JP2016155513A - Control device of seat for vehicle and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correct an error caused by the inertia movement of a motor without using a correction map, in a seat for a vehicle.SOLUTION: This control device of a seat for a vehicle comprises a control part which rotates motors 30a to 33a at a second rotational speed which is higher than a first rotational speed, and performs second control for blocking a drive current in the case that the motors 30a to 33a are rotated to a second rotating direction which is reverse to a first rotating direction after continuously performing first control for blocking the drive current in a state that the motors 30a to 33a are rotated in the first rotating direction and at the first rotational speed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle seat control apparatus and control method.

  Conventionally, vehicle seats that can be driven by a motor have been widely used. The motor is controlled by the control device, and the control device stores the position of the vehicle seat and can move the vehicle seat to the stored position.

  Patent Document 1 discloses a control device that detects the position of a movable member of a vehicle seat based on a ripple pulse component of a driving current of a motor. Since the ripple pulse is not detected after the drive current is stopped, the inertial movement of the sheet cannot be detected only by the ripple pulse. For this reason, the control device of Patent Document 1 stores the inertial movement after stopping energization of the motor as a correction map in advance, and detects the accurate position of the sheet based on this correction map.

Japanese Patent No. 40695537

  However, in the technique of cited document 1, since the structure and weight of the seat are different for each vehicle type, different correction maps must be prepared for each vehicle type. Further, the distance of inertial movement differs depending on the variation of the movable member and the difference in the weight of the occupant, and in particular, there is a problem that errors are accumulated by repeating the operation of the vehicle seat.

  An object of the present invention is to provide a vehicle seat control device and a control method capable of correcting an error due to inertial movement of a vehicle seat without using a correction map.

  An apparatus for controlling a vehicle seat according to an embodiment of the present invention includes: a current supply unit that supplies a drive current to a motor that operates a movable member of the vehicle seat; and the motor at a first rotation direction and a first rotation speed. In the case of rotating the motor in a second rotation direction opposite to the first rotation direction after continuously executing the first control for cutting off the drive current after the rotation, the first control And a control unit that executes a second control for cutting off the drive current after the motor is rotated at a second rotational speed greater than the rotational speed.

  According to another embodiment of the present invention, there is provided a vehicle seat control method comprising: driving a motor that operates a movable member of the vehicle seat after rotating the motor in a first rotation direction and a first rotation speed. A step of executing a first control for cutting off an electric current; and a case where the motor is rotated in a second rotation direction opposite to the first rotation direction after the first control is continuously executed. And cutting off the drive current after rotating the motor at a second rotational speed greater than the first rotational speed.

  Errors due to inertial movement can be accumulated by continuously repeating the first control for rotating and stopping the motor in the first rotation direction. According to the present invention, when the motor is rotated in the second rotation direction opposite to the first rotation direction, the drive current is generated after the motor is rotated at the second rotation speed larger than the first rotation speed. By shutting off, accumulated errors can be corrected or reduced.

1 is a schematic configuration diagram of a vehicle seat device according to an embodiment of the present invention. 1 is a schematic configuration diagram of an ECU according to an embodiment of the present invention. It is a schematic block diagram of the ripple detection circuit which concerns on embodiment of this invention. It is a modification of the ripple detection circuit which concerns on embodiment of this invention. It is a graph for demonstrating the inertial movement of the sheet | seat which concerns on embodiment of this invention. It is a graph showing the relationship between the rotational speed of the motor at the time of the drive current interruption | blocking which concerns on embodiment of this invention, and the inertial movement distance of a sheet | seat. It is a graph showing the relationship with loads, such as inertial movement distance, the rotational speed of a motor, and a passenger | crew's weight, when the motor which concerns on embodiment of this invention drives. It concerns on embodiment of this invention. It is a figure for demonstrating the inertial movement of the sheet | seat 1 It is a main flowchart of the control method of the vehicle seat which concerns on embodiment of this invention. It is a flowchart showing the detail of the manual process which concerns on embodiment of this invention. It is a flowchart showing the detail of the inertia movement cancellation process which concerns on embodiment of this invention. It is a flowchart showing the detail of the position restoration process which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, dimensions, materials, shapes, relative positions of components, and the like described in the following embodiments are arbitrary, and are changed according to the structure of the apparatus to which the present invention is applied or various conditions. Further, unless otherwise specified, the scope of the present invention is not limited to the form specifically described in the embodiments described below. In the drawings described below, components having the same function are denoted by the same reference numerals, and repeated description thereof may be omitted.

