JP2019015110A - Control device for reciprocating body, and reciprocating body system - Google Patents

Abstract

To reduce the likelihood of a reciprocating body contacting other objects when a failure occurs with a rotation sensor.SOLUTION: A pulse signal, with a period depending on the rotation speed of a motor that drives a sunroof main body in a sliding manner, is input from a rotation sensor to a control device of the sunroof main body. A failure determination unit of the control device determines that a failure occurs with the rotation sensor (step S90) when being unable to detect an edge of the following pulse signal within a failure determination time after an edge of the pulse signal is detected in a state where the sunroof main body is in sliding movement (step S80: YES). A determination time setting unit of the control device sets, when the sliding speed of the sunroof main body is high, the failure determination time short compared to when the sliding speed of the sunroof main body is not high (steps S30 to S60).SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device for a reciprocating body and a reciprocating body system.

  Patent Document 1 discloses a control device applied to a slide door that reciprocates by a motor. A pulse signal having a period corresponding to the rotation speed of the motor is input from the rotation sensor to the slide door control device. The sliding door control device controls the rotational speed of the motor so that the sliding door slides at a desired target speed. Further, the sliding door control device of Patent Document 1 cannot detect the edge of the next pulse signal within a predetermined failure determination time after detecting the edge of the pulse signal of the rotation sensor while the sliding door is in operation. In this case, it is determined that the rotation sensor has failed. When it is determined that the rotation sensor is out of order, the sliding door control device stops the sliding operation of the sliding door.

JP 2014-181544 A

  In the sliding door control device of Patent Document 1, there is a time lag corresponding to the failure determination time from when the rotation sensor breaks down until the sliding operation of the sliding door is stopped. The sliding door continues to slide during this time lag. That is, there is a period in which the slide door moves even though the rotation sensor is out of order and the rotational speed of the motor and the position of the slide door cannot be grasped. In particular, when the speed of the sliding door is high, the sliding door will slide over a considerable distance between the time when the rotation sensor breaks down and the time when the sliding door stops. There is a risk of interference.

  It is not limited to the sliding door control device as in Patent Document 1, but a reciprocating sliding operation on a rail such as a vehicle seat or a sunroof opening / closing body, or a predetermined angle range such as a vehicle back door. The same problem can occur even if the reciprocating movement is performed by a motor.

  A control device for a reciprocating body for solving the above problems is applied to a reciprocating body that reciprocates within a predetermined range by a motor, and a pulse signal having a period corresponding to the rotational speed of the motor is input from a rotation sensor. A control device for detecting the edge of the pulse signal and detecting the edge of the next pulse signal within the failure determination time after the reciprocating body is in operation. A failure determination unit that determines that a failure has occurred, an operation stop unit that stops the operation of the reciprocating body when the failure determination unit determines that a failure has occurred in the rotation sensor, and the reciprocating operation. When the body operating speed is high, a determination time setting unit is provided for setting the failure determination time shorter than when the body is not operating.

  According to the above configuration, even if a failure occurs in the rotation sensor while the operation speed of the reciprocating body is high, the reciprocating body is stopped in a relatively short time from the occurrence of the failure. Therefore, the reciprocating body does not move over an excessively long distance between the occurrence of a failure in the rotation sensor and the stop of the reciprocating body, and the reciprocating body interferes with other objects accordingly. The fear is reduced.

  In the control device for a reciprocating body, the determination time setting unit sets the failure determination time to be equal to or less than a time required for the reciprocating body to travel a predetermined distance at an operating speed of the reciprocating body. May be.

  According to the above configuration, the distance from the occurrence of a failure in the rotation sensor to the stop of the reciprocating body hardly exceeds the specified distance. Therefore, it is possible to suitably suppress the reciprocating body from interfering with other articles before the reciprocating body stops after the failure of the rotation sensor.

  A control device for a reciprocating body for solving the above problems is applied to a reciprocating body that reciprocates within a predetermined range by a motor, and a pulse signal having a period corresponding to the rotational speed of the motor is input from a rotation sensor. A control device for detecting the edge of the pulse signal and detecting the edge of the next pulse signal within the failure determination time after the reciprocating body is in operation. A failure determination unit that determines that a failure has occurred, an operation stop unit that stops the operation of the reciprocating body when the failure determination unit determines that a failure has occurred in the rotation sensor, and the pulse signal When the interval between the pulse signal that detected the edge and the edge of the pulse signal immediately before the detected edge is short, the failure determination time is And a determination time setting unit for Ku setting.

  The short interval between the edges of the pulse signal corresponds to the high rotational speed of the motor, that is, the high speed of the reciprocating body. Therefore, according to the above configuration, even if a failure occurs in the rotation sensor while the operating speed of the reciprocating body is high, the reciprocating body is stopped in a relatively short time after the occurrence of the failure. Therefore, the reciprocating body does not move over an excessively long distance between the occurrence of a failure in the rotation sensor and the stop of the reciprocating body, and the reciprocating body interferes with other objects accordingly. The fear is reduced.

  In the control device for the reciprocating body, the determination time setting unit sets the failure determination time to a time required for the reciprocating body to travel a predetermined distance set in advance according to an interval between edges of a pulse signal. It may be set.

