upward about the rotation shaft 32 at the upper end, and conversely closes when the lower end swings downward. In FIG. 2, the back door 30 in the fully closed position is indicated by a solid line, the back door 30 in the fully open position is indicated by a one-dot chain line, and two back doors 30 in an intermediate position between the fully closed position and the fully open position are shown. Shown with a chain line.

  The back door 30 can be manually opened and closed by grasping a lower end portion or a grip portion (not shown). When the back door 30 is manually opened / closed, the power back door control device 10 applies an assisting force by the motor 7 so that the operator can open / close the back door 30 with a small force (power assist). processing).

  Further, the power back door control device 10 drives the motor 7 forward or reverse to operate the BD opening / closing mechanism 8 to automatically open / close the back door 30 (automatic opening / closing process).

  The power back door control device 10 is an example of the “operation assistance control device” in the present invention. The back door 30 is an example of the “operation object” in the present invention. The motor 7 is an example of the “actuator” in the present invention.

  The power back door control device 10 includes a control unit 1, a motor drive unit 2, an operation unit 3, a vehicle communication unit 4, a pulse generator 5, and a fully closed / fully opened detection SW (switch) 6.

  The control unit 1 is composed of a microcomputer. The control unit 1 includes a storage unit 11, a position detection unit 12, a speed calculation unit 13, and a power assist control unit 14.

  The storage unit 11 includes a memory. The storage unit 11 stores information for controlling the driving of the motor 7 as will be described later.

  The position detection unit 12, the speed calculation unit 13, and the power assist control unit 14 are configured by software, for example. As another example, these units 12 to 14 may be configured by hardware.

  The motor drive unit 2 includes a drive circuit for driving the motor 7 with a PWM (pulse width modulation) signal. The control unit 1 controls the driving of the motor 7 by the motor driving unit 2. The motor drive unit 2 is provided with a current detection unit 2 a that detects a current flowing through the motor 7 (hereinafter referred to as “motor current”). The detection of the motor current by the current detection unit 2a is performed appropriately or at a predetermined cycle. The motor drive unit 2 is an example of the “drive unit” in the present invention.

  The operation unit 3 includes a switch, a communication circuit, and the like provided in the driver's seat of the automobile, the rear part of the vehicle body, or the remote controller. The operation unit 3 is provided with a BD opening / closing SW (switch) 3 a that is operated to instruct opening / closing or stopping of the back door 30.

  The vehicle communication unit 4 includes a circuit for communicating with a vehicle-side ECU (electronic control unit) 40 and a CAN (Controller Area Network).

  The pulse generator 5 is composed of, for example, a two-phase rotary encoder, and is provided in the motor 7 or the BD opening / closing mechanism 8. The pulse generator 5 outputs two pulse signals whose phases are shifted to the control unit 1 according to the rotation state of the motor 7 or the operation state of the BD opening / closing mechanism 8.

  The rotating state of the motor 7, the operating state of the BD opening / closing mechanism 8, and the opening / closing state of the back door 30 are linked. Therefore, the position detection unit 12 of the control unit 1 detects two pulse signals output from the pulse generator 5, and based on the pulse signals, the open / close position of the back door 30 (hereinafter referred to as “door position”). Is detected.

  The speed calculation unit 13 calculates the opening / closing movement speed (hereinafter referred to as “door speed”) of the back door 30 based on the time change of the door position detected by the position detection unit 12. The detection of the door position by the position detection unit 12 and the calculation of the door speed by the speed calculation unit 13 are performed appropriately or at any time in a predetermined cycle.

  The fully closed / fully opened detection SW (switch) 6 is provided at the rear portion of the vehicle body 31. The fully closed / fully opened detection SW 6 detects that the back door 30 is fully closed and fully opened, and outputs a detection signal to the control unit 1. The position detection unit 12 detects that the back door 30 is in the fully closed position or the fully open position based on the output signal from the fully closed / fully opened detection SW6.

  The control unit 1 controls the driving of the motor 7 via the motor driving unit 2 in accordance with the operation of the BD opening / closing SW 3a, and executes the automatic opening / closing process. Specifically, the control unit 1 rotates the motor 7 by the motor driving unit 2 in accordance with the opening / closing operation of the BD opening / closing SW 3a. Moreover, the control part 1 stops the motor 7 by the motor drive part 2 according to stop operation of BD opening / closing SW3a. Thereby, the back door 30 opens and closes automatically or stops.