  FIG. 1 is a schematic configuration diagram of a vehicle seat device according to the first embodiment of the present invention. The vehicle seat device includes a vehicle seat 1, an ECU (Electronic Control Unit) 100, and an operation switch group 40. The seat 1 is a so-called power seat driven by a motor.

  The seat 1 includes a seat cushion 2, a front tilt portion 3, a seat back 4, a headrest 5, motors 30a to 33a, and actuators 30b to 33b. Two upper rails 6 are attached to the lower portion of the seat cushion 2, and the upper rail 6 is slidably held by the two lower rails 7. The lower rail 7 is fixed to the floor surface 9 of the vehicle by a base bracket 8. The lower rail 7 is attached with the front side inclined slightly higher in the front-rear direction of the vehicle. The upper rail 6 is provided with a motor 30a and an actuator 30b. The motor 30a is a DC motor with a brush, and rotates forward or backward depending on the direction of an applied current. The actuator 30b includes a mechanism such as a gear and a rack and pinion, and converts the rotational motion of the motor 30a into a linear motion. As the motor 30 a rotates, the seat cushion 2 slides along the lower rail 7. A motor 31a and an actuator 31b are provided below the seat cushion 2, and the seat cushion 2 moves up and down (lifter operation) as the motor 31a rotates.

  The front tilt part 3 is provided in a tiltable manner at the front part of the seat cushion 2 and is provided with a motor 32a and an actuator 32b. As the motor 32a rotates, the front tilt unit 3 moves up and down (tilt operation) with respect to the seat cushion 2. The seat back 4 is rotatably provided at the rear part of the seat cushion 2, and a motor 33a and an actuator 33b are connected to the rotation shaft. As the motor 33a rotates, the seat back 4 performs a reclining operation. The headrest 5 is attached to the upper end of the seat back 4.

  Here, the front and rear positions of the seat cushion 2 are defined as “X” and the height as “Z”. Further, the height of the front tilt portion 3 relative to the seat cushion 2 is defined as “z”, and the inclination of the seat back 4 is defined as “θ”. In the present specification, these positions X, Z, z, and inclination θ are referred to as position information.

  The motors 30a to 33a are DC motors with brushes, and rotate in the forward direction or the reverse direction according to the direction of the drive current supplied from the ECU 100. The moving direction of each movable part of the vehicle seat 1 changes according to the rotation direction of the motors 30a to 33a.

  The ECU (Electronic Control Unit) 100 is a control device for the seat 1, and has functions of driving the motors 30a to 33a and detecting the rotational speed and direction of the motors 30a to 33a.

  The operation switch group 40 includes a slide switch 41, a lifter switch 42, a tilt switch 43, a reclining switch 44, a storage switch 45, and a reproduction switch 46, each of which is operated by a passenger. The slide switch 41 is a switch for instructing the sliding operation of the seat cushion 2, and the lifter switch 42 is a switch for instructing the lifter operation of the seat cushion 2. The tilt switch 43 is a switch for instructing the tilt operation of the front tilt unit 3, and the reclining switch 44 is a switch for instructing the reclining operation of the seat back 4. The switches 41 to 44 are provided with contacts for instructing three states of the motors 30a to 33a: stop, forward rotation, and reverse rotation. When not operated by the user, the switches 41 to 44 are in a state of instructing the stop. Yes. The storage switch 45 is a switch for storing the position information of the movable member of the seat 1, and the reproduction switch 46 is a switch for operating the movable member according to the stored position information. For example, when the occupant adjusts the seat 1 to a desired position and angle and operates the memory switch 45, the position information of the movable member can be stored in the ECU 100. Thereafter, the position of each movable part of the seat 1 can be reproduced by the occupant operating the reproduction switch 46.

  FIG. 2 is a configuration diagram of the ECU 100. The ECU 100 includes a power supply circuit 111, an input I / F circuit 112, a CPU (Central Processing Unit) 113, a memory 115, a PWM (Pulse Width Modulation) circuit 116, a switching circuit 114, a ripple detection circuit 117, and a relay drive circuit 118.