  According to the above configuration, the distance from the occurrence of a failure in the rotation sensor to the stop of the reciprocating body hardly exceeds the specified distance. Therefore, it is possible to suitably suppress the reciprocating body from interfering with other articles before the reciprocating body stops after the failure of the rotation sensor.

  In the control device for a reciprocating body, the determination time setting unit shortens the failure determination time when the vehicle interior temperature or the outside air temperature of the vehicle on which the reciprocating body is mounted is high compared to the case where the vehicle interior temperature or the outside air temperature is not high. It may be set to time.

  In the above configuration, when the vehicle interior temperature or the outside air temperature is high, the viscosity of the grease interposed between the reciprocating body and the rails or bearings that support the reciprocating body is reduced and the lubricity is improved. To do. Therefore, when the vehicle interior temperature or the outside air temperature is high, the operating speed of the reciprocating body is unlikely to decrease, and the operating distance until the reciprocating body stops can be increased. In this regard, according to the above-described configuration, when the vehicle interior temperature or the outside air temperature is high, the failure determination time is set to a short time, so that the operation until the reciprocating body stops after the failure occurs in the rotation sensor. It can suppress suitably that distance becomes long.

  A reciprocating body system for solving the above problems includes a reciprocating body that reciprocates within a predetermined range, a motor that drives the reciprocating body, a rotation sensor that detects rotation of the motor, and the motor. A reciprocating body system including a control device that controls and receives a pulse signal having a period corresponding to the rotational speed of the motor from a rotation sensor, wherein the control device operates the reciprocating body. A failure determination unit that determines that a failure has occurred in the rotation sensor when the edge of the next pulse signal cannot be detected within a failure determination time after the edge of the pulse signal is detected in the state; and the failure When the determination unit determines that a failure has occurred in the rotation sensor, an operation stop unit that stops the operation of the reciprocating body, and when the operation speed of the reciprocating body is high, Compared to, and a determination time setting unit for setting short the failure determination time.

  According to the above configuration, even if a failure occurs in the rotation sensor while the operation speed of the reciprocating body is high, the reciprocating body is stopped in a relatively short time from the occurrence of the failure. Therefore, the reciprocating body does not operate for an excessively long distance between the occurrence of the failure of the rotation sensor and the stop of the reciprocating body, and the reciprocating body may interfere with other objects accordingly. Is reduced.

  According to the present invention, when a failure occurs in the rotation sensor, the possibility that the reciprocating body interferes with other objects is reduced.

The perspective view which represented the upper part of the vehicle carrying a sunroof system roughly. The figure showing the example of the time series of the pulse signal which a rotation sensor outputs. The flowchart showing the processing procedure of failure diagnosis processing.

  Hereinafter, an embodiment in which a reciprocating body control device and a reciprocating body system including the control device are applied to a sunroof system mounted on a vehicle will be described with reference to the drawings. In the present embodiment, the front, rear, left, right and up directions are directions defined with reference to the vehicle.

  As shown in FIG. 1, the vehicle C includes a roof panel 2 that is disposed substantially horizontally and forms a top plate of the vehicle C. The roof panel 2 is formed with a rectangular roof opening 3 that penetrates the roof panel 2 in the thickness direction. In addition, a pair of left and right rails 5 is attached to the roof panel 2. The pair of left and right rails 5 extend in the front-rear direction along the edge of the roof opening 3.

  The vehicle C is equipped with a sunroof system 1 for opening and closing the roof opening 3. The sunroof system 1 includes a rectangular plate-shaped sunroof body 10 formed to have substantially the same dimensions as the roof opening 3. The front end portions of the left and right edges of the sunroof body 10 are supported by a pair of rails 5 so as to be able to reciprocate in the front-rear direction.

  The sunroof body 10 is slidable back and forth between a closed position where the roof opening 3 is closed and an open position where the front edge of the sunroof body 10 is located near the rear end of the roof opening 3. . The sunroof body 10 is disposed substantially flush with the roof panel 2 in the closed position. In a state where the sunroof body 10 is slid to the open position, the front end portion of the sunroof body 10 is located in the roof opening 3, and a part of the rear end side of the sunroof body 10 is behind the roof opening 3. A part of the roof panel 2 is covered from above.

  The sunroof body 10 is connected to the motor 40 via a wire or the like not shown. The motor 40 is built in the roof panel 2 in the vicinity of the roof opening 3 (in FIG. 1, the front side of the roof opening 3). When the motor 40 is driven, the sunroof main body 10 slides by transmitting a driving force via a wire or the like.

  The motor 40 can rotate in both forward and reverse directions. When the motor 40 rotates forward, the sunroof body 10 slides from the closed position side to the open position side. This sliding operation is referred to as opening operation of the sunroof body 10. As the motor 40 rotates in the reverse direction, the sunroof body 10 slides from the open position side to the closed position side. This sliding operation is referred to as a closing operation of the sunroof body 10.