  Further, the control unit 1 detects that the back door 30 has been manually opened / closed based on the door speed calculated by the speed calculation unit 13. Specifically, when the drive of the motor 7 is not controlled according to the operation of the BD opening / closing SW 3a, if the door speed calculated by the speed calculation unit 13 is not 0, the control unit 1 indicates that the back door 30 is manually operated. It is determined that the opening / closing operation has been performed. Further, the control unit 1 determines whether the manual operation direction of the back door 30 is the open direction or the close direction based on the change in the door position detected by the position detection unit 12.

  When the control unit 1 detects that the back door 30 has been manually opened and closed, the power assist control unit 14 controls the driving of the motor 7 via the motor driving unit 2 to execute the power assist process.

  Next, details of the power assist process will be described with reference to FIGS.

  FIG. 3 is a control block diagram showing details of the power assist process. Each block 15-18 is comprised by the software which the power assist control part 14 performs, for example. As another example, these blocks 15 to 18 may be configured by hardware.

  When the back door 30 is manually opened and closed and the power assist control unit 14 starts the power assist process, first, the target current calculation unit 15 uses the door position detected by the position detection unit 12 and the speed calculation unit 13. A target current is calculated based on the calculated door speed.

  Next, based on the motor current detected by the current detection unit 2 a and the target current calculated by the target current calculation unit 15, the output voltage calculation unit 16 outputs the output voltage from the motor drive unit 2 to the motor 7. Va (output voltage before limitation) is calculated. At this time, the output voltage calculation unit 16 calculates the output voltage Va so that the motor current approaches the target current, for example. The output voltage Va is a value for controlling the driving of the motor 7, and is an example of the “control value” in the present invention. The output voltage calculation unit 16 is an example of the “control value calculation unit” in the present invention.

  Next, the output voltage limiting unit 17 is based on the power supply voltage Vb supplied from a power source such as a battery (not shown), the door position, the door speed, and the output voltage Va calculated by the output voltage calculation unit 16. The output voltage limiting process is executed. The output voltage Va is limited by this output voltage limiting process. The output voltage limiting unit 17 is an example of the “control value limiting unit” in the present invention. The power supply voltage Vb is an example of the “first maximum control value” in the present invention.

  FIG. 4 is a control block diagram showing details of the output voltage limiting process according to the first embodiment. Each block 17a-17d is comprised by the software which the power assist control part 14 performs, for example. As another example, these blocks 17a to 17d may be configured by hardware.

  When the output voltage limiting process is started, the first limiting voltage setting unit 17a sets the first limiting voltage Vc1 based on the door position detected by the position detection unit 12. The first limit voltage Vc1 is an example of the “first limit value” in the present invention.

  FIG. 5 is a diagram illustrating the first limit voltage Vc1 when the back door 30 is opened. FIG. 6 is a diagram showing the first limit voltage Vc1 when the back door 30 is closed. The first limit voltage Vc1 at the time of the opening operation and the closing operation is a value for limiting the output voltage to the motor 7, and is set in advance according to the opening / closing position of the back door 30, and the storage unit 11 ( In FIG. 1), each is stored in a table system or the like.

  As shown in FIG. 5, the first limit voltage Vc1 during the opening operation of the back door 30 changes at a large constant value when the opening / closing position of the back door 30 is within a certain range from the fully closed position toward the opening direction. After that, it gradually decreases, and when it reaches a certain range near the fully open position, it changes at a small constant value.

  As shown in FIG. 6, the first limit voltage Vc1 during the closing operation of the back door 30 changes at a large constant value when the opening / closing position of the back door 30 is within a certain range from the fully opened position toward the closing direction. After that, it gradually decreases, and when it reaches a certain range near the fully closed position, it changes at a small constant value.

  The first limit voltage setting unit 17a reads the first limit voltage Vc1 from the storage unit 11 in accordance with the manual operation direction of the back door 30 and the door position detected by the position detection unit 12, and the comparator 17c ( Output to FIG.

  Further, when the output voltage limiting process is started, the second limiting voltage setting unit 17b performs the second operation based on the door position detected by the position detecting unit 12 and the door speed calculated by the speed calculating unit 13. Limit voltage Vc2 is set. The second limit voltage Vc2 is an example of the “second limit value” in the present invention.

  FIG. 7 is a diagram illustrating the speed limit and the second limit voltage Vc2 when the back door 30 is opened. FIG. 8 is a diagram showing the speed limit and the second limit voltage Vc2 when the back door 30 is closed. The speed limit during the opening operation and the closing operation is a value for limiting the output voltage to the motor 7, and is set in advance according to the open / close position of the back door 30, and is stored in the storage unit 11 (FIG. 1). Are stored in a table format. The second limit voltage Vc2 at the time of opening and closing is a value for limiting the output voltage to the motor 7, and is set based on the speed limit and the door speed.

