JP2019035595A - Speed detector - Google Patents

Abstract

To provide a speed detector capable of detecting a rotational speed of a motor more accurately.SOLUTION: A speed detector 31 which detects a speed of an opening/closing body 13 for a vehicle comprises: a rotation sensor which outputs a pulse signal in accordance with a rotation of a motor 25 driving the opening/closing body 13; a cycle detection unit which detects a pulse period of the pulse signal; and a speed detection unit which detects a rotational speed of the motor 25 from a predetermined number of pulse periods. The speed detection unit detects the rotational speed of the motor 25 while the predetermined number is decreased in accordance with a change of the pulse period.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a speed detection device.

  Patent Document 1 below discloses a power window control device that detects the rotational speed of a motor that drives a window glass.

  These power window control devices generally detect the rotation speed of the motor based on the pulse period of a pulse signal generated according to the rotation of the motor. Specifically, the power window control device obtains the rotation speed of the motor by averaging the pulse periods of the number of pulses for one rotation of the motor in order to suppress variations in the rotation speed of the motor.

JP 2000-314269 A

  However, since the rotational speed of the motor is obtained by averaging the pulse period up to a predetermined number of times before the current, if the rotational speed of the motor gradually decreases or increases, the actual rotational speed of the motor The difference increases. Therefore, the rotational speed of the motor cannot be detected accurately.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a speed detection device that can more accurately detect the rotation speed of a motor.

  One aspect of the present invention is a speed detection device that detects the speed of an opening / closing body for a vehicle, the rotation sensor outputting a pulse signal according to rotation of a motor that drives the opening / closing body, and a pulse of the pulse signal A period detection unit that detects a period; and a speed detection unit that detects a rotation speed of the motor from a predetermined number of pulse periods, wherein the speed detection unit decreases the predetermined number according to a change in the pulse period. And a rotational speed of the motor is detected.

  One aspect of the present invention is the speed detection device described above, wherein the speed detection unit detects the rotation speed of the motor by decreasing the predetermined number when the pulse period exceeds a predetermined range.

  One aspect of the present invention is the speed detection device described above, wherein the rotation speed of the motor is an average value of the predetermined number of the pulse periods.

  As described above, according to the present invention, the rotational speed of the motor can be detected more accurately.

It is a side view showing a one box type vehicle provided with opening and closing device 21 for vehicles concerning one embodiment of the present invention. It is an enlarged view which shows the detail of the mounting part of the slide door 13 which concerns on one Embodiment of this invention. It is a figure which shows an example of schematic structure in the control system of the switchgear 21 for vehicles which concerns on one Embodiment of this invention. It is a figure which shows an example of schematic structure of the control apparatus 31 which concerns on one Embodiment of this invention. It is a figure explaining the detection method of the rotational speed V of the motor 25 in the speed detection part 320 which concerns on one Embodiment of this invention. It is a figure explaining the flow of operation | movement of the control apparatus 31 which concerns on one Embodiment of this invention.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  Hereinafter, a speed detection device according to an embodiment of the present invention will be described with reference to the drawings.

  Hereinafter, the opening / closing device 21 for vehicles provided with the speed detection apparatus which concerns on this embodiment is demonstrated using drawing. FIG. 1 is a side view showing a one-box type vehicle including a vehicle opening / closing device 21 according to the present embodiment. FIG. 2 is a top view of the slide door 13 in the present embodiment, and is an enlarged view showing details of a mounting portion of the slide door 13.

  As shown in FIGS. 1 and 2, the vehicle 11 includes a slide door 13, guide rails 14, 16, and 17, and a vehicle opening / closing device 21.

  As shown in FIG. 1, the vehicle 11 is a one-box type passenger car, and a slide door 13 is provided on a side portion of the vehicle body 12. This sliding door 13 is an example of the “opening / closing body” of the present invention. For example, the “opening / closing body” of the present invention may be a tailgate.

  The slide door 13 is guided by a guide rail (guide member) 14 fixed to the side of the vehicle body 12 and can be opened and closed between a fully closed position indicated by a solid line and a fully open position indicated by a dashed line in FIG. It is. Therefore, when the passenger gets on and off and loads and unloads the luggage, the slide door 13 is opened to a desired opening. Further, the slide door 13 is provided with a handle 34 as an open / close switch in order to command the opening / closing operation of the slide door 13.