  The power supply circuit 111 is connected to the battery 50 in the vehicle and supplies a constant voltage to the CPU 113. The plus side terminal of the battery 50 is connected to the input I / F circuit 112 via the ignition switch 60. When the ignition switch 60 is turned on, the ECU 100 changes from the standby state to the operating state. The input I / F circuit 112 includes an A / D conversion circuit, and can detect the voltage VB input via the ignition switch 60. Note that the voltage VB of the battery 50 varies depending on temperature, aging, use state of other devices in the vehicle and the like. According to the present embodiment, the motors 30a to 33a can be controlled so as not to be affected by the fluctuation of the voltage VB by monitoring the voltage VB and changing the duty ratio of the PWM circuit 116 described later.

  In addition, the switches 41 to 46 of the switch group 40 are connected to the input I / F circuit 112. The input I / F circuit 112 detects the states of the switches 41 to 46 and outputs them to the CPU 113 as digital signals.

  The CPU 113 includes an arithmetic circuit, an accumulator, a timer, an interrupt circuit, and the like, and executes control of the seat 1 according to a predetermined program.

  The switching circuit 114 includes a plurality of relay circuits, and each relay circuit includes a solenoid, one movable contact, and first and second fixed contacts. The movable contact is connected to the terminals of the motors 30a to 33a, the first fixed contact is connected to the PWM circuit 116, and the second fixed contact is grounded via the resistor R. Each of the motors 30a to 33a is connected to two relay circuits, and the motors 30a to 33a can be rotated or stopped in the forward direction and the reverse direction by switching the relay circuits. For example, when a PWM signal is applied to the first terminal of the motor 30a and the second terminal is grounded via the resistor R, the motor 30a rotates in the positive direction. When the first terminal of the motor 30a is grounded via the resistor R and a PWM signal is applied to the second terminal, the motor 30a rotates in the reverse direction. Furthermore, the motor 30a can be stopped by grounding both the first and second terminals of the motor 30a via the resistor R or connecting them to the PWM circuit 116.

  The relay drive circuit 118 is composed of a transistor circuit, a gate circuit, and the like, and supplies a current to the solenoid of the relay circuit in response to a control signal output from the CPU 113. For example, when a high level signal is output from the CPU 113 to the relay drive circuit 118, the transistor of the relay drive circuit 118 is turned on, and a current flows from the battery 50 to the solenoid via the transistor. On the other hand, when a low level signal is output from the CPU 113 to the relay drive circuit 118, the transistor of the relay drive circuit 118 is turned off and the current to the solenoid is cut off. In this way, the CPU 113 can switch the on / off and rotation directions of the motors 30a to 33a by driving the relay circuit of the switching circuit 114.

  The PWM circuit 116 includes an inverter circuit and a transistor circuit, and has a function of converting a direct current of the battery 50 into a PWM (Pulse Width Modulation) pulse having a predetermined frequency (for example, 500 Hz). The duty ratio of the PWM pulse can be changed based on a command value from the CPU 113. For example, by representing the command value with 8 bits, the current of the PWM pulse can be changed in 256 steps.

  The ripple detection circuit 117 includes a filter circuit and a comparator, and detects a ripple component of current (motor current) flowing through the motors 30a to 33a by detecting a potential difference between both ends of the resistor R. That is, the ripple detection circuit 117 has a function of extracting a ripple component from the motor current and outputting it as a ripple pulse. The ripple pulse from the ripple detection circuit 117 is output to the CPU 113. The CPU 113 counts the ripple pulses generated by the ripple detection circuit 117, and outputs the counted number of ripple pulses as a pulse count value.

  The pulse count value is used to calculate the moving distance of the movable member of the sheet 1. For example, when the number of slots of the motors 30a to 33a is 4, four ripple pulses are generated every time the motors 30a to 33a rotate once. Further, by measuring in advance the relationship between the rotational speed of the motors 30a to 33a and the moving distance of each movable member of the sheet 1, the moving distance of the movable member per one ripple pulse can be calculated.

  For example, assume that the sheet 1 moves forward by 1 mm per pulse. When the pulse count value increases by 50, the CPU 113 can determine that the seat 1 has moved 50 mm forward. Thus, based on the calculated moving distance, the CPU 113 stores the coordinates of each movable member as position information (X, Z, z, θ).

  The memory 115 includes a nonvolatile storage element, and stores a ripple pulse count value and sheet position information (X, Z, z, θ). In addition, the memory 115 stores the number of operations and the rotation direction of each of the motors 30a to 33a. When the instruction to rotate the motors 30a to 33a in the same direction (first rotation direction) continues, the number of operations is counted up, and when the instruction to rotate in the reverse direction (second rotation direction) is made The number of actuations is reset to zero. A plurality of seat position information (X, Z, z, θ) may be prepared for each occupant and stored in the memory 115. The number of operations, rotation direction, and sheet position information stored in the memory 115 are retained even after the ignition switch 60 is turned off.

