JP2020125671A - Opening/closing system - Google Patents

Abstract

To suppress imparting trouble to a user.SOLUTION: The opening/closing system comprises: a switch; a motor that opens/closes an opening/closing component; and a control device that controls the motor according to an operation signal outputted from the switch. The control device includes: a counting unit that counts an operation frequency of the switch; a rotation amount detection unit that detects a rotation amount of a rotation shaft of the motor; a lock detection unit that detects locking in a closing operation of the opening/closing component; a position calculation unit that calculates an opening/closing position of the opening/closing component based on the rotation amount; an error calculation unit that calculates an error Δ of the opening/closing position corresponding to the operation frequency; and a motor control unit that, when the locking is detected, closes the opening/closing component to a fully closed position when an expression {x<(b-Δ)} is satisfied, and reverses the opening/closing component when the expression {x>(b+Δ)} is satisfied, where x is the opening/closing position of the opening/closing component corresponding to a distance from the fully closed position to an upper edge of the opening/closing component, and b is the distance from the fully closed position to a bottom edge of a non-reversal region.SELECTED DRAWING: Figure 5

Description

The present invention relates to an opening/closing system.

Conventionally, for example, in a power window device mounted on a vehicle such as an automobile, as a control method for controlling the opening/closing operation of a window, when the object is caught by the window, the opening/closing operation of the window is reversed to A control method (hereinafter, referred to as “entrapment prevention control”) for preventing the entrapment of the sheet is known.

Further, regarding such a power window device, in Patent Document 1 below, when the opening/closing position of the upper end of the window is above a boundary position set near the fully closed position, the window is completely closed. In order to be able to do so, the technique of invalidating the entrapment prevention control is disclosed. Patent Document 1 below also discloses a technique of detecting the rotation amount of the motor based on the number of ripple components generated in the current flowing through the motor and calculating the opening/closing position of the window based on the rotation amount. There is.

JP, 2008-3427, A

By the way, in the technique disclosed in Patent Document 1, since the rotation amount of the motor is detected based on the current flowing through the motor, an error in the opening/closing position of the window is accumulated every time the opening/closing operation of the window is performed. Therefore, it is not possible to accurately determine the boundary position for invalidating the trapping prevention control, which may cause the window to malfunction. Therefore, conventionally, in order to avoid such a malfunction, the opening/closing position of the window is reset when the opening/closing position of the window reaches the fully opened position or the fully closed position, and the number of times of the window opening/closing operation exceeds a predetermined number. In this case, a technique has been devised that invalidates the automatic opening/closing operation of the window until the opening/closing position of the window is reset. However, with this technology, the automatic opening/closing operation of the window is invalidated every time the number of times of operation exceeds a predetermined number, so that the window cannot be opened/closed as the user thinks and the user is bothered. There is a risk of giving.

An opening/closing system according to an embodiment is an opening/closing system that controls opening/closing operations of an opening/closing member, and includes a switch, a motor for opening/closing the opening/closing member, and a control for controlling a motor according to an operation signal output from the switch. The control device includes a device, a counting unit that counts the number of times the switch is operated, a rotation amount detection unit that detects the rotation amount of the rotation shaft of the motor, and a lock detection unit that detects a lock during the closing operation of the opening/closing member. , A position calculation unit that calculates the open/closed position of the open/close member based on the rotation amount, an error calculation unit that calculates the error Δ of the open/closed position according to the number of operations, and a formula {x< When (b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and when the expression {x>(b+Δ)} is satisfied, the opening/closing member is reversed. However, x represents the opening/closing position of the opening/closing member according to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-inverting region.

According to one embodiment, it is possible to prevent the user from being bothered.

The figure which shows the system configuration of the opening/closing system which concerns on one Embodiment of this invention. The figure which shows the hardware constitutions of the microcomputer which concerns on one Embodiment of this invention. The figure which shows the function structure of the microcomputer which concerns on one Embodiment of this invention. 1 is a flowchart showing a first example of procedures of a control method by a microcomputer according to an embodiment of the present invention. The figure which shows an example of the opening/closing operation of the window by control of the microcomputer which concerns on one Embodiment of this invention. The flowchart which shows the 2nd example of the procedure of the control method by the microcomputer which concerns on one Embodiment of this invention. 3 is a flowchart showing a third example of the procedure of the control method by the microcomputer according to the embodiment of the present invention. The flowchart which shows the 4th example of the procedure of the control method by the microcomputer which concerns on one Embodiment of this invention. FIG. 3 is a diagram showing an example of calculating an error Δ by a microcomputer according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of calculating an error Δ by a microcomputer according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of calculating an error Δ by a microcomputer according to an embodiment of the present invention. The flowchart which shows the 5th example of the procedure of the control method by the microcomputer which concerns on one Embodiment of this invention. The figure which shows an example of the control profile of the drive voltage of the motor by the microcomputer which concerns on one Embodiment of this invention. The figure showing the relationship between the battery voltage and the backlash generation amount in the switching system according to the embodiment of the present invention.