  As shown in FIG. 2, the slide door 13 is provided with a roller assembly 15. The slide door 13 moves in the front-rear direction of the vehicle 11 when the roller assembly 15 is guided by the guide rail 14.

The guide rail 14 includes a curved portion 14a, a straight portion 14b, a reversing pulley 18 and a reversing pulley 19.

  The curved portion 14 a is formed on the vehicle front side of the guide rail 14. The curved portion 14a has a shape that curves toward the vehicle interior side. When the roller assembly 15 is guided by the curved portion 14 a, the slide door 13 is closed in a state where the slide door 13 is drawn into the inside of the vehicle body 12 so as to be flush with the side surface of the vehicle body 12. The straight line portion 14b is formed at a vehicle rear position with respect to the curved portion 14a. The straight portion 14 b has a shape parallel to the side portion of the vehicle body 12.

The roller assembly 15 is also provided in the upper and lower portions (upper portion and lower portion) of the front end portion of the slide door 13 in addition to the portion shown in FIG. A guide rail 16 and a guide rail 17 are provided at the upper and lower portions of the opening of the vehicle body 12 corresponding to the roller assemblies 15 provided at the upper and lower portions (upper and lower portions) of the front end portion of the slide door 13. Therefore, the slide door 13 is supported by the vehicle body 12 at a total of three locations.
The reversing pulleys 18 and 19 are respectively provided at both ends of the guide rail 14.

The vehicle opening / closing device 21 is a device that automatically opens and closes the slide door 13.
The vehicle opening / closing device 21 includes a drive unit 22 and a cable 23 (cable 23a, cable 23b).
The drive unit 22 is disposed inside the vehicle body 12 adjacent to a substantially central portion of the guide rail 14 in the vehicle front-rear direction.
The cable 23a and the cable 23b are connected to the roller assembly 15 from the vehicle rear side and the front side, respectively. In the drive unit 22, the sliding door 13 is opened or closed by pulling one of the cables 23a and 23b.

  FIG. 3 is a diagram showing an example of a schematic configuration in the control system of the vehicle opening / closing device 21 in the present embodiment.

  The vehicle opening / closing device 21 includes a motor 25, a speed reducer 26, a drum 28, a rotation sensor 33, and a control device 31. The control device 31 is an example of the “speed detection device” in the present invention.

  The motor 25 is a drive source that opens and closes the slide door 13. For example, the motor 25 is a motor that can rotate in both forward and reverse directions, such as a three-phase brushless motor. The motor 25 is driven to rotate based on a drive signal supplied from the control device 31.

  The reduction gear 26 is fixed to the motor 25, and the rotation of the motor 25 is reduced to a predetermined number of rotations by the reduction gear 26. Accordingly, the rotation of the motor 25 is decelerated to a predetermined number of rotations by the speed reducer 26 and output from the output shaft 27.

  A cylindrical drum 28 having a spiral guide groove (not shown) formed on the outer peripheral surface is fixed to the output shaft 27. A cable 23 is wound around the drum 28 a plurality of times along the guide groove. Therefore, when the motor 25 is operated and the drum 28 is driven and rotated by the motor 25, the slide door 13 is opened and closed. That is, when the motor 25 rotates forward, the drum 28 rotates, for example, counterclockwise. As a result, the vehicle rear side of the cable 23 is wound around the drum 28, so that the slide door 13 moves in the opening direction while being pulled by the cable 23. On the other hand, when the motor 25 rotates in the reverse direction, the drum 28 rotates in the clockwise direction, for example. As a result, the vehicle front side of the cable 23 is wound around the drum 28, so that the slide door 13 moves in the closing direction while being pulled by the cable 23.

  As described above, the slide door 13 is connected to the motor 25 via the cable 23, the drum 28, the output shaft 27, and the like, and is driven to open and close by the motor 25. It should be noted that a clutch mechanism that interrupts the power transmission path between the motor 25 and the output shaft 27 may be provided in the speed reducer 26 so that the clutch mechanism is switched to a disconnected state when the slide door 13 is manually opened and closed. . Further, a tensioner may be provided between the drum 28 and the slide door 13 to remove the slack of the cable 23 and maintain the cable tension within a certain range.