  As shown in FIG. 7, the speed limit during the opening operation of the back door 30 changes at a large constant value when the opening / closing position of the back door 30 is in a certain range from the fully closed position toward the opening direction, and then gradually. When it reaches a certain range near the fully open position, it changes at a small constant value.

  As shown in FIG. 8, the speed limit for the closing operation of the back door 30 changes at a large constant value when the opening / closing position of the back door 30 is within a certain range from the fully opened position toward the closing direction, and then gradually increases. When it goes down and reaches a certain range near the fully closed position, it changes at a small constant value.

  The second limit voltage setting unit 17 b reads the limit speed from the storage unit 11 according to the manual operation direction of the back door 30 and the door position detected by the position detection unit 12.

  Next, the second limit voltage setting unit 17b corrects the limit speed read from the storage unit 11 with a predetermined coefficient. Specifically, a predetermined coefficient (α or β) is subtracted from the speed limit to obtain correction values (speed limit−α, speed limit−β). The second limit voltage setting unit 17b compares the correction value with the door speed (actual speed) calculated by the speed calculation unit 13, and supplies the comparison result, the door speed, the limit speed, and a power source (not shown). The second limit voltage Vc2 is calculated based on the maximum value Vmax of the power supply voltage.

Specifically, when the door speed is slower than the correction value (door speed <limit speed−α, door speed <limit speed−β), the second limit voltage setting unit 17b sets the maximum value Vmax of the power supply voltage to the second limit voltage. Let Vc2. That is,
Second limit voltage Vc2 at the time of opening operation and closing operation = maximum value Vmax of power supply voltage

On the other hand, when the door speed is equal to or higher than the correction value (door speed ≧ limit speed−α, door speed ≧ limit speed−β), the second limit voltage setting unit 17b sets the maximum value Vmax of the power supply voltage to a predetermined coefficient ( Divide by α or β) and subtract door speed from speed limit. A value obtained by multiplying the division value and the subtraction value is set as a second limit voltage Vc2. That is,
Second limit voltage Vc2 at opening operation = (maximum value Vmax of power supply voltage ÷ α) × (limit speed−door speed)
Second limit voltage Vc2 at the time of closing operation = (maximum value Vmax of power supply voltage ÷ β) × (limit speed−door speed)

  The maximum value Vmax of the power supply voltage is a value stored in the storage unit 11 in advance, and is an example of the “second maximum control value” in the present invention. The second limit voltage setting unit 17b outputs the second limit voltage Vc2 set as described above to the comparator 17c (FIG. 4).

  The comparator 17c calculates a minimum value among the power supply voltage Vb, the first limit voltage Vc1 set by the first limit voltage setting unit 17a, and the second limit voltage Vc2 set by the second limit voltage setting unit 17b. elect. Then, the comparator 17c outputs the minimum value as the limit voltage Vc to the saturation processing unit 17d. The limit voltage Vc is an example of the “limit value” in the present invention.

  The saturation processing unit 17d selects a minimum value among the output voltage Va before the limit calculated by the output voltage calculation unit 16 (FIG. 3) and the limit voltage Vc output by the comparator 17c. Then, the saturation processing unit 17d outputs the minimum value as the limited output voltage Vd. The output voltage Vd after the limit is an example of the “control value after the limit” in the present invention.

  The limited output voltage Vd output from the saturation processing unit 17d is input to the duty calculation unit 18 from the output voltage limiting unit 17 in FIG. The duty calculation unit 18 calculates a duty ratio for controlling the motor 7 with PWM based on the output voltage Vd after limitation and the power supply voltage Vb. Then, the motor driving unit 2 drives the motor 7 with the PWM signal having the duty ratio calculated by the duty calculating unit 18, whereby an assisting force is applied to the opening / closing operation of the back door 30.

  FIG. 9 is a diagram illustrating changes in the limit voltage Vc and the output voltage Vd when the back door 30 is opened. FIG. 10 is a diagram illustrating changes in the limit voltage Vc and the output voltage Vd when the back door 30 is closed.

  3 and 4 are executed as described above, and as shown in FIGS. 9 and 10, the output voltage output from the motor drive unit 2 to the motor 7 when the back door 30 is manually opened and closed. Vd is suppressed to be smaller than the limit voltage Vc. Further, when the position of the back door 30 reaches near the end position (fully opened position or fully closed position) of the operation range, the output voltage Vd is limited to be smaller than that. For this reason, it is possible to prevent the movement speed of the back door 30 and the driving force of the motor 7 from increasing in the vicinity of the end position, and to prevent an impact from occurring when the back door 30 reaches the end position. .

