JP2019112855A - Opening and closing device and control method therefor - Google Patents

Abstract

To provide an opening and closing device capable of reducing an erroneous determination that an opening and closing of an opening and closing body is inhibited, and a control method therefor.SOLUTION: An opening and closing device (17) includes a first average value calculation unit (31e), a second average value calculation unit (31f) and a determination unit (31g). The first average value calculation unit (31e) calculates a first average value which is a difference between each of a plurality of opening and closing speeds and the opening and closing speed stored before each of the opening and closing speeds. The second average value calculation unit (31f) calculates a second average value which is a difference between each of a plurality of duty ratios and the duty ratio stored before each of the duty ratios. The determination unit (31g) determines that the opening and closing of the opening and closing body is inhibited when the first average value is equal to or smaller than a predetermined first threshold value, and the second average value is equal to or larger than a predetermined second threshold value.SELECTED DRAWING: Figure 3

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a switching device used in, for example, a car and a control method thereof.

  Conventionally, as an opening and closing device, there is one that is mounted in a car and electrically opens and closes a back door, which is an example of an opening and closing body (see, for example, Patent Document 1). The opening / closing device has a function of detecting that foreign matter such as a person is caught between the back door and the vehicle body while the back door is electrically closed.

  More specifically, the opening / closing device includes a sensor for detecting the opening / closing speed of the back door, and when the opening / closing speed of the back door detected by the sensor becomes slower than a predetermined threshold speed, the foreign object It is determined that it is sandwiched between

Japanese Patent Application Laid-Open No. 2003-27832

  By the way, the conventional opening / closing device compares the opening / closing speed of the backdoor with the target speed to adjust the control amount of the opening / closing speed of the backdoor (feedback control), thereby the opening / closing speed of the backdoor and the target speed A match is being made. For this reason, when the difference between the open / close speed of the back door and the target speed becomes large, the control amount also becomes large, and the open / close speed of the back door is largely fluctuated.

  As a result, in the conventional opening / closing device, although the foreign matter is not caught between the backdoor and the vehicle body, the opening / closing speed of the backdoor is slower than the threshold speed, and the foreign matter is between the backdoor and the vehicle body. There has been a problem that it is misjudged that there is a pinch.

  Then, the objective of this invention is providing the switching apparatus which can reduce the misjudgment that the opening and closing of opening / closing body is inhibited, and its control method.

A switchgear according to one aspect of the present invention is
An opening and closing member for opening and closing an opening provided in the object;
A driving unit that generates a driving force for opening and closing the opening and closing body;
An opening / closing speed detection unit that detects the opening / closing speed of the opening / closing body;
An opening / closing speed storage unit which stores the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit at predetermined first time intervals;
A feedback control unit that adjusts a duty ratio of a pulse width modulation signal supplied to the drive unit such that the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit approaches a predetermined target speed;
A duty ratio storage unit which stores the duty ratio of the pulse width modulation signal adjusted by the feedback control unit at predetermined second time intervals;
Each of the plurality of opening / closing speeds stored by the opening / closing speed storage unit from the time when the opening / closing speed storage unit stores the latest opening / closing speed to before the predetermined first average calculation time, and the respective opening / closing speeds A first average value calculation unit that calculates a first average value of differences from the opening / closing speed stored before
Each of the plurality of duty ratios stored by the duty ratio storage unit from the time when the duty ratio storage unit stores the latest duty ratio to before the second predetermined average calculation time, and the respective duty ratios A second average value calculation unit that calculates a second average value of the difference from the duty ratio stored before
A determination unit that determines that the opening / closing of the opening / closing body is inhibited when the first average value is equal to or less than a predetermined first threshold and the second average value is equal to or more than a predetermined second threshold;
And a drive control unit configured to control the drive unit such that the open / close body is stopped or reversed when it is determined that the open / close of the open / close body is inhibited.

A control method of a switchgear according to an aspect of the present invention is
An opening / closing device comprising an opening / closing body for opening / closing an opening provided in an object, a drive unit for generating a driving force for opening / closing the opening / closing body, and an opening / closing speed detection unit for detecting the opening / closing speed of the opening / closing body Control method of
The opening / closing speed storage unit stores the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit at predetermined first time intervals,
Adjusting a duty ratio of a pulse width modulation signal supplied to the drive unit such that the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit approaches a predetermined target speed;
Storing the duty ratio of the pulse width modulation signal in the duty ratio storage unit at predetermined second time intervals;
Each of the plurality of opening / closing speeds stored by the opening / closing speed storage unit from the time when the opening / closing speed storage unit stores the latest opening / closing speed to before the predetermined first average calculation time, and the respective opening / closing speeds Calculate the first average value of the difference with the opening / closing speed stored before
Each of the plurality of duty ratios stored by the duty ratio storage unit from the time when the duty ratio storage unit stores the latest duty ratio to before the second predetermined average calculation time, and the respective duty ratios Calculate the second average value of the difference with the duty ratio stored before
When the first average value is equal to or less than a predetermined first threshold value and the second average value is equal to or more than a predetermined second threshold value, it is determined that the opening / closing of the opening / closing body is inhibited.
When it is determined that the opening and closing of the opening and closing body is inhibited, the drive unit is controlled such that the opening and closing body is stopped or reversed.