  The rotation sensor 33 detects the position of the slide door 13. For example, the rotation sensor 33 is a magnetic rotary encoder provided with a Hall IC. For example, a sensor magnet 32 in which a large number of magnetic poles are magnetized in the circumferential direction is fixed to the output shaft 27. The Hall IC 32a, Hall IC 32b, and Hall IC 32c, which are rotation sensors 33, are arranged so as to be close to the position facing the sensor magnet 32. The Hall IC 32a, Hall IC 32b, and Hall IC 32c are arranged with a predetermined phase difference from each other. Therefore, the rotation sensor 33 has three phases (U-phase) that are different in phase from each other by using the change in magnetic flux density detected when the drum 28 rotates and the sensor magnet 32 passes in front of the Hall IC 32a, Hall IC 32b, and Hall IC 32c as an electrical signal. , V phase and W phase). Then, the rotation sensor 33 has an output value of High and Low depending on whether or not the value of the alternating signal of each phase exceeds a predetermined value (that is, the strength of the magnetic field received by the rotation sensor 33 exceeds a predetermined strength). Into a binary digital signal (pulse signal) that changes to The rotation sensor 33 outputs a U-phase pulse signal, a V-phase pulse signal, and a W-phase pulse signal to the control device 31 as a pulse signal of each phase.

  The slide door 13 is provided with a handle 34 having a function as an open / close switch on the inside and outside of the vehicle interior. The handle 34 is connected to the control device 31. When the steering wheel 34 is operated by a passenger or the like, the steering wheel 34 outputs an opening / closing command signal corresponding to the operation to the control device 31. That is, when the handle 34 is operated to the open side by an operator such as an occupant, a command signal instructing to open the slide door 13 is output to the control device 31. The handle 34 outputs a command signal instructing to close the slide door 13 to the control device 31 when operated to the closing side by an operator such as an occupant. When the control device 31 acquires the opening / closing command signal supplied from the handle 34, the control device 31 performs forward or reverse control of the motor 25 based on the opening / closing command signal. Thereby, the control apparatus 31 can operate the sliding door 13 in an opening direction or a closing direction. That is, the operator can automatically open and close the slide door 13 by operating the handle 34.

  The control device 31 obtains the rotational speed of the motor 25 from the cycle of the pulse signal. And the control apparatus 31 controls the motor 25 so that the rotational speed may become fixed.

FIG. 4 is a diagram illustrating an example of a schematic configuration of the control device 31 according to the present embodiment.
The control device 31 includes a period detection unit 310, a speed detection unit 320, and a drive unit 330.

  When the opening / closing operation of the sliding door 13 by the command signal is started (or when a pulse signal appears), the cycle detection unit 310 (hereinafter referred to as “pulse cycle”) of the pulse signal supplied from the rotation sensor 33. T is detected every time a pulse signal is acquired from the rotation sensor 33. For example, the period detection unit 310 detects the pulse period T from the acquisition interval of the pulse signal from the rotation sensor 33. Therefore, for example, when the sensor magnet 32 for 16 poles is fixed to the output shaft 27, the period detection unit 310 detects 16 pulse periods T every time the drum 28 rotates once. .

The speed detector 320 detects the rotational speed V of the motor 25 from a pulse period T of a predetermined number of data N (predetermined number). Here, the pulse period T with the number of data N is the pulse period T from the latest pulse period T to N previous pulses among the pulse periods T acquired by the period detection unit 310. Thus, the data number N is the number of data of the pulse period T necessary for obtaining the rotation speed V.
However, the speed detection unit 320 does not set the number of data N as a fixed value, but as a change value that decreases according to the latest pulse period T.
Below, the detection method of the rotational speed V of the motor 25 in the speed detection part 320 is demonstrated using FIG.

For example, the speed detection unit 320 obtains the rotational speed V by averaging the pulse period T of the number of pulses for one rotation of the motor 25 (drum 28). Here, in this embodiment, 16 pulse signals are output from the rotation sensor 33 every time the drum 28 rotates once. Therefore, the speed detection unit 320 obtains the average pulse period T _ave by averaging the latest 16 pulse periods T with the number of data N set to “16”.