  FIG. 3 is a schematic configuration diagram of the ripple detection circuit 117. The ripple detection circuit 117 includes a switched capacitor filter (SCF) (not shown), a low-pass filter 117a, a first differentiation circuit 117b, an amplifier 117c, a second differentiation circuit 117d, and a comparator 117e. The SCF removes part of the noise included in the motor drive signal and outputs it to the low-pass filter 117a. The low-pass filter 117a removes noise included in the SCF signal and outputs it to the first differentiating circuit 117b. The first differentiating circuit 117b attenuates the direct current component of the signal and outputs a signal having only a ripple component to the amplifier 117c. The amplifier 117c amplifies the signal from the first differentiation circuit 117b and outputs the amplified signal to the second differentiation circuit 117d. The second differentiation circuit 117d shifts the phase of the input signal by 90 degrees and outputs the result to the comparator 117e. The comparator 117e compares the output signal of the amplifier 117c with the output signal of the second differentiating circuit 117d, synchronizes with the rotation by driving the motors 30a to 33a, and outputs a ripple pulse having a frequency corresponding to the rotation speed to the CPU 113. To send. In addition, the amplitude of the ripple pulse decreases as the motor speed decreases. Therefore, when the rotational speed is lower than a predetermined value, the ripple pulse and the noise cannot be distinguished.

  FIG. 4 shows a modification of the ripple detection circuit 117. Although the ripple detection circuit 117 of FIG. 3 is configured by an analog circuit, the ripple detection circuit 117 can also be configured using a digital filter 117g and a comparator 117h as shown in FIG. The A / D converter 117f samples the motor drive signal and outputs it to the digital filter 117g. The digital filter 117g performs a filtering process on the signal from the A / D converter 117f, and the comparator 117h compares the filtered signal with a predetermined threshold value, and outputs a ripple pulse to the CPU 113. By changing the coefficient of each order representing the digital filter 117g, the cutoff frequency can be changed. The digital filter 117g may be realized by software processing in the CPU 113. For example, the ripple can be stably detected by dynamically changing the cutoff frequency of the digital filter 117g and the threshold value of the comparator 117h in accordance with the number of rotations of the motors 30a to 33a. Usually, when the rotational speed of the motors 30a to 33a is reduced, the amplitude of the ripple is reduced. In such a case, the ripple can be accurately detected by lowering the cutoff frequency of the digital filter 117g and the threshold value of the comparator 117h.

  FIG. 5 is a graph for explaining the inertial movement of the sheet. The graph of FIG. 5 represents the motor on / off, the current flowing through the motor, the ripple pulse, and the sensor output of the motor rotation axis in order from the top. In the present embodiment, the sensor for the motor rotation shaft is not necessarily required, and is provided for comparison. In FIG. 5, when the slide SW1 is operated at time t1, a driving current is applied to the motor 30a, and the motor 30a starts to rotate. At the same time, the sheet 1 starts to move. As the rotational speed of the motor 30a increases, the number of ripple pulses per unit time increases. On the other hand, the current flowing through the motor 30a decreases as the rotational speed of the motor 30a increases. When the slide SW1 is operated to the original state at time t2, the drive current to the motor 30a is cut off. In the following description, the timing at which the drive current is interrupted as at time t2 will be referred to as “when the drive current is interrupted”. Even after the drive current is interrupted, as indicated by the sensor output waveform of the motor rotation shaft, the motor 30a rotates due to inertia as the seat 1 moves inertially. At this time, since the ripple pulse is not output, the inertial movement distance of the sheet 1 cannot be accurately detected based on the ripple pulse according to the prior art. According to the present embodiment, when the motor 30a is rotated in the reverse direction, the rotational speed (second rotational speed) when the drive current is interrupted is made larger than the rotational speed in the positive direction, thereby accumulating due to inertial movement. Errors can be reduced. Further, by setting the rotation speed in the reverse direction (second rotation speed) to the value obtained by multiplying the rotation speed in the forward direction (first rotation speed) by the number of times the rotation and stop in the forward direction are repeated, the above-mentioned value is obtained. The error can be further reduced. That is, according to the present invention, it is possible to correct an error due to inertial movement of the sheet 1 without preparing a correction map or the like.