  Further, the output voltage Va is calculated based on the door position, the door speed, and the motor current, and output based on the first limit voltage Vc1 based on the door position and the second limit voltage Vc2 based on the door position and the door speed. The voltage Va is limited. Therefore, the output voltage Vd to the motor 7 can be determined according to the operation position, operation speed, and operation force of the back door 30, and the operation assisting force can be applied by the motor 7.

  Further, the first limit voltage Vc1 and the limit speed are set to large values until the door position reaches near the end of the operation range, and are set to small values when the door position reaches near the end of the operation range. ing. The second limit voltage Vc2 is set to a large value based on the limit speed and the door speed until the door position reaches near the end of the operation range, and the door position reaches near the end of the operation range. , Set to a small value. The second limit voltage Vc2 is limited to a small value if the door speed is faster than the limit speed, and is not limited to a small value if the door speed is equal to or less than the limit speed. For this reason, until the door position reaches the end of the operation range, the moving speed of the back door 30 and the driving force of the motor 7 are not limited so much. The moving speed of the door 30 and the driving force of the motor 7 can be reliably limited to be small.

  In the first embodiment shown in FIG. 4, the first limit voltage Vc1 and the second limit voltage Vc2 are used to limit the output voltage Va. However, even if one of them is limited, the output voltage Va is limited. Good. Details are as follows.

  FIG. 11 is a control block diagram showing details of the output voltage limiting process according to the second embodiment. In the second embodiment, the power supply voltage Vb and the first limit voltage Vc1 are used to limit the output voltage Va. As described above, the first limit voltage setting unit 17a reads the first limit voltage Vc1 corresponding to the door position from the storage unit 11 and outputs it to the comparator 17c. The comparator 17c selects a minimum value from the power supply voltage Vb and the first limit voltage Vc1, and outputs the minimum value as the limit voltage Vc to the saturation processing unit 17d. The saturation processing unit 17d selects a minimum value from the output voltage Va and the limit voltage Vc before the limit, and outputs the minimum value as the output voltage Vd after the limit.

  FIG. 12 is a control block diagram showing details of the output voltage limiting process according to the third embodiment. In the third embodiment, the power supply voltage Vb and the second limit voltage Vc2 are used to limit the output voltage Va. As described above, the second limit voltage setting unit 17b reads the limit speed corresponding to the door position from the storage unit 11, and based on the limit speed, the door speed, the maximum value Vmax of the power supply voltage, and the like, the second limit voltage Vc2 is set and output to the comparator 17c. The comparator 17c selects a minimum value from the power supply voltage Vb and the second limit voltage Vc2, and outputs the minimum value as the limit voltage Vc. The saturation processing unit 17d selects a minimum value from the output voltage Va and the limit voltage Vc before the limit, and outputs the minimum value as the output voltage Vd after the limit.

  Also in the second and third embodiments, the output voltage Vd to the motor 7 is suppressed to be smaller than the limit voltage Vc when the back door 30 is manually opened and closed. Further, when the position of the back door 30 reaches near the end position of the operation range, the output voltage Vd is limited to be smaller than before. For this reason, it is possible to prevent the movement speed of the back door 30 and the driving force of the motor 7 from increasing in the vicinity of the end position, and to prevent an impact from occurring when the back door 30 reaches the end position. .

  The present invention can employ various embodiments other than those described above. For example, in the above embodiment, the example using the voltage values Va and Vd output from the motor driving unit 2 to the motor 7 as the control values for controlling the driving of the motor 7 has been described. It is not limited to this. In addition to this, other control values such as the number of rotations of the motor, a current flowing through the motor, a drive command value to the motor, or an auxiliary force may be used.

  In the above embodiment, the example in which the position detection unit 12 detects the open / close position of the back door 30 based on the outputs of the pulse generator 5 and the fully closed / fully opened detection SW 6 has been described. It is not limited to. In addition to this, for example, the position detection unit may detect the open / close position of the back door based on an output from a sensor or a switch, a current flowing in the motor, or a ripple frequency included in the current flowing in the motor.

  In the above embodiment, the flip-up type back door 30 is shown as an example. However, the present invention is not limited to this, and back doors of other types may be used.

  Furthermore, although the example which applied this invention to the power back door control apparatus 10 of the four-wheeled vehicle was given in the above embodiment, it is not restricted to this. For example, the present invention can also be applied to an auxiliary operation control device such as a power slide door control device that opens and closes a slide door. The present invention can also be applied to an operation assistance control device that applies an operation assistance force by an actuator other than a motor.