  The motor 40 includes a rotor (permanent magnet) that rotates integrally with the rotation shaft. A rotation sensor 50 that detects a change in the magnetic field according to the rotation of the rotor (rotation of the motor 40) is provided at a predetermined location in the vicinity of the rotation trajectory of the rotor. The magnetic field observed by the rotation sensor 50 is switched between the N pole and the S pole every half rotation of the motor 40. The rotation sensor 50 outputs a LOW signal to the control device 60 in response to detecting a magnetic field corresponding to HIGH and S poles in correspondence with detection of a magnetic field corresponding to the N poles. As the motor 40 continuously rotates, the rotation sensor 50 outputs a HIGH and LOW repetitive pulse signal to the control device 60 at a period corresponding to the rotation speed of the motor 40. In this embodiment, as shown in FIG. 2, the rotation sensor 50 outputs a rectangular wave signal as a repetitive pulse signal. The pulse signal output from the rotation sensor 50 is read by the control device 60.

  The rotational speed of the motor 40 corresponds to the time interval S from the falling edge E of the pulse signal output from the rotation sensor 50 to the next falling edge E. That is, if the time interval S is long, the rotation speed of the motor 40 is low, and if the time interval S is short, the rotation speed of the motor 40 is high.

  The motor 40 is controlled by the control device 60. The control device 60 is configured as a computer including a calculation unit, a volatile memory, a nonvolatile storage unit, and the like. A signal from the operation switch 20 of the sunroof system 1 provided in the vehicle compartment is input to the control device 60. The control device 60 starts supplying electric power to the motor 40 when the operation switch 20 is operated such that the opening operation or the closing operation of the sunroof main body 10 is started. Along with this, the motor 40 starts rotating, and the opening operation or closing operation of the sunroof body 10 is started. The control device 60 controls the rotational speed of the motor 40 to a desired rotational speed while the sunroof main body 10 is performing the opening operation or the closing operation. The control device 60 stops the supply of electric power to the motor 40 when the operation switch 20 is operated such that the opening operation or the closing operation of the sunroof main body 10 is stopped. Along with this, the motor 40 stops rotating, and the opening operation or closing operation of the sunroof body 10 stops.

  The control device 60 includes a pinch detection unit 68 for detecting that the sunroof main body 10 interferes with another object or pinches another object. The pinch detection unit 68 calculates the rotation speed of the motor 40 based on the pulse signal input from the rotation sensor 50 to the control device 60. Further, the pinch detection unit 68 determines that interference has occurred (there is interference) when the rotation speed of the motor 40 becomes slower than a predetermined value.

  The control device 60 includes a failure determination unit 64 for determining whether or not the rotation sensor 50 has failed. The failure determination unit 64 detects a failure in the rotation sensor 50 when the falling edge E of the next pulse signal cannot be detected within the failure determination time H after detecting the falling edge E of the pulse signal output from the rotation sensor 50. Is determined to have occurred.

  The control device 60 includes a determination time setting unit 62 for setting a failure determination time H used when the failure determination unit 64 determines whether or not the rotation sensor 50 has failed. The determination time setting unit 62 sets the failure determination time H shorter when the operation speed of the sunroof body 10 is high than when it is not. In this embodiment, the rotational speed of the motor 40 is employed as the operating speed of the sunroof body 10. The determination time setting unit 62 sets the failure determination time H shorter when the outside air temperature is high than when the outside air temperature is low.

  The control device 60 includes an operation stop unit 66 for stopping the sliding operation of the sunroof body 10. When the failure determination unit 64 determines that a failure has occurred in the rotation sensor 50, the operation stop unit 66 stops driving the motor 40 and stops the rotation of the motor 40. The operation stopping unit 66 also stops driving the motor 40 and stops the rotation of the motor 40 even when the pinch detection unit 68 determines that there is interference.

  A signal from the temperature sensor 30 for detecting the outside air temperature around the vehicle C is input to the control device 60. The temperature sensor 30 measures the outside air temperature, and outputs a signal corresponding to the measurement result to the control device 60 at a predetermined time interval.

Next, a failure determination method for the rotation sensor 50 performed by the failure determination unit 64 will be described.
The failure determination unit 64 is a pulse signal input from the rotation sensor 50 to the control device 60 in a state where the operation switch 20 is operated and the sunroof main body 10 is sliding, that is, in a state where electric power is supplied to the motor 40. The falling edge E is detected. Then, the failure determination unit 64 determines that a failure has occurred in the rotation sensor 50 when the falling edge E of the next pulse signal cannot be detected within the failure determination time H after detecting the falling edge E. To do.

  For example, in the pulse signal shown in FIG. 2, the time interval between the falling edge E2 of the pulse signal (second falling edge E from the left in FIG. 2) and the next falling edge E3 is from the failure determination time H1. Also short. Therefore, the failure determination unit 64 can detect the falling edge E3 of the next pulse signal within the failure determination time H1 after detecting the falling edge E2 of the pulse signal. On the other hand, if the rotation sensor 50 fails immediately after the falling edge E5 of the pulse signal (the rightmost falling edge E in FIG. 2) is output, the falling edge E of the pulse signal is not output thereafter. Therefore, the failure determination unit 64 cannot detect the falling edge E of the next pulse signal within the failure determination time H2 after detecting the falling edge E5 of the pulse signal. In this case, the failure determination unit 64 determines that a failure has occurred in the rotation sensor 50.