  FIG. 6 is a graph showing the relationship between the rotational speed of the motor and the inertial movement distance of the seat 1 when the drive current is interrupted. As can be confirmed from this graph, the rotational speed of the motor when the drive current is interrupted and the inertial movement distance of the seat 1 are in a substantially proportional relationship. Therefore, it can be confirmed that the inertial movement distance of the seat 1 is reduced by reducing the rotational speed of the motor when the drive current is interrupted as much as possible. In the present embodiment, the ECU 100 moves the seat faster by rotating the motor at a rotational speed (third rotational speed) larger than the rotational speed (first rotational speed) at the time of interrupting the drive current. Thereafter, the ECU 100 can suppress inertial movement as much as possible by cutting off the drive current while reducing the rotational speed of the motor as much as possible. The drive current may be cut off with the rotation speed (first rotation speed) as the lowest speed that the ripple detection circuit 117 can detect.

  FIG. 7 is a graph showing the relationship between the inertial moving distance, the rotational speed of the motor, and the load such as the weight of the occupant when the motor is driven and the seat 1 is lifted. The graph of FIG. 7 is a graph when the motor is rotated with three types of applied voltages of VB = 9V, 12V, and 15V in order from the top. In each graph, the horizontal axis represents the motor rotation speed, and the vertical axis represents the inertial movement distance of the sheet 1. Even if the load, voltage value, and motor rotation speed are the same, the inertial movement distance varies depending on individual differences in the motor. In addition, when the load is small, the rotational speed of the motor increases and the inertial movement distance increases. That is, the inertial movement distance varies depending on the load by the occupant or the individual difference of the motor.

  FIG. 8 is a diagram for explaining inertial movement of the sheet 1. In FIG. 8A, when a drive current is applied to the motor 30a and the motor 30a rotates, the seat 1 moves forward by a distance X1. At this time, the pulse count value of the ripple pulse increases by P1. Even after the drive current is cut off, the sheet 1 is inertially moved by the distance ΔX. Further, when a driving current is applied to the motor 30a, the seat 1 moves forward by a distance X2, and the pulse counter value increases by P2. After the drive current is cut off, the sheet 1 similarly moves inertially by ΔX. Similarly, the sheet 1 moves by the distance X3, and further stops by inertia after the distance ΔX. Here, according to the present embodiment, the inertial movement distance ΔX is controlled to be substantially constant regardless of the movement distances X1, X2, and X3. That is, the inertial movement distance ΔX can be made constant by controlling the drive current so that the rotation speed (first rotation speed) of the motor 30a when the drive current is interrupted is constant. Further, the inertial movement distance ΔX can be reduced by reducing the rotational speed of the motor 30a as low as possible when the drive current is interrupted. However, if the rotation speed of the motor 30a is made too slow, the amplitude of the ripple pulse becomes small and it becomes difficult to detect the ripple pulse. For this reason, it is desirable to reduce the rotation speed as long as the ripple pulse can be detected.

  FIG. 8B shows the operation during reverse rotation of the motor 30a. This operation is executed following the operation at the time of forward rotation in FIG. As the motor 30a rotates in the reverse direction, the seat 1 moves backward by a distance X4. The ECU 100 controls the drive current so that the rotational speed in the reverse direction of the motor 30a when the drive current is interrupted is three times the rotational speed in the forward direction. That is, the ECU 100 controls the PWM circuit 116 so that the drive current in the reverse rotation is three times the drive current in the positive rotation. As a result, the distance of inertial movement when the motor 30a rotates in the reverse direction is 3 × ΔX, which is equal to the distance 3 × ΔX of inertial movement accumulated by forward rotation. In this way, when the motor 30a is rotated in the reverse direction after the control for rotating and stopping the motor 30a in the forward direction is continuously repeated, the rotational speed in the reverse direction is made larger than the rotational speed in the forward direction. Thus, errors due to positive inertial movement can be reduced. Further, by setting the rotation speed in the reverse direction to a rotation speed obtained by multiplying the rotation speed in the forward direction by the number of continuous rotations in the forward direction, errors accumulated due to inertial movement in the forward direction can be canceled.

  The lower rail 7 may be attached to the floor such that the front end is slightly higher than the rear end, and the inertial movement distance in the forward movement of the seat 1 may be shorter than the inertial movement distance in the rearward movement. In such a case, the inertial movement distance of each of the forward movement and the backward movement can be made equal by making the drive current when the motor 30a rotates in the forward direction larger than the drive current when rotating in the reverse direction. it can. Thereby, it becomes possible to correct | amend correctly the error by inertial movement.