  The switching device and the control method thereof according to the present invention can reduce the erroneous determination that the switching of the switching member is inhibited.

It is a slanting outline back view of the vehicle body which carries the backdoor opening and closing device of one embodiment of this invention. It is a schematic sectional drawing of the 1st spindle drive mechanism of the said vehicle body. It is a block diagram of the back door opening and closing device of the above-mentioned embodiment. It is a flow chart for explaining control of a backdoor opening and closing device of the above-mentioned embodiment. It is a graph for demonstrating the determination of the back door opening and closing apparatus of a reference example. It is a graph for demonstrating determination of the back door opening-closing apparatus of the said embodiment.

  The switchgear of the present invention will be described in detail below by the embodiments shown in the drawings.

  FIG. 1 is a schematic view showing a rear portion of a vehicle body 1 on which a back door opening and closing device 17 (shown in FIG. 3) according to an embodiment of the present invention is mounted.

  An opening 2 is provided at the rear of the vehicle body 1. The opening 2 is opened and closed by a back door 3 as an example of an opening and closing body. The vehicle body 1 is an example of an object.

  A pivot shaft (not shown) is provided at the upper end of the back door 3. The back door 3 can be pivoted about the pivot axis between a fully closed position where the opening 2 is fully closed and a fully open position where the opening 2 is fully open. That is, the upper end of the back door 3 is attached to the upper edge of the opening 2 so that the back door 3 can be vertically rotated. The back door 3 is pivoted by the drive of the spindle drive mechanism 4.

  Further, on the outer surface of the back door 3, a door open switch 19 operated when the back door 3 is opened is provided. When closing the back door 3, the door closing switch 18 is operated, and the door closing switch 18 is provided at the center of the lower end of the back door 3. Further, a door latch device 20 is also provided at the center of the lower end of the back door 3 so as to be adjacent to the door closing switch 18.

  When the back door 3 is closed, the latch (not shown) of the door latch device 20 engages with the striker 50 provided at the lower edge of the opening 2 to inhibit the back door 3 from pivoting in the opening direction. Do. The engagement between the latch and the striker 50 is released when the back door 3 is opened. In addition, for example, the door latch device described in JP-A-2015-124488 or the like may be used as the door latch device 20.

  The spindle drive mechanism 4 includes a rod-shaped first spindle drive mechanism 4A and a rod-shaped second spindle drive mechanism 4B having the same structure as the first spindle drive mechanism 4A. The first spindle drive mechanism 4 </ b> A is provided between one side of the back door 3 and one side edge of the opening 2. On the other hand, the second spindle drive mechanism 4 </ b> B is provided between the other side of the back door 3 and the other side edge of the opening 2. Each spindle drive mechanism 4A, 4B is connected to the vehicle body 1 and the back door 3. For example, the spindle drive mechanism described in Japanese Patent Application No. 2016-216860 etc. may be used as each spindle drive mechanism 4A, 4B.

  FIG. 2 is a schematic cross-sectional view of the first spindle drive mechanism 4A taken along a plane parallel to the axial direction. The second spindle drive mechanism 4B has the same structure as the first spindle drive mechanism 4A, so the illustration of the schematic cross-sectional view of the second spindle drive mechanism 4B is omitted.

  The first spindle drive mechanism 4A has a first housing 6 for housing the electric motor 5 and the like, and a second housing 7 for housing the spindle 9 and the like. The electric motor 5 is an example of a drive unit.

  At one end of the first housing 6, a door side connecting member 51 rotatably connected to a joint ball 3 a provided on the back door 3 is fixed. Further, in the first housing 6, a rotation sensor 15 for detecting the number of rotations of the rotation shaft 5 a of the electric motor 5 corresponding to the opening / closing speed of the back door 3 is installed. The rotation shaft 5 a of the electric motor 5 is connected to the spindle 9 in the second housing 7 via the reduction gear mechanism 8. Further, one end of the second housing 7 is connected to the other end of the first housing 6. The rotation sensor 15 may be a magnetic sensor using a Hall element, or an optical sensor using an LED (light emitting diode) and a PD (photodiode). The rotation sensor 15 is an example of an open / close speed detection unit.