Next, a method for setting the failure determination time H by the determination time setting unit 62 will be described.
The determination time setting unit 62 first calculates a basic failure determination time Ha. The determination time setting unit 62 detects the falling edge E of the pulse signal input from the rotation sensor 50 to the control device 60 when calculating the basic failure determination time Ha. The determination time setting unit 62 calculates the latest rotation speed of the motor 40 based on the time interval S between the falling edge E of the detected pulse signal and the immediately preceding falling edge E. Then, the determination time setting unit 62 calculates the basic failure determination time Ha by substituting the calculated latest rotation speed into the following equation (1).

Basic failure determination time Ha [ms] = 60000 ÷ (motor rotation speed [rpm] × movement amount of sunroof body per motor rotation [mm]) × A [mm] (1)
In Expression (1), A is a specified distance stored in advance in the determination time setting unit 62, for example, 10 [mm]. The amount of movement of the sunroof body 10 per rotation of the motor 40 is stored in the determination time setting unit 62 in advance. The basic failure determination time Ha is calculated as a time longer than the time interval at which the control device 60 reads the pulse signal from the rotation sensor 50.

  In the above formula (1), a value obtained by multiplying the rotation speed of the motor 40 by the amount of movement of the sunroof body 10 per rotation of the motor 40 corresponds to the slide speed of the sunroof body 10. That is, the determination time setting unit 62 sets a different basic failure determination time Ha for each slide speed according to the slide speed of the sunroof body 10. Specifically, the determination time setting unit 62 sets the basic failure determination time Ha shorter when the sliding speed of the sunroof body 10 is high than when the sliding speed of the sunroof body 10 is low. The basic failure determination time Ha is based on the time point when the determination time setting unit 62 detects the edge E of the pulse signal, from which point the sunroof body 10 advances by a predetermined distance A set in advance at the latest slide speed. It takes time to complete.

  The determination time setting unit 62 corrects the basic failure determination time Ha calculated by the above equation (1) based on the signal input from the temperature sensor 30. Specifically, the determination time setting unit 62 calculates the outside air temperature from the output value of the temperature sensor 30, and calculates a correction value Z corresponding to the outside air temperature. Here, the correction value Z is obtained in advance based on the relationship between the outside air temperature and the viscosity of the grease interposed between the sunroof body 10 and the rail 5, and the correction value Z is corrected as the outside air temperature increases. The value Z increases. The correction value Z is calculated by referring to a correction map or the like stored in advance in the determination time setting unit 62. The determination time setting unit 62 calculates a final failure determination time H by subtracting the correction value Z from the basic failure determination time Ha. That is, the final failure determination time H is obtained by shortening the basic failure determination time Ha by an amount corresponding to the outside air temperature.

Next, a procedure of processing executed by the control device 60 after the operation switch 20 is operated so that the opening operation or closing operation of the sunroof body 10 is started will be described with reference to FIG.
When the operation switch 20 is operated, the control device 60 starts rotating the motor 40 and starts the failure diagnosis process shown in FIG. When starting the failure diagnosis process, the control device 60 proceeds to step S10. In step S10, the failure determination unit 64 of the control device 60 determines whether or not the first falling edge E of the pulse signal is detected after the motor 40 starts to rotate. The failure determination unit 64 detects the falling edge E of the pulse signal when the previously read pulse signal is HIGH and the currently read pulse signal is LOW. When the first falling edge E of the pulse signal is not detected (step S10: NO), the failure determination unit 64 repeats the process of step S10 to detect the first falling edge E of the pulse signal. Wait for

  When the failure determination unit 64 detects the first falling edge E1 of the pulse signal (step S10: YES), the control device 60 proceeds to step S20. In step S20, the failure determination unit 64 of the control device 60 determines whether or not the second falling edge E2 of the pulse signal is detected. When the falling edge E2 of the pulse signal is not detected (step S20: NO), the failure determination unit 64 repeats the process of step S20 and waits to detect the second falling edge E of the pulse signal.

  When the failure determination unit 64 detects the second falling edge E of the pulse signal (step S20: YES), the control device 60 advances the process to step S30. In step S30, the determination time setting unit 62 of the control device 60 sets the time interval S between the second falling edge E of the pulse signal detected in step S20 and the first falling edge E of the pulse signal. Based on this, the latest rotation speed of the motor 40 is calculated. Thereafter, the control device 60 proceeds to step S40.

  In step S40, the determination time setting unit 62 of the control device 60 calculates the basic failure determination time Ha using the above equation (1). Thereafter, the control device 60 advances the process to step S50. In step S50, the determination time setting unit 62 of the control device 60 calculates the outside air temperature based on the signal from the temperature sensor 30, and refers to the correction map. Then, the determination time setting unit 62 calculates a correction value Z corresponding to the outside air temperature based on the correction map. Thereafter, the control device 60 proceeds to step S60.

  In step S60, the determination time setting unit 62 of the control device 60 corrects the basic failure determination time Ha with the correction value Z, and calculates the final failure determination time H. Thereafter, the control device 60 proceeds to step S70.