  Similarly, in the tilting and tilting of the reclining and the lifting and lowering operations of the lifter, errors due to inertial movement can be reduced or canceled. In the tilting, tilting and lifting / lowering operations of the reclining, the inertial movement distance in the movement in the direction against gravity is shorter than the inertial movement distance in the movement in the direction in which gravity acts. Therefore, the inertial movement distances of the forward movement and the backward movement are substantially reduced by making the driving current at the time of rotation in the direction against the gravity of the motors 31a to 33a larger than the driving current at the time of rotation in the direction in which the gravity acts. Can be matched. Thereby, it becomes possible to correct | amend correctly the error by inertial movement.

  FIG. 9 is a main flowchart of the vehicle seat control method according to the present embodiment.

  First, when the ignition switch 60 of the vehicle is turned on (step S600), electric power is supplied from the battery 50 to the ECU 100. The ECU 100 performs initial setting (step S602). For example, the CPU 113 checks the memory 115 and reads the position information of the sheet 1, the number of operations of the motors 30a to 33a, and the rotation direction from the memory 115.

  The ECU 100 determines whether or not the slide switch 41, the lifter switch 42, the tilt switch 43, and the reclining switch 44 have been operated (step S604). When the switches 41 to 44 are operated (YES in step S604), the ECU 100 moves the movable part that is the operation target (step S700). That is, the occupant can move each of the seat cushion 2, the front tilt part 3, and the seat back 4 to desired positions by operating the switches 41 to 44. At this time, the ECU 100 detects the position of the movable part based on the pulse count value of the ripple, and updates the sheet position information. When storage SW 45 is operated by the occupant (YES in step S606), ECU 100 stores the updated seat position information in memory 115 (step S608).

  In step S610, ECU 100 determines whether or not a signal is input from reproduction switch 46. When the reproduction switch 46 is operated (YES in step S610), the ECU 100 reads the sheet position information from the memory 115 and moves the movable part of the sheet based on the sheet position information (step S900).

  The ECU 100 repeats steps S604 to S612, S700, and S900 every predetermined time (for example, every several milliseconds) until the ignition switch 60 is turned off. When the ignition switch 60 is turned off (YES in step S612), the ECU 100 performs end processing (step S614). For example, the ECU 100 stores the seat position information, the number of operations of each of the motors 30a to 33a, and the rotation direction in the memory 115, and ends the process.

  FIG. 10 is a flowchart showing details of the manual processing in step S700. In step S702, the ECU 100 supplies drive current to the motors 30a to 33a corresponding to the operated switches 41 to 44. For example, when the reclining switch 44 is operated and an instruction to tilt the seat back 4 backward is given to the ECU 100, the ECU 100 switches the relay of the switching circuit 114 and applies a reverse drive current to the motor 33a. As a result, the motor 33a rotates in reverse at the third rotation speed, and the seat back 4 tilts backward. The third rotation speed can be arbitrarily determined, but the operation time of the movable member can be shortened by setting the third rotation speed at a high speed. At the same time, the ECU 100 detects the rotation direction of the motor 30a based on a signal from the reclining switch 44 or a signal from the CPU 113 to the relay drive circuit 118 (step S704). The rotation directions of the other motors 31a to 33a can be detected in the same manner.

  Subsequently, ECU 100 determines whether or not the rotation direction of motors 30a to 33a matches the rotation direction at the previous operation (step S706). That is, ECU 100 determines the difference between the rotation direction stored in memory 115 and the current rotation direction. When the rotation directions of the two are different (NO in step S706), when the operation switches 41 to 44 are turned off (YES in step S708), the ECU 100 executes correction stop control (S800) described later, and the accumulated inertia movement is performed. After correcting the error, the drive current is cut off (step S728).

  On the other hand, when the rotation directions of the two coincide (YES in step S706), ECU 100 counts up the number of motor operations (step S710). The counted number of operations is stored in the memory 115. While the operation switches 41 to 44 are being operated (NO in step S712), the ECU 100 continues to supply drive current to the motors 30a to 33a, and rotates the motor 30a at the third rotation speed. When the operation switches 41 to 44 are turned off (YES in step S712), the ECU 100 executes a deceleration process after step S714.