  The second housing 7 accommodates a spindle nut 10 which can be advanced and retracted along the axial direction of the second housing 7. More specifically, the spindle nut 10 is screwed to the spindle 9 and the front end (end opposite to the first housing 6) of the spindle nut 10 1) The end on the housing 6 side is fixed. On the other hand, the front end portion of the cylindrical outer cylinder 13 is fixed to the front end portion of the push rod 11. The outer cylinder 13 is disposed coaxially with the push rod 11 and has an inner diameter larger than the outer diameter of the push rod 11. Further, between the outer peripheral surface of the push rod 11 and the inner peripheral surface of the outer cylinder 13, the coil spring 12 is disposed relatively outward in the radial direction, and the rear end is fixed to the second housing 7 A cylindrical inner cylinder 14 is disposed relatively inward in the radial direction. The coil spring 12 spirally extends from one end to the other end of the second housing 7.

  Further, a vehicle body side connecting member 52 aligned with the push rod 11 in the axial direction of the second housing 7 is fixed to the front end portion of the push rod 11. The vehicle body side connecting member 52 is rotatably connected to the joint ball 1 a provided on the vehicle body 1.

  In the first spindle drive mechanism 4A, when the rotary shaft 5a of the electric motor 5 rotates forward, the spindle 9 also rotates forward, and the spindle nut 10 moves to the other end of the second housing 7. Thereby, the protrusion amount of the outer cylinder 13 and the push rod 11 with respect to the 2nd housing 7 increases, and the back door 3 rotates in the opening direction. On the other hand, when the rotation shaft 5 a of the electric motor 5 rotates in the reverse direction, the spindle nut 10 moves to the one end side of the second housing 7. Thereby, the protrusion amount of the outer cylinder 13 and the push rod 11 with respect to the 2nd housing 7 reduces, and the back door 3 rotates in the closing direction.

  Further, the rotation sensor 15 outputs a signal indicating the number of rotations (rotational speed) and the rotation direction of the rotation shaft 5 a of the electric motor 5 to the control device 31.

  FIG. 3 is a block diagram for explaining the configuration of the back door opening and closing device 17. Further, in FIG. 3, the same components as the components in FIGS. 1 and 2 are given the same reference numerals as the reference symbols of the components in FIGS. 1 and 2.

  The back door opening / closing device 17 includes a control device 31 including a microcomputer and an input / output circuit. A first spindle drive mechanism 4A, a second spindle drive mechanism 4B, a door latch device 20, a door close switch 18, a door open switch 19, a BCM (Body Control Module) 25, etc. are connected to the control device 31. ing. Further, the control device 31 communicates with the electronic key 26 via the BCM 25 and executes an authentication process described later.

  The door latch device 20 has a latch motor 21 for driving the latch in forward and reverse rotation, a full latch switch 22, a half latch switch 23, and a release switch 24. The full latch switch 22, the half latch switch 23, and the release switch 24 detect the position of the latch. Here, the position of the latch includes a position where the latch fully engages with the striker 50 (full latch position), a position where the latch does not fully engage with the striker 50 (release position), and Point to any of the middle positions (half latch positions).

  The door closing switch 18 outputs a door closing operation signal for moving the back door 3 to the fully closed position to the control device 31. At this time, the control device 31 outputs a PWM (Pulse Width Modulation) signal to the spindle drive mechanism 4 based on the door closing operation signal from the door closing switch 18 to turn the back door 3 in the closing direction. Execute control to rotate.

  The door open switch 19 outputs a door open operation signal for moving the back door 3 to the fully open position to the control device 31. At this time, based on the door open operation signal from the door open switch 19, the control device 31 outputs an open operation signal to the spindle drive mechanism 4, and executes control to rotate the back door 3 in the open direction.

  Further, the control device 31 includes a velocity position calculation unit 31a, an opening / closing speed storage unit 31b, a feedback control unit 31c, a duty ratio storage unit 31d, a first average value calculation unit 31e, a second average value calculation unit 31f, a determination unit 31g, A difference calculator 31h and a drive controller 31i are provided. The velocity position calculation unit 31a, the feedback control unit 31c, the first average value calculation unit 31e, the second average value calculation unit 31f, the determination unit 31g, the difference calculation unit 31h, and the drive control unit 31i are each configured by software. There is.