  In step S70, the failure determination unit 64 of the control device 60 determines whether or not the falling edge E of the pulse signal is detected. When the falling edge E of the pulse signal is not detected (step S70: NO), the control device 60 advances the process to step S80.

  In step S80, the failure determination unit 64 of the control device 60 determines whether or not the failure determination time H has elapsed since the edge E of the pulse was detected in step S20. When it is determined that the failure determination time H has not elapsed (step S80: NO), the control device 60 returns to the process of step S70.

  On the other hand, when it is determined that the failure determination time H has elapsed (step S80: YES), the control device 60 advances the process to step S90. In step S90, the failure determination unit 64 of the control device 60 determines that the rotation sensor 50 has failed. Thereafter, the control device 60 proceeds to step S100. In step S <b> 100, the operation stop unit 66 of the control device 60 stops driving the motor 40 and stops the rotation of the motor 40. Thereafter, the control device 60 ends the process.

  State in which the falling edge E of the pulse signal is not detected in the process of step S70 (step S70: NO), and it is determined that the failure determination time H has not elapsed in the process of step S80 (step S80: NO) Is continued, the control device 60 repeats the processes of steps S70 to S80. When the failure determination time H has passed without detecting the falling edge E of the pulse signal (step S80: YES), the failure determination unit 64 of the control device 60 rotates as described above. It is determined that the sensor 50 has failed. On the other hand, when the edge E of the pulse signal is detected during the process of repeating steps S70 to S80 (step S70: YES), the control device 60 returns to step S30.

  In step S30, the determination time setting unit 62 of the control device 60, based on the time interval S between the falling edge E of the pulse signal detected in step S70 and the falling edge E of the pulse signal immediately before it. The latest rotation speed of the motor 40 is calculated. Thereafter, the control device 60 executes the processes of steps S40 to S60. Then, the determination time setting unit 62 calculates the failure determination time H. As described above, the determination time setting unit 62 of the control device 60 sets the failure determination time H every time the failure determination unit 64 detects the falling edge E of the pulse signal. Thereafter, the control device 60 executes the processes of steps S70 to S80. Then, the failure determination unit 64 performs determination based on the failure determination time H. Unless the failure determination unit 64 determines that the failure determination time H has elapsed in step S80, the control device 60 repeats the processing from step S30 to step S80.

  Note that the control device 60 operates the operation switch 20 so that the opening operation or the closing operation of the sunroof body 10 is stopped or the sunroof body 10 while the processes of Steps S30 to S80 are repeated. When reaches the open position or the closed position, the process is terminated at that time.

Next, the operation of this embodiment will be described.
The sliding speed of the sunroof body 10 may change between the closed position and the open position of the sunroof body 10. For example, immediately after the sunroof body 10 starts operating, the sliding speed of the sunroof body 10 gradually increases, and immediately before the sunroof body 10 stops at the closed position or the open position, the sliding speed of the sunroof body 10 gradually increases. May be lower. FIG. 2 shows an example of the time change of the pulse signal immediately after the motor 40 starts rotating. That is, in FIG. 2, the first pulse (the leftmost pulse) is a pulse output from the rotation sensor 50 first after the motor 40 starts rotating. In FIG. 2, the time interval S2 between the falling edge E4 and the falling edge E5 of the pulse signal is shorter than the time interval S1 between the falling edge E1 and the falling edge E2 of the pulse signal. That is, the rotation speed of the motor 40 between the former is higher than the rotation speed of the motor 40 between the latter.

Hereinafter, the flow of the failure diagnosis process performed by the control device 60 will be described in detail, taking as an example the case where the pulse signal output from the rotation sensor 50 shows a time change as shown in FIG.
When the failure diagnosis process is started, the control device 60 sequentially detects the first falling edge E1 and the second falling edge E2 of the pulse signal by the failure determination unit 64 (steps S10 to S20). Then, the determination time setting unit 62 of the control device 60 calculates the latest rotation speed of the motor 40 based on the time interval S1 between the falling edge E2 and the falling edge E1 of the pulse signal immediately before the falling edge E2 (step S30). ). Thereafter, the determination time setting unit 62 of the control device 60 calculates the basic failure determination time Ha1 based on the latest rotation speed of the motor 40 (step S40), and further corrects the basic failure determination time Ha1 to determine the failure. Time H1 is calculated (step S50 to step S60).

  Thereafter, the failure determination unit 64 of the control device 60 detects the falling edge E3 of the next pulse signal before the failure determination time H1 elapses after the falling edge E2 of the pulse signal is detected (step S70). -Step S80). Thereafter, the determination time setting unit 62 of the control device 60 sets the failure determination time H based on the time interval S between the falling edge E3 of the pulse signal and the falling edge E2 of the pulse signal immediately before it and the outside air temperature. Calculation is performed (steps S30 to S60), and the falling edge E of the next pulse signal is detected based on the failure determination time H (steps S70 to S80). In this way, every time the control device 60 detects the falling edge E of the pulse signal, it calculates the failure determination time H (steps S30 to S60) and the falling edge of the pulse signal based on the failure determination time H. Edge E is detected (steps S70 to S80). And the failure determination part 64 of the control apparatus 60 detects the falling edge E4 and the falling edge E5 of a pulse signal one by one.