Specifically, the speed detector 320, when the current pulse period Tn, as shown in equation (1), 16 pulse period from the pulse period T _n to the pulse period T _n-15 An average pulse period T _ave is obtained by averaging.
Average pulse period T _ave = (T _n + T _n−1 +... T _n−15 ) / 16 (1)

However, as shown in FIG. 5, when the current pulse period T _n exceeds the predetermined range (the threshold Tx or less and the threshold Ty (<Tx) or more), the speed detection unit 320 sets the number N of data. Decrease and detect the rotation speed V. For example, the speed detector 320, if the current pulse period T _n exceeds the threshold Tx is a predetermined number value obtained by subtracting the (subtraction value) X from the current data number N new number of data N' And Then, the speed detection unit 320 averages the newly obtained pulse number T of the number of data N ′ to obtain an average pulse period T ′ _ave . That is, when the current pulse period T _n exceeds the threshold Tx, the speed detection unit 320 reduces the number of data of the pulse period T to be averaged to obtain the average pulse period T _ave , and uses the reduced data number. An average pulse period T ′ _ave is obtained.

For example, as illustrated in FIG. 5, when the current data number N is “16”, the speed detection unit 320 indicates that the current pulse period T _n exceeds the threshold value Tx as shown in Expression (2). As described above, the number of data is changed to a value half the current number of data N, and eight pulse periods from the pulse period T _n to the pulse period T _n-7 are averaged to obtain an average pulse period T ′ _ave . .
Average pulse period T ′ _ave = (T _n + T _n−1 +... T _n−7 ) / 8 (2)

  The drive unit 330 controls the drive of the motor 25 so that the rotation speed V detected by the speed detection unit 320 becomes a target value.

  Below, operation | movement of the control apparatus 31 which concerns on this embodiment is demonstrated using FIG. FIG. 6 is a diagram for explaining an operation flow of the control device 31 according to the present embodiment.

The period detector 310 detects the pulse period T every time the pulse signal supplied from the rotation sensor 33 is acquired (step S101).
Speed detecting unit 320, each time the pulse signal in a cycle detecting section 310 is acquired, determines whether the current pulse period _{T n} exceeds the threshold value Tx (step S102). Speed detecting unit 320, when judging that the current pulse period _{T n} does not exceed the threshold value Tx, the current pulse period of the data number _N Tn~T _n- the _(N-1) by averaging the reference, An average pulse period T _ave is calculated (step S103).

On the other hand, the speed detector 320, in step S102, if it is determined that the current pulse period T _n exceeds the threshold Tx, the pulse period of the current small number of data N'than the number of data N based on the Tn~T _The average pulse period T ′ _ave is calculated by averaging _{n− (N ′ −1)} (step S104). That is, the speed detector 320, in step S102, if it is determined that the current pulse period T _n exceeds the threshold Tx is to reduce the number of data of pulse period for averaging a predetermined number X, the number of data reduced the The pulse period is averaged to calculate an average pulse period T ′ _ave .

The speed detector 320 obtains the rotational speed V of the motor 25 from the calculated averaging period (step S105). That is, when it is determined that the current pulse period T _n does not exceed the threshold value Tx, the speed detection unit 320 calculates the rotation speed V from the average pulse period T _ave . On the other hand, the speed detection unit 320, when judging that the current pulse period T _n exceeds the threshold Tx calculates the rotational speed V from the average pulse period _T'ave.

Next, the effect of this embodiment is demonstrated.
When detecting the rotational speed of the motor 25 that drives the opening / closing body for the vehicle, the conventional speed detection device suppresses the variation in the rotational speed of the motor 25, so that a pulse period of a certain number of data (for example, The average pulse period is obtained by averaging the pulse period of the number of pulses for one rotation of the motor 25, and the rotational speed of the motor 25 is detected from the average period. Here, for example, when the vehicle is stopped on a slope, a force is generated in a direction parallel to the slope with respect to the sliding door and the opening / closing body of the tailgate due to gravity. Therefore, the actual rotational speed (actual speed) of the motor 25 that drives the opening / closing body gradually decreases or increases, and the pulse period changes greatly. However, when the rotational speed of the motor 25 is detected, a plurality of pulse periods are averaged to suppress variations in the rotational speed of the motor 25, and the motor is calculated from the averaged pulse period (corresponding to the average pulse period T _ave ). It is necessary to obtain a rotational speed of 25. Therefore, in the conventional speed detection device, the difference ΔT between the current pulse period T _n and the averaged pulse period (average pulse period T _ave ) becomes large, and the difference between the rotational speed of the motor 25 and the actual speed is growing. As a result, the rotational speed of the motor 25 cannot be accurately detected.