  The speed position calculation unit 31 a receives, from the rotation sensor 15, a signal indicating the number of rotations of the rotation shaft 5 a of the electric motor 5. At this time, the speed position calculation unit 31a calculates the open / close speed and the open / close position of the back door 3 based on the above signal. The open / close position of the back door 3 corresponds to, for example, a pivot angle with respect to the fully open position or the fully closed position, and based on the number of rotations of the rotation shaft 5a of the electric motor 5 from the fully open position or the fully closed position of the back door 3. It is calculated.

  The opening / closing speed storage unit 31 b stores the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31 a at predetermined first time intervals. The open / close speed storage unit 31 b is configured of, for example, a storage device such as a semiconductor memory capable of storing a plurality of open / close speeds of the back door 3.

  The feedback control unit 31c controls the duty ratio of the PWM signal supplied to the electric motor 5 so that the opening / closing speed of the back door 3 detected by the speed position calculation unit 31a input from the rotation sensor 15 approaches a predetermined target speed. Adjust the This target speed is preset according to each open / close position of the back door 3 (see FIG. 6).

  The duty ratio storage unit 31 d stores the duty ratio of the pulse width modulation signal adjusted by the feedback control unit 31 c at predetermined second time intervals. The duty ratio storage unit 31 d is configured of, for example, a storage device such as a semiconductor memory capable of storing a plurality of duty ratios.

The first average value calculation unit 31e is configured to store a plurality of opening / closing speeds stored by the opening / closing speed storage unit 31b between a time when the opening / closing speed storage unit 31b stores the latest opening / closing speed and before a predetermined first average calculation time. regard, each with the plurality of opening and closing speed, based on the difference between the stored closing speed just before the respective opening and closing speed, and calculates an average value AV _S of the difference. More specifically, the first average value calculation unit 31 e calculates an average value AV _S using, for example, the following Equation 1. The average value AV _S is an example of a first average value.

[Equation 1]

When the first average value calculation unit 31e uses Equation 1, for example, the first time interval is set to 10 ms, and the first average calculation time is set to 30 ms. At this time, the sample number p of the opening / closing speed stored in the opening / closing speed storage unit 31b in the first average calculation time is 4, and the average value AV _S is 4 using the past 4 opening / closing speeds including the latest opening / closing speed. It is calculated. For example, when the detection number n is 10, the average value AV _S is calculated using the past 4 opening / closing speeds S _{7 to} S ₁₀ including the latest opening / closing speed S ₁₀ , and the detection number n is 11 The average value AV _S is calculated using the opening and closing speeds S _{8 to} S ₁₁ . The average value AV _S is calculated every 10 ms, which is the same as the first time interval. The calculation of the average value AV _S may be started simultaneously with the start of the supply of the PWM signal to the electric motor 5, or may be started after a predetermined time has elapsed from the supply of the PWM signal to the electric motor 5. Good.

The second average value calculation unit 31f is configured to store a plurality of duty ratios stored by the duty ratio storage unit 31d from a time when the duty ratio storage unit 31d stores the latest duty ratio to a predetermined second average calculation time before respect, with each of the plurality of duty ratios, based on the difference between the stored duty ratio immediately before the respective duty ratio, calculates an average value AV _D of the difference. More specifically, the second average value calculation unit 31 f calculates an average value A V _D using, for example, the following Equation 2. The average value A V _D is an example of a second average value.

[Formula 2]

When the second average value calculating section 31f is using Equation 2, for example, calculates the period of the average value AV _D is the same as the calculation period of the average value AV _S, and the detection interval of the duty ratio of the PWM signal back door 3 It is made the same as the detection interval of the opening and closing speed of. That is, for example, the second time interval is set to 10 ms, which is the same as the first time interval, and the second average calculation time is set to 30 ms, which is the same as the first average calculation time. At this time, the sample number q of the duty ratio stored in the duty ratio storage unit 31 d within the second average calculation time is 4, and the average value AV _D is 4 using the past 4 duty ratios including the latest duty ratio. It is calculated. For example, when the detection number m is 10, the average value A V _D is calculated using the past four duty ratios D _{7 to} D ₁₀ including the latest duty ratio D ₁₀ , and the detection number m is 11 average value AV _D is calculated using the duty ratio _D 8 _{to D 11} in. The processing for calculating the average value AV _D may be initiated at the same timing as the process for calculating the average value AV _S. The calculation of the average value A V _D may be started simultaneously with the start of the supply of the PWM signal to the electric motor 5, or may be started after a predetermined time has elapsed from the supply of the PWM signal to the electric motor 5. Good.