An embodiment will be described below with reference to the drawings.

(System configuration of opening/closing system 1)
FIG. 1 is a diagram showing a system configuration of an opening/closing system 1 according to an embodiment of the present invention. The opening/closing system 1 shown in FIG. 1 is a system for controlling a power window device 50 provided in a vehicle. By controlling the operation of a motor 54 provided in the power window device 50, a window 52 provided in the power window device 50. It is a system for controlling the opening/closing operation of (an example of an "opening/closing member").

As shown in FIG. 1, the window 52 is provided so as to be openable and closable in the vertical direction with respect to the window frame 2A of the door 2 provided in the vehicle. In addition, when the vehicle includes the power window device 50 in each of the plurality of doors 2, the opening/closing system 1 includes a plurality of power window devices by providing each component shown in FIG. 1 for each power window device 50. Similar control can be performed for each of the 50.

As shown in FIG. 1, the switching system 1 includes a motor drive circuit 10, a voltage detection circuit 20, a current detection circuit 30, a switch 40, and a microcomputer 100.

The switch 40 is a device that is operated by a user to open and close the window 52. For example, the switch 40 is provided at a position (for example, a door, a center console, etc.) that can be operated by the user in the vehicle. The switch 40 can perform an opening operation, an automatic opening operation, a closing operation, and an automatic closing operation. When the user performs any operation, the switch 40 outputs an operation signal corresponding to the operation to the microcomputer 100.

The microcomputer 100 is an example of a “control device” and a “computer”. When the user performs a switch operation on the switch 40, the microcomputer 100 supplies a control signal to the motor drive circuit 10 according to the switch operation to control the operation of the motor 54 to open/close the window 52. .. At this time, the microcomputer 100 can determine whether the pinch by the window 52 has occurred by a known determination technique. When the microcomputer 100 determines that the window 52 is pinched, the microcomputer 100 can perform predetermined pinch prevention control on the window 52.

The motor drive circuit 10 drives the motor 54 by applying a drive voltage to the motor 54 according to a control signal supplied from the microcomputer 100. In the example shown in FIG. 1, the motor drive circuit 10 includes four switch elements 11 to 14 that form a full bridge circuit. The switch element 11 and the switch element 12 are connected in series between the output voltage Vb of the battery and the ground. The switch element 13 and the switch element 14 are connected in series between the output voltage Vb of the battery and the ground, and are provided in parallel with the switch element 11 and the switch element 12. One input terminal of the motor 54 is connected between the switch element 11 and the switch element 12. The other input terminal of the motor 54 is connected between the switch element 13 and the switch element 14. The motor drive circuit 10 controls the switching operation of the four switch elements 11 to 14 according to the control signal supplied from the microcomputer 100, so that the rotary shaft of the motor 54 is connected to the two input terminals of the motor 54. Drive voltages having different polarities can be applied in accordance with the rotation direction (that is, the opening/closing operation direction of the window 52 ).

The motor 54 has a rotation shaft that rotates in a rotation direction according to the polarities of drive voltages applied to the two input terminals. As a result, the motor 54 opens and closes the window 52. As the motor 54, for example, a DC motor is used.

The voltage detection circuit 20 detects the output voltage Vb of the battery and outputs a voltage signal representing the output voltage Vb of the battery. In the example shown in FIG. 1, the voltage detection circuit 20 includes an amplification unit 21 and an A/D converter 23. The amplifier 21 amplifies the output voltage Vb of the battery with a predetermined gain. The A/D converter 23 outputs a digital signal representing the voltage output from the amplifier 21 as a signal representing the output voltage Vb of the battery.

The current detection circuit 30 is an example of “current detection means”, detects the current Im flowing through the motor 54, and outputs a current signal representing the current Im flowing through the motor 54. In the example shown in FIG. 1, the current detection circuit 30 includes a shunt resistor RS, an amplification unit 31, a filter unit 32, and an A/D converter 33. The shunt resistor RS is provided in the current path between the motor drive circuit 10 and the ground. The amplifier 31 amplifies the voltage generated in the shunt resistor RS with a predetermined gain. The filter unit 32 removes the switching frequency component from the voltage output from the amplification unit 31. The A/D converter 33 outputs a digital signal representing the voltage output from the filter unit 32 as a signal representing the current Im flowing through the motor 54.