  When the failure determination unit 64 of the control device 60 detects the falling edge E5 of the pulse signal, the determination time setting unit 62 of the control device 60 determines the time interval S2 between the falling edge E5 and the edge E4 of the pulse signal immediately before it. Based on the above, the basic failure determination time Ha2 is calculated (step S30 to step S40), and the basic failure determination time Ha2 is corrected to calculate the failure determination time H2 (step S50 to step S60).

  Thereafter, the failure determination unit 64 of the control device 60 detects that the failure has occurred in the rotation sensor 50 when the failure determination time H2 has passed without detecting the falling edge E of the next pulse signal (steps S70 to S80). It is determined that it has occurred (step S90). And the operation stop part 66 of the control apparatus 60 stops the drive of the motor 40, and stops rotation of the motor 40 (step S100).

  As described above, the time interval S2 between the falling edge E4 and the falling edge E5 of the pulse signal is shorter than the time interval S1 between the falling edge E1 and the falling edge E2 of the pulse signal. Therefore, the rotational speed of the motor 40 during the former is higher than the rotational speed of the motor 40 during the latter. Therefore, the basic failure determination time Ha2 obtained by substituting this high rotation speed into the above equation (1) is the basic failure determination time obtained by substituting a rotation speed lower than the rotation speed into the above equation (1). Shorter than Ha1. Since the outside air temperature during the sliding operation of the sunroof body 10 is substantially constant, the correction value Z used for correcting the basic failure determination time Ha1 and the basic failure determination time Ha2 is substantially the same. Therefore, the failure determination time H2 finally obtained is shorter than the failure determination time H1. That is, the failure determination time H2 calculated when the rotation speed of the motor 40 is high (the slide speed of the roof glass 10 is high) is calculated when the rotation speed of the motor 40 is low (the slide speed of the roof glass 10 is low). Shorter than the failure determination time H1 to be performed.

According to the present embodiment, the following effects can be obtained.
(1) When the sliding speed of the sunroof body 10 changes within the sliding range of the sunroof body 10, it is not preferable to set the failure determination time H constant regardless of the sliding speed of the sunroof body 10. Specifically, when the failure of the rotation sensor 50 is determined using the failure determination time, the failure determination time H is determined after the rotation sensor 50 has failed until the slide operation of the sunroof body 10 is stopped. Time lag occurs. During this time lag, the sunroof body 10 slides in a state where the rotation sensor 50 is out of order and the pinch detection unit 68 does not function normally. Therefore, when the sliding speed of the sunroof main body 10 is high, the sunroof main body 10 slides over a considerable distance without the pinch detection unit 68 functioning properly unless the failure determination time H is shortened. . On the other hand, when the sliding speed of the sunroof main body 10 is low, the cycle of the pulse signal output from the rotation sensor 50 becomes long. Therefore, if the failure determination time H is not lengthened, the rotation sensor 50 is functioning normally and the edge E of the next pulse signal is actually output, but the timing at which the edge E is detected. There is a risk that the failure determination time H will elapse before. In this case, it is erroneously determined that the rotation sensor 50 is out of order.

  Therefore, in the present embodiment, a different failure determination time H is set for each slide speed in accordance with the slide speed of the sunroof body 10. Specifically, when the sliding speed of the sunroof body 10 is high, the failure determination time H is set short. Therefore, even if a failure occurs in the rotation sensor 50 while the sliding speed of the sunroof main body 10 is high, the sunroof main body 10 can be stopped in a relatively short time from the occurrence of the failure. Therefore, the sunroof main body 10 does not slide for an excessively long distance between the time when the rotation sensor 50 fails and the sunroof main body 10 stops, and the sunroof main body 10 interferes with other objects accordingly. The risk of doing so is reduced.

On the other hand, when the sliding speed of the sunroof body 10 is low, the failure determination time H is set to be long. Therefore, even if the period of the pulse signal output from the rotation sensor 50 is long in response to the slow slide speed of the sunroof body 10, the rotation sensor does not detect the falling edge E of the pulse signal that should be detected. It is prevented that 50 failure determination time H elapses. Therefore, erroneous determination of failure of the rotation sensor 50 is prevented.
Thus, according to this embodiment, the possibility that the sunroof main body 10 interferes with other objects is reduced, and erroneous determination of failure of the rotation sensor 50 is prevented.

  (2) In the present embodiment, the failure determination time H is set in advance at the latest slide speed from the time point when the determination time setting unit 62 detects the falling edge E of the pulse signal. Is less than the time required to travel by the specified distance A. At the time when the determination time setting unit 62 detects the falling edge E of the pulse signal, the rotation sensor 50 has not failed. Therefore, if a failure of the rotation sensor 50 is determined within the above time from this time, the distance from the failure of the rotation sensor 50 to the stop of the sunroof body 10 hardly exceeds the specified distance A. Therefore, after the failure has occurred in the rotation sensor 50, the sunroof body 10 can be suitably prevented from interfering with other articles before the sunroof body 10 stops.