Determination unit 31g, the average value AV _S calculated by the first average value calculation unit 31e is the first threshold value TH ₁ following a predetermined, and the average value AV _D calculated by the second average value calculating section 31f when it is a predetermined second threshold value TH ₂ or more, it determines that the opening and closing of the back door 3 is inhibited. In this case, for example, while the first threshold value TH ₁ is set to a negative value, the second threshold value TH ₂ is set to a positive value. Further, for example, the inclination angle of the road to park the vehicle 1, by analyzing the vehicle experimental data to be changed and the weight of the back door 3, it is possible to determine the first threshold value TH ₁ and a second threshold value TH ₂ .

The difference calculating unit 31 h calculates a difference DS obtained by subtracting the opening / closing speed of the back door 3 detected by the speed position calculating unit 31 a from the target speed. More specifically, the difference calculating unit 31 h calculates the difference DS using the following Equation 3 or the like. When this difference DS exceeds a predetermined third threshold value TH _3, the determination of the determination unit 31g and the like are performed. That is, the difference DS is when not exceed the third threshold value TH _3, average value compared with the AV _S and the first threshold value TH _1, and, compared with the average value AV _D and the second threshold value TH ₂ is performed Absent. Further, for example, by analyzing the vehicle experimental data closing inhibition of the back door 3, it is possible to obtain the third threshold value TH _3. In addition, acquisition of the said vehicle test data is performed changing the inclination angle of the road which parks the vehicle body 1, the weight of the back door 3, etc. FIG.

  The drive control unit 31i controls the electric motor 5 so that the back door 3 is stopped when it is determined by the determination unit 31 g that the opening and closing of the back door 3 is inhibited.

[Equation 3]

  Hereinafter, control when the back door 3 is opened will be described using the flowchart of FIG. 4.

  When the above control is started, first, at step S1, it is judged whether or not a door open operation signal is received from the door open switch 19. This step S1 is repeated until it is determined that the door open operation signal is received from the door open switch 19.

  Next, at step S2, an authentication process of the electronic key 26 is executed. In this authentication process, the control device 31 requests the BCM 25 to authenticate the electronic key 26. After making a request for transmission of the authentication code to the electronic key 26, the BCM 25 compares the authentication code received from the electronic key 26 with the regular code registered in advance, and the comparison means (not shown) compares the authentication code. The result is sent to the control device 31. If the authentication code matches the regular code, the control device 31 determines that the user has operated the door open switch 19, and the authentication process is completed. Go to step. When the authentication process ends in failure, or when the authentication code does not match the regular code, the control ends.

  Next, in step S3, a latch release signal for releasing the engagement between the latch and the striker 50 is output to the door latch device 20. Thereby, the latch motor 21 is driven.

  Next, in step S4, it is determined whether or not the latch is at a position (release position) in which the latch is not completely engaged with the striker 50. In other words, in step S4, it is determined whether or not the back door 3 can be safely opened. This step S4 is repeated until it is determined that the latch is in a position not fully engaged with the striker 50.

  Next, in step S5, a spindle drive mechanism is used to drive the PWM signal whose duty ratio has been adjusted by the feedback control unit 31c so as to approach the target speed corresponding to the current open / close position of the backdoor 3 so that the backdoor 3 is opened. The electric motor 5 of 4 is output.

Next, at step S6, it stores the current opening and closing speed of the back door 3 which is calculated by the speed position calculating unit 31a to the opening and closing speed storage unit 31b, and calculates the average value AV _S by the first average value calculation unit 31e. Further, the duty ratio of the adjusted pulse width modulation signal is stored in the duty ratio storage section 31d in step S5, and calculates the average value AV _D by the second average value calculating section 31f. Then, it is determined whether or not the average value AV _S is less than or equal to the first threshold TH ₁ , whether or not the average value A V _D is greater than or equal to the second threshold TH ₂ , and the difference DS is greater than or equal to the third threshold TH _3. And a determination as to whether or not At this time, when it is determined that the average value AV _S is not the first threshold TH ₁ or less, the average value AV _D is not the second threshold TH ₂ or more, or the difference DS does not exceed the third threshold TH ₃ , the back Assuming that there is no hindrance to the opening and closing of the door 3, the process proceeds to step S7.

  When the process proceeds to step S7, it is determined whether the position of the back door 3 is the fully open position based on the open / close position of the back door 3 calculated by the speed position calculation unit 31a. At this time, if it is determined that the position of the back door 3 is not the fully open position, the process returns to step S5. The repetition of the processes of steps S5 to S7 is performed every 10 ms, which is the same as the first time interval and the second time interval. The number of processes of steps S5 to S7 repeatedly executed is the number of times of detection of the opening / closing speed n and the number of times of detection of the duty ratio. On the other hand, when it is determined that the position of the back door 3 is the fully open position, the output of the PWM signal to the electric motor 5 of the spindle drive mechanism 4 is gradually stopped in step S8, and the above control is finished.