  In step S714, the ECU 100 decelerates the motor 33a to the first rotation speed that is the control target value. The ECU 100 calculates a duty ratio D = (third rotation speed / first rotation speed) based on the ratio between the first rotation speed and the third rotation speed that is the current rotation speed. The ECU 100 drives the motor 30a with the drive current having the duty ratio D calculated as described above. In step S716, ECU 100 detects power supply voltage VB1. Subsequently, the ECU 100 calculates the duty ratio D0 = D × (VB0 / VB1) of the drive current in order to correct the fluctuation amount of the voltage VB1 (step S718). For example, when the detected voltage VB1 varies between 9V and 15V, the duty ratio D0 can be calculated based on the voltage VB0 = 9V. The ECU 100 drives the motor 30a with the drive current having the duty ratio D0 (step S720).

  In step S722, ECU 100 detects the rotational speed R1 of the motor by counting the number of ripple pulses per unit time. As described above, the rotational speed R1 can vary depending on the load of the passenger.

  The ECU 100 calculates a duty ratio D1 = D0 × (rotational speed R1 / first rotational speed) based on the ratio between the first rotational speed and the rotational speed R1 in order to correct the fluctuation caused by the load of the passenger. (Step S724). The ECU 100 supplies the drive current having the duty ratio D1 to the motor 33a to drive the motor 33a at the first rotation speed (step S726). Subsequently, the ECU 100 interrupts the drive current in step S728. According to the above-described processing, the rotation speed (first rotation speed) when the drive current is interrupted becomes constant, and it is possible to prevent the distance of inertial movement from fluctuating due to fluctuations in applied voltage and occupant load. Moreover, it is also possible to suppress the distance of inertial movement by making the first rotation speed as low as possible. The operation of the seat back 4 has been described above as an example, but the same processing is executed for other movable members.

  FIG. 11 is a flowchart showing details of the correction stop control S800. Hereinafter, the process of tilting the seatback 4 backward (first control) is performed three times in succession, and then the process of tilting forward (second control) will be described as an example.

  In step S802, the ECU 100 reads from the memory 115 the number of times that the motor 33a has rotated in the same rotational direction. For example, when the number of actuations is “3”, the second rotation speed that is the control target value of the correction stop process is calculated as second rotation speed = 3 × (first rotation speed). That is, the second rotation speed is higher than the first rotation speed.

  In step S804, the ECU 100 decelerates the motor 33a to the second rotation speed. The ECU 100 calculates the duty ratio D = (third rotation speed / second rotation speed) based on the ratio between the second rotation speed and the third rotation speed that is the current rotation speed. The ECU 100 drives the motor 30a with the drive current having the duty ratio D calculated as described above. The ECU 100 measures the power supply voltage VB1 supplied to the motor 33a in step S805. In step S806, the ECU 100 calculates the duty ratio D0 = D × (VB0 / VB1) in order to correct the fluctuation of the voltage VB1.

  The ECU 100 drives the motor 30a with the drive current having the duty ratio D0 (step S808).

  In step S810, ECU 100 calculates motor rotation speed R2 by counting the number of ripple pulses per unit time. The rotational speed R2 varies depending on the load applied by the passenger.

  The ECU 100 calculates a duty ratio D2 = (rotational speed R2 / second rotational speed) based on the ratio between the second rotational speed and the rotational speed R2 in order to correct a variation caused by the influence of the passenger's load ( Step S812).

  The ECU 100 supplies a drive current having a duty ratio D2 to decelerate the motor 33a to the second rotational speed (step S814), and resets the number of operations stored in the memory 115 (step S816). According to the above-described processing, the error due to inertial movement of the seat back 4 is canceled or reduced by increasing the second rotation speed in the second control to be greater than the first rotation speed in the first control. Is possible. The operation of the seat back 4 has been described above as an example, but the same processing is executed for other movable members.

  FIG. 12 is a flowchart showing details of the position restoration process in step S900. In step S902, the ECU 100 reads out the stored position information of the seat 1 from the memory 115. In step S <b> 904, the ECU 100 determines the rotation direction of the motor from the stored position information of the seat 1 and the current position information of the seat 1. The ECU 100 supplies a drive current to the motors 30a to 33a, and the motors 30a to 33a actuate each movable part of the seat 1 to the stored position (step S906). For example, when the ECU 100 determines that the seat back 4 needs to be tilted backward, the ECU 100 switches the relay of the switching circuit 114 and applies a reverse driving current to the corresponding motor 33a. As a result, the motor 33a rotates in the reverse direction, and the seat back 4 tilts backward at the third rotational speed.