  (3) In this embodiment, every time the falling edge E of the pulse signal is detected, the time interval between the pulse signal that detected the falling edge E and the falling edge E of the immediately preceding pulse signal Based on S, the rotational speed of the motor is calculated. A failure determination time H is set based on the latest rotation speed. Thus, by setting the failure determination time H based on the latest rotation speed of the motor 40, the failure determination time H reflects the slide speed of the sunroof main body 10 immediately before the failure of the rotation sensor 50. Therefore, a more appropriate failure determination time H can be set.

  (4) When the outside air temperature is high, the viscosity of the grease interposed between the sunroof main body 10 and the rail 5 is reduced, and the lubricity is improved. Therefore, when the outside air temperature is high, the slide speed of the sunroof main body 10 is difficult to decrease, and the distance from when the driving of the motor 40 is stopped to when the sunroof main body 10 stops can be increased. Therefore, in the present embodiment, when the outside air temperature is high, the failure determination time H is made shorter than when the outside air temperature is low. Therefore, when the outside air temperature is high, the timing for stopping the driving of the motor 40 is advanced. Therefore, even if the distance from when the driving of the motor 40 is stopped to when the sunroof main body 10 stops when the outside air temperature is high, the distance until the sunroof main body 10 stops finally becomes longer. It can suppress suitably.

In addition, the said embodiment can also be changed and implemented as follows.
The failure determination time H can be set such that the failure determination time H is shorter when the sliding speed of the sunroof body 10 is higher than when the sliding speed of the sunroof body 10 is low. Any method may be used, and changes such as those listed in the following (A) to (G) are possible on condition that the method is used.

  (A) In the above embodiment, the basic failure determination time Ha reflects the latest rotation speed of the motor 40, that is, the latest slide speed of the sunroof body 10. However, the basic failure determination time Ha does not necessarily reflect the latest slide speed of the sunroof body 10. For example, the basic failure determination time Ha may reflect a sliding speed of the sunroof body 10 that is an average value after the sunroof body 10 starts an opening operation or a closing operation. Note that the sliding speed of the sunroof body 10 reflected in the basic failure determination time Ha is limited to that between when the sunroof body 10 starts the opening operation or the closing operation and stops.

  (B) It is not essential to use the rotational speed of the motor 40 as a parameter for calculating the basic failure determination time Ha. For example, the time of the edge E of the pulse signal that is a parameter for calculating the rotational speed of the motor 40 The basic failure determination time Ha may be calculated using the interval S. That is, any parameter can be adopted as long as it can estimate the operation speed of the sliding operation of the sunroof body 10.

  When the basic failure determination time Ha is calculated by using the time interval S of the edge E of the pulse signal, the determination time setting unit 62 of the control device 60 changes the edge E every time the edge E of the pulse signal is detected. When the time interval S between the detected pulse signal and the edge E of the immediately preceding pulse signal is short, the basic failure determination time Ha is set to be shorter than when the time interval S is not. In addition, the determination time setting unit 62 sets the basic failure determination time Ha to a time required for the sunroof body 10 to travel the specified distance A according to the time interval S of the edge E of the pulse signal.

  (C) The basic failure determination time Ha may be shorter than the time required for the sunroof body 10 to travel the specified distance A (hereinafter referred to as the specified distance corresponding time). If the basic failure determination time Ha is shorter than the specified distance handling time, it is possible to suitably suppress the sunroof body 10 from interfering with other articles. Further, the basic failure determination time Ha may be longer than the specified distance handling time. If the specified distance A is set as a short value, no particular problem occurs even if the basic failure determination time Ha is slightly longer than the specified distance handling time.

  (D) In the above embodiment, as is clear from the equation (1), the sliding speed of the sunroof body 10 and the basic failure determination time Ha have a proportional relationship. However, the relationship between the sliding speed of the sunroof body 10 and the basic failure determination time Ha may be defined such that the basic failure determination time Ha changes stepwise with respect to the sliding speed of the sunroof body 10.

(E) The vehicle interior temperature may be detected by the temperature sensor 30, and the basic failure determination time Ha may be corrected based on the vehicle interior temperature.
(F) The correction method for correcting the basic failure determination time Ha based on the outside air temperature or the vehicle interior temperature is a failure determination when the outside air temperature or the vehicle interior temperature is higher than when the outside air temperature or the vehicle interior temperature is low. Any method may be used as long as the basic failure determination time Ha can be corrected so that the time H is shortened. For example, the basic failure determination time Ha may be multiplied by a correction value, or the basic failure determination time Ha may be divided by the correction value. The correction value may be changed according to the correction method of the basic failure determination time Ha, and the content of the correction map that regulates the relationship between the correction value and the temperature may be changed as appropriate. Further, the basic failure determination time Ha may be corrected without using a correction map. Note that the failure determination time H that is finally calculated in consideration of the correction value Z may be equal to or longer than the specified distance correspondence time.

(G) The basic failure determination time Ha may not be corrected based on the outside air temperature or the passenger compartment temperature. In this case, the basic failure determination time Ha becomes the final failure determination time H.
The correspondence relationship between the HIGH and LOW signals output from the rotation sensor 50 and the polarity of the magnetic field may be opposite to that shown in the above embodiment.