In step S6, the average value AV _S is equal to or less than the first threshold TH ₁ , and the average value A V _D is equal to or greater than the second threshold TH ₂ , and the difference DS exceeds the third threshold TH ₃ . If it is determined that there is an obstruction to the opening and closing of the back door 3, the process skips step S7 and proceeds to step S8.

Thus, in the determination in step S6, the average value AV _S calculated by the first average value calculation unit 31e, and the average value AV _D calculated by the second average value calculating unit 31f is used. Average value AV _S calculated by the first average value calculating unit 31e, when the opening and closing of the back door 3 is inhibited, showing a tendency to decrease. This is because when the opening and closing of the back door 3 is obstructed, the opening and closing speed of the back door 3 is sharply reduced. Therefore, the difference obtained by subtracting the opening and closing speed detected just before the opening and closing speed from the opening and closing speed of the back door 3 The reason is because Further, the average value AV _S of the difference between the opening and closing speeds calculated at each predetermined first time interval can smooth the influence of disturbance, noise and the like, and is calculated as a value indicating a decrease in the opening and closing speed of the back door 3 can do.

On the other hand, the average value AV _D calculated by the second average value calculating section 31f, when the opening and closing of the back door 3 is inhibited, showing a tendency to increase. This is because when the opening and closing of the back door 3 is obstructed, the opening and closing speed of the back door 3 is rapidly reduced and the difference with the target speed is gradually increased. When the difference between the opening / closing speed of the back door 3 and the target speed gradually increases, the feedback control unit 31 c causes the duty ratio of the PWM signal supplied to the electric motor 5 to make the opening / closing speed of the back door 3 approach the target speed. Gradually increase. Further, the average value A V _D of the difference of the duty ratio calculated at each predetermined second time interval can smooth the influence of disturbance, noise and the like, and is calculated as a value indicating a decrease in the opening / closing speed of the back door 3 can do.

Therefore, based on the determination of whether the average value AV _S is less than or equal to the first threshold TH ₁ and the determination whether the average value A V _D is greater than or equal to the second threshold TH ₂ , the backdoor 3 is opened and closed. The accuracy of this judgment is high when it is judged that As a result, it is possible to reduce an erroneous determination that the opening and closing of the back door 3 is inhibited.

  Here, as a case where the opening and closing of the back door 3 is hindered, for example, when the back door 3 rotates in the opening direction, foreign substances such as a human body are caught between the back wall of the vehicle body 1 and the back door 3 Or, the back door 3 may collide with the rear or upper wall. As another case, for example, when the back door 3 is pivoted in the closing direction, a foreign substance such as a human body may be caught between the vehicle body 1 and the back door 3.

  In addition, when it is determined that the opening and closing of the back door 3 is inhibited, the PWM signal is not supplied to the electric motor 5 of the spindle drive mechanism 4, so that the rotation of the back door 3 is stopped. Therefore, it is possible to prevent the state in which the back door 3 tries to keep rotating while holding the foreign matter.

Further, in the determination in step S6, if the difference DS calculated by the difference calculating unit 31h does not exceed the third threshold value TH _3, so are considered open and close the back door 3 is not inhibited, the opening and closing of the back door 3 It is possible to further enhance the reliability of the determination of whether or not

  Further, if the first time interval adopted by the first average value calculation unit 31e is made the same as the second time interval adopted by the second average value calculation unit 31f, it is possible to prevent the control from becoming complicated.

Further, since the first threshold value TH ₁ is set to a negative value, it is possible to reliably detect the decrease of the mean value AV _S.

On the other hand, since the second threshold value TH ₂ is set to a positive value, it is possible to reliably detect the increase of the average value AV _D.

  FIG. 5 is a graph showing data when it is determined by the back door opening and closing apparatus of the reference example whether or not the opening and closing of the back door 3 is inhibited. Moreover, FIG. 6 is a graph which shows data when it is determined by the back door opening and closing device 17 of the present embodiment whether or not the opening and closing of the back door 3 is inhibited. In addition, in FIG. 5, FIG. 6, inhibition generate | occur | produces at the same timing, and it is considered that opening and closing of the back door 3 is inhibited at time t 'and t.

The back door opening and closing apparatus of the above reference example determines the presence or absence of the blocking of the back door 3 using only the difference DS without using the average values AV _S and A V _D. That is, it is determined that the difference DS is just exceeds the threshold TH _'3, opening and closing of the back door 3 is inhibited. At this time, to increase the reliability of the determination, as shown in FIG. 5, the threshold value TH _'3 is set larger than the third threshold value TH _3.