  Subsequently, ECU 100 determines whether or not the current rotation direction of motors 30a to 33a matches the rotation direction at the previous operation (step S908). If the two rotation directions are different (NO in step S908), ECU 100 detects that the seat back 4 has been operated just before the stored position (YES in step S910), and the inertia accumulated up to the previous operation is stored. Correction stop control S800 is executed so that the movement distance is canceled. Subsequently, in step S916, the ECU 100 interrupts the drive current.

  If both rotation directions are the same (YES in step S908), in step S912, ECU 100 counts up the number of motor operations.

  When the ECU 100 detects that the seat back 4 has been operated just before the stored position (YES in step S914), the ECU 100 executes steps S714 to S726 described above. Subsequently, in step S916, the ECU 100 interrupts the drive current. According to the above-described process, even in the process of restoring the seat position to the stored position, the rotational speed (first rotational speed) when the drive current is interrupted is constant, and the distance of inertial movement due to the occupant's load or the like Can be prevented from fluctuating. Moreover, it is also possible to suppress the distance of inertial movement by making the first rotation speed as low as possible. By making the second rotational speed in the second control larger than the first rotational speed in the first control, it becomes possible to cancel or reduce an error due to inertial movement of the seat back 4. The operation of the seat back 4 has been described above as an example, but the same processing is executed for other movable members.

  As described above, in the control device for the seat 1 according to the present embodiment, the current supply unit 119 that supplies a drive current to the motors 30a to 33a that operate the seat cushion 2, the front tilt unit 3, and the seat back 4 of the seat 1; Then, after continuously executing the first control (steps S714 to S726) for cutting off the drive current in a state where the motors 30a to 33a are rotated at the normal rotation direction and the first rotation speed, the motor 30a is rotated in the reverse rotation direction. To rotate the motors 30a to 33a at a second rotational speed larger than the first rotational speed, and to execute a second control (correction stop control S800) for cutting off the drive current. .

  Since this control method, which detects and corrects the number of actuations of the movable part instead of detecting and correcting the inertial movement amount of the movable part, is a correction for each motor, variation in the inertial movement amount due to individual differences in motors Can also be corrected. Since the operation of the seat movable portion by the forward and reverse rotations of the same motor is combined, high-precision control is provided without being affected by individual motor differences.

  Further, since the first rotation speed is set to the lowest value that can be detected by the ripple detection circuit 117, the inertial movement distance generated by one operation can be reduced. Further, since it is not necessary to prepare a correction map as in the prior art, it is possible to eliminate a development period for generating a huge number of correction maps.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention. The present invention is not limited to a vehicle seat, and can be widely applied to a seat driven by a motor. Further, the present invention is not limited to a sheet, and can be widely applied to mechanisms driven by a DC motor. For example, the present invention may be applied to an open / close body such as a sunroof or a slide door.

1: Seat, 2: Seat cushion (movable member), 3: Front tilt part (movable member), 4: Seat back (movable member), 30a to 33a: Motor, 100: ECU (control device),

Claims (6)

A current supply unit that supplies a drive current to a motor that operates the movable member of the vehicle seat;
After continuously executing the first control for cutting off the drive current after rotating the motor at the first rotation direction and the first rotation speed, the second control, which is opposite to the first rotation direction, is performed. When rotating the motor in the rotation direction, a control unit that executes a second control that cuts off the drive current after rotating the motor at a second rotation speed that is greater than the first rotation speed;
A vehicle seat control apparatus comprising:   2. The vehicle seat control device according to claim 1, wherein the second rotation speed is a rotation speed obtained by multiplying the first rotation speed by the number of times that the first control is continuously executed.   In the first control, the control unit rotates the motor at a third rotation speed larger than the first rotation speed, and then rotates the motor at the first rotation speed. The vehicle seat control device according to claim 1, wherein the drive current is cut off. A voltage detection unit for detecting a power supply voltage applied to the current supply unit;
The control device for a vehicle seat according to any one of claims 1 to 3, wherein the control unit corrects the driving current according to a change in the power supply voltage.   The said control part is an apparatus of any one of Claims 1-4 which determines the said rotational speed based on the ripple synchronized with rotation of the said motor from the said drive current. Performing a first control for cutting off the drive current after rotating the motor that operates the movable member of the vehicle seat in a first rotation direction and a first rotation speed;
When the motor is rotated in a second rotation direction opposite to the first rotation direction after continuously executing the first control, a second rotation greater than the first rotation speed is performed. And a step of cutting off the drive current after rotating the motor at a speed.

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