On the other hand, the speed detector 320 according to the present embodiment obtains the average pulse period T _ave when the actual rotational speed (actual speed) of the motor 25 that drives the opening / closing body decreases or increases by a predetermined value or more. The number of data of the pulse period T to be averaged is reduced, and the average pulse period T ′ _ave is obtained with the reduced number of data. Therefore, the speed detector 320 can make the difference ΔT between the current pulse period T _n and the averaged pulse period (average pulse period T ′ _ave ) smaller than the conventional one. Therefore, the speed detection unit 320 obtains the rotational speed of the motor 25 from the average pulse period T ′ _ave , so that the difference between the rotational speed of the motor 25 and the actual speed can be reduced as compared with the conventional case. The speed can be detected more accurately. Note that if the actual speed of the motor 25 which drives the opening and closing body is increased above a predetermined value, a case where the current pulse period T _n exceeds the threshold Tx.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

(Modification 1) In the above embodiment, the speed detection unit 320 has reduced the number of data N when the current pulse period T _n exceeds the threshold Tx, the present invention is not limited thereto. For example, the speed detecting unit 320 may reduce the data number N when the current pulse period _{T n} below the threshold Ty (<Tx). Incidentally, the above-described, and when the actual speed of the motor 25 which drives the opening and closing body is decreased by more than a predetermined value is if the current pulse period T _n below the threshold Ty.

(Modification 2) In the above embodiment, the speed detection unit 320 subtracts a preset number (subtraction value) X from the current data number N when the current pulse period T _n is outside the predetermined range. Although the obtained value is the new number of data N ′, the present invention is not limited to this. For example, the speed detection unit 320 may change the subtraction value X according to the pulse Tn. More specifically, for example, the speed detector 320, if the current pulse period T _n exceeds the threshold Tx is the subtracted value X determined in accordance with the value of (Tn-Tx), subtraction in which the determined X may be subtracted from the current data number to obtain a new data number N ′. In addition, for example, when the current pulse period T _n falls below the threshold value Ty, the speed detection unit 320 determines a subtraction value X corresponding to the value of (Ty−Tn), and the determined subtraction X is The new data number N ′ may be obtained by subtracting from the number of data. Thus, the speed detector 320, may be varied depending on the current pulse period T _n the amount of reducing the number of data.

(Modification 3) In the above embodiment, the speed detector 320 reduces the number of data of the pulse period T for _obtaining the average pulse period T _ave when the current pulse period T _n is outside the predetermined range. However, the present invention is not limited to this. For example, in response to the sliding door 13 entering the bending portion 14a, the speed detection unit 320 may reduce the number of data of the pulse period T for _obtaining the average pulse period T _ave . This is because when the slide door 13 enters the bending portion 14a, the speed of the slide door 13, that is, the actual speed of the motor 25 decreases. The fact that the slide door 13 has entered the bending portion 14a can be determined by the number of pulse signals counted after the slide door 13 is operated.

(Modification 4) In the above embodiment, the speed detector 320 calculates the rotation speed from the average pulse period T _ave , but the present invention is not limited to this. For example, the speed detection unit 320 may obtain a representative value such as a median value or a mode value from the pulse period of the number of data N or N ′, and obtain the representative value or the rotation speed of the motor 25.

  As described above, the control device 31 (speed detection device) decreases the number of data (predetermined number) of the pulse cycle necessary for calculating the rotation speed of the motor 25 according to the detected pulse cycle. Thereby, the control apparatus 31 can reduce the difference between the detected rotational speed of the motor 25 and the actual speed, and can suppress the deterioration of the speed following ability. Thereby, the control apparatus 31 can detect the rotational speed of the motor 25 more accurately.

11 Vehicle 13 Sliding door (opening / closing body)
25 Motor 31 Control device (speed detection device)
33 Rotation sensor 310 Period detection unit 320 Speed detection unit 330 Drive unit

Claims (3)

A speed detection device for detecting a speed of an opening / closing body for a vehicle,
A rotation sensor that outputs a pulse signal according to rotation of a motor that drives the opening and closing body;
A period detector for detecting a pulse period of the pulse signal;
A speed detector for detecting the rotational speed of the motor from a predetermined number of pulse periods;
With
The speed detection unit detects the rotation speed of the motor by decreasing the predetermined number according to the pulse period detected by the period detection unit.   2. The speed detection apparatus according to claim 1, wherein when the pulse period exceeds a predetermined range, the speed detection unit detects the rotation speed of the motor by decreasing the predetermined number.   The speed detection device according to claim 1, wherein the rotation speed of the motor is an average value of the predetermined number of the pulse periods.

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