2 Motor drive unit (drive unit)
2a Current detector 7 Motor (actuator)
10 Power back door control device (operation assist control device)
DESCRIPTION OF SYMBOLS 11 Memory | storage part 12 Position detection part 13 Speed calculation part 16 Output voltage calculation part (control value calculation part)
17 Output voltage limiter (Control value limiter)
30 Back door (object to be operated)
Output voltage before Va limit (control value)
Vb Power supply voltage (first maximum control value)
Vc Limit voltage (limit value)
Vc1 first limit voltage (first limit value)
Vc2 second limit voltage (second limit value)
Output voltage after Vd limit (control value after limit)
Vmax Maximum value of power supply voltage (second maximum control value)

Claims (11)

A position detector for detecting the position of the operation object;
A speed calculation unit that calculates a moving speed of the operation target based on a time change of the position detected by the position detection unit;
A control value calculation unit that calculates a control value for controlling driving of the actuator based on the position detected by the position detection unit and the moving speed calculated by the speed calculation unit;
Based on the control value calculated by the control amount calculation unit, in the operation assistance control device that controls the driving of the actuator and applies auxiliary force to the operation of the operation object.
A control value limiter that limits the control value calculated by the control value calculator based on the position detected by the position detector;
When the position detected by the position detection unit reaches near the end of the operation range of the operation target, the control value calculated by the control value calculation unit is limited to a small value by the control value limiting unit, and the control value after the limitation An operation auxiliary control device that controls driving of the actuator based on the above. In the operation auxiliary control device according to claim 1,
A value for limiting the control value, further comprising a storage unit for storing a first limit value according to the position of the operation object;
The control value limiter is
The first limit value corresponding to the position detected by the position detection unit is read from the storage unit,
Of the first limit value and the predetermined first maximum control value, the minimum value is set as the limit value,
The operation assistance control device, wherein a minimum value among the limit value and the control value calculated by the control value calculation unit is output as a control value after limitation. In the operation auxiliary control device according to claim 2,
The operation assist control device, wherein the first limit value stored in the storage unit is set so as to decrease when the position of the operation target reaches near the end of the operation range. In the operation auxiliary control device according to claim 1,
A storage unit that stores a speed limit according to the position of the operation target;
The control value limiter is
Second speed for reading the speed limit according to the position detected by the position detection unit from the storage unit and limiting the control value based on the speed limit and the movement speed calculated by the speed calculation unit. Calculate the limit value,
The minimum value of the second limit value and the predetermined first maximum control value is set as the limit value,
The operation assistance control device, wherein a minimum value among the limit value and the control value calculated by the control value calculation unit is output as a control value after limitation. In the operation auxiliary control device according to claim 4,
The operation assist control device, wherein the speed limit stored in the storage unit is set to be reduced when the position of the operation target reaches near the end of the operation range. In the operation auxiliary control device according to claim 1,
A value for limiting the control value, further comprising a storage unit that stores a first limit value and a speed limit according to the position of the operation target;
The control value limiter is
Reading the first limit value and the limit speed according to the position detected by the position detection unit from the storage unit;
Calculating a second limit value based on the speed limit and the moving speed calculated by the speed calculation unit;
Among the first limit value, the second limit value, and the predetermined first maximum control value, the minimum value is set as the limit value,
The operation assistance control device, wherein a minimum value among the limit value and the control value calculated by the control value calculation unit is output as a control value after limitation. In the operation auxiliary control device according to claim 6,
The operation is characterized in that the first limit value and the limit speed stored in the storage unit are set so as to become smaller when the position of the operation object reaches near the end of the operation range. Auxiliary control device. In the operation auxiliary control device according to any one of claims 4 to 7,
The control value limiting unit compares the moving speed calculated by the speed calculating unit with the limiting speed read from the storage unit, and compares the comparison result, the moving speed, the limiting speed, and a predetermined second value. The operation assist control device, wherein the second limit value is calculated based on a maximum control value. In the operation auxiliary control device according to any one of claims 1 to 8,
A current detection unit for detecting a current flowing through the actuator;
The control value calculation unit calculates the control value based on the position detected by the position detection unit, the moving speed calculated by the speed calculation unit, and the current detected by the current detection unit; A featured auxiliary operation control device. In the operation auxiliary control device according to any one of claims 1 to 9,
A drive unit for driving the actuator;
The operation assist control device, wherein the control value calculation unit calculates a voltage value output from the drive unit to the actuator as the control value. In the operation auxiliary control device according to any one of claims 1 to 10,
The operation object consists of a vehicle back door,
The actuator comprises a motor,
The operation auxiliary control device is composed of a power back door control device that applies an auxiliary force by the motor to a manual opening / closing operation of the back door.

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