  The failure determination time H may be calculated from the rising edge of the pulse signal output from the rotation sensor 50. Then, the failure determination of the rotation sensor 50 may be performed using the failure determination time H with reference to the rising edge of the pulse signal.

  The magnetic field observed by the rotation sensor 50 does not have to be switched every half rotation of the motor 40, and may be switched a plurality of times during one rotation of the motor 40. However, the time interval at which the N pole is observed is equal to the time interval at which the S pole is observed.

  -You may apply the control apparatus 60 of the said embodiment to reciprocating operation systems other than the sunroof main body 10. FIG. Any reciprocating body other than the sunroof main body 10 may be used as long as it reciprocates within a predetermined range when driven by the motor 40. The reciprocating body other than the sunroof body 10 is, for example, a slide door, a slide seat, and a back door that reciprocates by rotation. Similar to the above embodiment, the reciprocating body system includes a motor that drives the reciprocating body, a rotation sensor that functions substantially the same as the above embodiment, and a control device. The reciprocating body system may include a temperature sensor for detecting an outside air temperature or a vehicle interior temperature. For example, with respect to a reciprocating body that is supported by a bearing so as to be capable of reciprocating rotation like a back door, the viscosity of the grease interposed between the bearing and the reciprocating body varies with temperature. Specifically, when the outside air temperature or the passenger compartment temperature is high, the rotational speed of the reciprocating body is unlikely to decrease, and the rotational distance from when the motor is stopped until the reciprocating body stops is long. Can be. Therefore, by correcting the basic failure determination time Ha based on the outside air temperature or the vehicle interior temperature, when the outside air temperature or the vehicle interior temperature is high, the motor is stopped and the reciprocating body stops rotating. Even if the distance becomes longer, the distance until the reciprocating body finally stops can be suppressed.

DESCRIPTION OF SYMBOLS 1 ... Sunroof system, 2 ... Roof panel, 3 ... Roof opening part, 5 ... Rail, 10 ... Sunroof main body, 20 ... Operation switch, 30 ... Temperature sensor, 40 ... Motor, 50 ... Rotation sensor, 60 ... Control apparatus, 62 ... determination time setting unit, 64 ... failure determination unit, 66 ... operation stop unit, 68 ... pinch detection unit, A ... regulated distance, C ... vehicle, E ... edge, H ... failure determination time, Ha ... basic failure determination time, S: Time interval.

Claims (6)

A control device that is applied to a reciprocating body that reciprocates within a predetermined range by a motor, and that receives a pulse signal having a period according to the rotational speed of the motor from a rotation sensor,
In the state where the reciprocating body is in operation, when the edge of the pulse signal is detected and the edge of the next pulse signal cannot be detected within the failure determination time, the rotation sensor has failed. A failure determination unit for determining;
An operation stop unit that stops the operation of the reciprocating body when the failure determination unit determines that a failure has occurred in the rotation sensor;
A control device for a reciprocating motion body comprising: a determination time setting unit configured to set the failure determination time to be shorter when the operation speed of the reciprocating motion body is high than when not. The reciprocating body control apparatus according to claim 1,
The determination time setting unit sets the failure determination time to be equal to or less than a time required for the reciprocating body to travel a predetermined distance set in advance at an operating speed of the reciprocating body. A control device that is applied to a reciprocating body that reciprocates within a predetermined range by a motor, and that receives a pulse signal having a period according to the rotational speed of the motor from a rotation sensor,
In the state where the reciprocating body is in operation, when the edge of the pulse signal is detected and the edge of the next pulse signal cannot be detected within the failure determination time, the rotation sensor has failed. A failure determination unit for determining;
An operation stop unit that stops the operation of the reciprocating body when the failure determination unit determines that a failure has occurred in the rotation sensor;
Whenever the edge of the pulse signal is detected, when the interval between the pulse signal that detected the edge and the edge of the pulse signal immediately before the edge is short, the determination that sets the failure determination time shorter than when the interval is not A control device for a reciprocating body including a time setting unit. A control device for a reciprocating body according to claim 3,
The determination time setting unit sets the failure determination time to be equal to or less than a time required for the reciprocating body to travel a predetermined distance in accordance with an interval between edges of a pulse signal. . It is a control apparatus of the reciprocating body as described in any one of Claims 1-4,
The determination time setting unit sets the failure determination time to a shorter time when the vehicle interior temperature or the outside air temperature of the vehicle on which the reciprocating operation body is mounted is higher than the case where the reciprocating operation body is not. Control device. A reciprocating body that reciprocates within a predetermined range;
A motor for driving the reciprocating body;
A rotation sensor for detecting rotation of the motor;
A reciprocating body system comprising: a control device that controls the motor and receives a pulse signal having a period according to a rotation speed of the motor from a rotation sensor;
The control device includes:
In the state where the reciprocating body is in operation, when the edge of the pulse signal is detected and the edge of the next pulse signal cannot be detected within the failure determination time, the rotation sensor has failed. A failure determination unit for determining;
An operation stop unit that stops the operation of the reciprocating body when the failure determination unit determines that a failure has occurred in the rotation sensor;
A reciprocating body system comprising: a determination time setting unit that sets the failure determination time to be shorter when the operation speed of the reciprocating body is high than when it is not.