Also, the determination can not be carried out in an open initial period T ₀ a large variation of the opening and closing speed of the back door 3. If, when the determination in the period T _0, can not be accurately determined whether the opening and closing of the back door 3 is inhibited. Accordingly, the back door opening and closing device of the reference example, the period T _o is a period for prohibiting the determination of the presence or absence of inhibition of the opening and closing of the back door 3.

On the other hand, since the back door opening and closing apparatus 17 of the present embodiment uses the average values AV _S and A V _D to determine whether or not the opening and closing of the back door 3 is blocked, as shown in FIG. ₃ can be reduced than the threshold value TH _'3. As a result, the time t becomes shorter than the time t ', and the back door opening and closing apparatus 17 of the present embodiment can detect the obstruction of the opening and closing of the back door 3 more quickly than the back door opening and closing apparatus of the reference example. .

In addition to the difference DS, the average value AV _S, if also used AV _D, even period T _o, the presence or absence of inhibition of the opening and closing of the back door 3 it can be determined accurately. Accordingly, the back door opening and closing device of the present embodiment, the period T _o is not a period for prohibiting the determination of the presence or absence of inhibition of the opening and closing of the back door 3.

  In the above embodiment, the opening / closing device of one embodiment of the present invention and the control method thereof are applied to the back door 3 of a car, but for example, it is applied to a motorized side door of a car, a power window, a sunroof, etc. May be That is, the side door, the power window, the sunroof, etc. may be an example of the opening / closing body. At this time, the opening / closing method of the side door, the power window, the sunroof, etc. may be, for example, a sliding type or a rotating type. In addition, the opening and closing device of one embodiment of the present invention and its control method may be applied to an automatic door of a building.

  In the above embodiment, although the case where the two first and second spindle drive mechanisms 4A and 4B are attached to the vehicle body 1 has been described, one or three or more drive mechanisms may be attached to the vehicle body 1. When one or three or more drive mechanisms are attached to the vehicle body 1, the same control as the control of the back door opening and closing device 17 may be performed.

  In the above embodiment, when the back door opening and closing device 17 rotates the back door 3 in the opening direction, it is determined whether the opening and closing of the back door 3 is obstructed or not. Also when turning, it may be determined whether the opening and closing of the back door 3 is obstructed. Even in this case, the same function and effect as the above embodiment can be obtained.

  In the above embodiment, the velocity position calculation unit 31a, the feedback control unit 31c, the first average value calculation unit 31e, the second average value calculation unit 31f, and the determination unit 31g are each configured by software, but at least one is , And may be configured by hardware.

In the above embodiment, in step S6, whether or not the determination whether the average value AV _S is the first threshold value TH ₁ or less, whether or not the determination whether the average value AV _D is the second threshold value TH ₂ or more, the difference DS is the of whether exceeds a third threshold value TH ₃ decision has been made, whether the difference DS exceeds the third threshold value TH ₃ determination may be changed to another decision.

In the above embodiment, it calculates the first average value AV _S using all of the opening and closing speed stored in the closing speed storage unit 31b in the first averaging time, it is not limited thereto, it may calculate the first average value AV _S using some of the plurality of opening and closing speed stored in the closing speed storage unit 31b in the first averaging time. For example, a plurality of opening and closing speed non-contiguous (e.g., thinned out closing speed _{S n, S n-1,} S n-2, S n-3, S -off speed from _{n-4 S n-1,} S n-3 things: S _n, from each of the _{S n-2, S n-} 4), based on the difference obtained by subtracting each of the previous opening and closing speed of the plurality of opening and closing speed, a first mean value of the difference is calculated It may be done.

In the above embodiment, the second average value AVD is calculated using all the duty ratios stored in the duty ratio storage unit 31 _d within the second average calculation time, but the present invention is not limited to this. The second average value AVD may be calculated using a part of the plurality of duty ratios stored in the duty ratio storage unit 31 _d within the second average calculation time. For example, a plurality of non-consecutive duty ratios (eg, D _m , D _{m -1} , D _{m -2} , D _{m -3} , D _m -4 and thinned switching speeds D _{m -1} , D _{n -3} ) The second average value of this difference is calculated based on the difference obtained by subtracting the duty ratio of one before this respective duty ratio from each of _Dm , _Dm-2 , Dn _-4 ). You may

  In the above embodiment, when it is determined that the opening and closing of the back door 3 is inhibited, the rotation of the back door 3 in the opening and closing direction is stopped, but the back door 3 may be reversed. In this case, the open / close direction of the back door 3 may be determined based on the PWM signal supplied to the electric motor 5 of the spindle drive mechanism 4.

  Although specific embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments and the modifications thereof, and can be implemented with various modifications within the scope of the present invention. For example, one in which part of the contents described in the above embodiment is deleted or replaced may be set as one embodiment of the present invention.

Reference Signs List 1 vehicle body 2 opening 3 back door 4 spindle drive mechanism 4A first spindle drive mechanism 4B second spindle drive mechanism 5 electric motor 6 first housing 7 second housing 8 reduction gear mechanism 9 spindle 10 spindle nut 11 push rod 12 coil spring 13 outer cylinder 14 inner cylinder 15 rotation sensor 17 back door opening / closing device 18 door closing switch 19 door opening switch 20 door latch device 21 latch motor 22 full latch switch 23 half latch switch 24 release switch 25 BCM
26 electronic key 50 striker 31 control device 31a speed position calculation unit 31b opening / closing speed storage unit 31c feedback control unit 31d duty ratio storage unit 31e first average value calculation unit 31f second average value calculation unit 31g determination unit 31h difference calculation unit 31i drive Control unit

Claims (6)

An opening and closing member for opening and closing an opening provided in the object;
A driving unit that generates a driving force for opening and closing the opening and closing body;
An opening / closing speed detection unit that detects the opening / closing speed of the opening / closing body;
An opening / closing speed storage unit which stores the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit at predetermined first time intervals;
A feedback control unit that adjusts a duty ratio of a pulse width modulation signal supplied to the drive unit such that the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit approaches a predetermined target speed;
A duty ratio storage unit which stores the duty ratio of the pulse width modulation signal adjusted by the feedback control unit at predetermined second time intervals;
Each of the plurality of opening / closing speeds stored by the opening / closing speed storage unit from the time when the opening / closing speed storage unit stores the latest opening / closing speed to before the predetermined first average calculation time, and the respective opening / closing speeds A first average value calculation unit that calculates a difference between the opening / closing speed stored before and the first average value of the difference;
Each of the plurality of duty ratios stored by the duty ratio storage unit from the time when the duty ratio storage unit stores the latest duty ratio to before the second predetermined average calculation time, and the respective duty ratios A second average value calculation unit that calculates a second average value of the difference from the duty ratio stored before
A determination unit that determines that the opening / closing of the opening / closing body is inhibited when the first average value is equal to or less than a predetermined first threshold and the second average value is equal to or more than a predetermined second threshold;
And a drive control unit configured to control the drive unit such that the open / close body is stopped or reversed when it is determined that the open / close operation of the open / close body is inhibited. In the switchgear according to claim 1,
A difference calculating unit configured to calculate a difference obtained by subtracting the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit from the target speed;
An opening / closing device characterized in that the determination of the determination unit is performed when the difference calculated by the difference calculation unit exceeds a predetermined third threshold. In the switchgear according to claim 1 or 2,
A switching device, wherein the first time interval is the same as the second time interval. In the switchgear according to any one of claims 1 to 3,
A switching device, wherein the first threshold is set to a negative value, and the second threshold is set to a positive value. In the switchgear according to any one of claims 1 to 4,
The object is a vehicle,
The opening and closing device is characterized in that the opening and closing body is a door provided in the vehicle. An opening / closing device comprising an opening / closing body for opening / closing an opening provided in an object, a drive unit for generating a driving force for opening / closing the opening / closing body, and an opening / closing speed detection unit for detecting the opening / closing speed of the opening / closing body Control method of
The opening / closing speed storage unit stores the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit at predetermined first time intervals,
Adjusting a duty ratio of a pulse width modulation signal supplied to the drive unit such that the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit approaches a predetermined target speed;
Storing the duty ratio of the pulse width modulation signal in the duty ratio storage unit at predetermined second time intervals;
Each of the plurality of opening / closing speeds stored by the opening / closing speed storage unit from the time when the opening / closing speed storage unit stores the latest opening / closing speed to before the predetermined first average calculation time, and the respective opening / closing speeds Calculate the first average value of the difference with the opening / closing speed stored before
Each of the plurality of duty ratios stored by the duty ratio storage unit from the time when the duty ratio storage unit stores the latest duty ratio to before the second predetermined average calculation time, and the respective duty ratios Calculate the second average value of the difference with the duty ratio stored before
When the first average value is equal to or less than a predetermined first threshold value and the second average value is equal to or more than a predetermined second threshold value, it is determined that the opening / closing of the opening / closing body is inhibited.
A control method of a switchgear, wherein the drive unit is controlled such that the switcher is stopped or reversed when it is determined that the switcher is inhibited from opening or closing.

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