(Hardware configuration of the microcomputer 100)
FIG. 2 is a diagram showing a hardware configuration of the microcomputer 100 according to the embodiment of the present invention. As shown in FIG. 2, the microcomputer 100 includes a CPU (Central Processing Unit) 121, a ROM (Read Only Memory) 122, a RAM (Random Access Memory) 123, and an external I/F (Interface) 125. The hardware is connected to each other via a bus 126.

The CPU 121 controls the operation of the microcomputer 100 by executing various programs stored in the ROM 122. The ROM 122 is a non-volatile memory. For example, the ROM 122 stores a program executed by the CPU 121, data necessary for the CPU 121 to execute the program, and the like. The RAM 123 is a main storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). For example, the RAM 123 functions as a work area used when the CPU 121 executes a program. The external I/F 125 controls input/output of data with respect to the motor drive circuit 10, the voltage detection circuit 20, the current detection circuit 30, and the switch 40.

(Functional configuration of the microcomputer 100)
FIG. 3 is a diagram showing a functional configuration of the microcomputer 100 according to the embodiment of the present invention. As illustrated in FIG. 3, the microcomputer 100 includes an operation signal acquisition unit 101, a voltage value acquisition unit 102, a current value acquisition unit 103, a rotation amount detection unit 104, a position calculation unit 105, a rotation load calculation unit 106, and a lock detection unit 107. The counter 108, the error calculator 109, and the motor controller 110.

Note that each function of the microcomputer 100 shown in FIG. 3 is realized by the CPU 121 executing a program stored in the ROM 122 in the microcomputer 100, for example. This program may be provided in a state of being installed in the microcomputer 100 in advance, or may be provided from the outside and installed in the microcomputer 100. In the latter case, this program may be provided by an external storage medium (eg, USB memory, memory card, CD-ROM, etc.), or by being downloaded from a server on a network (eg, the Internet). You may do it.

The operation signal acquisition unit 101 acquires the operation signal output from the switch 40. For example, the switch 40 can perform an opening operation, an automatic opening operation, a closing operation, and an automatic closing operation. When the user operates any of the switches 40, the switch 40 outputs an operation signal corresponding to the operation. Then, the operation signal acquisition unit 101 acquires the operation signal output from the switch 40.

The voltage value acquisition unit 102 acquires the voltage signal output from the voltage detection circuit 20 and indicating the output voltage Vb of the battery. The current value acquisition unit 103 acquires the current signal output from the current detection circuit 30 and indicating the current Im flowing through the motor 54.

The rotation amount detection unit 104 detects the rotation amount of the rotation shaft of the motor 54 based on the current signal acquired by the current value acquisition unit 103. Specifically, the rotation amount detection unit 104, based on the current signal acquired by the current value acquisition unit 103, a signal of a frequency component that is included in the current Im flowing through the motor 54 and is obtained in advance as a ripple component. To detect. The ripple component is generated in the current Im flowing through the motor 54 every time the rotating shaft of the motor 54 rotates by a certain angle. Therefore, the rotation amount detection unit 104 can detect the rotation amount of the rotation shaft of the motor 54 based on the number of ripple components included in the current Im flowing through the motor 54. In this embodiment, the number of generated ripple components is used as it is as a value representing the rotation amount of the rotation shaft of the motor 54.

The position calculation unit 105, based on the rotation amount of the rotation shaft of the motor 54 detected by the rotation amount detection unit 104 (in the present embodiment, represented by the number of generated ripple components), the opening/closing position of the window 52 (window The height position in the frame 2A) is calculated. For example, in the present embodiment, the movement amount of the window 52 is proportional to the rotation amount of the rotation shaft of the motor 54 (that is, the number of ripple components generated). Therefore, in the present embodiment, the count value of the ripple component is used as it is as a value indicating the opening/closing position of the window. Specifically, in the present embodiment, when the window 52 is at the fully closed position, the count value of the ripple component representing the open/closed position of the window 52 is set to “0”, and the window 52 moves downward along with the opening operation. The count value of the ripple component representing the open/closed position of the window 52 is gradually increased. The position calculation unit 105 adds (in the case of opening operation) or subtracts (in the case of closing operation) the number of ripple components generated during the opening/closing operation from the count value of the ripple component representing the opening/closing position of the window 52 before the opening/closing operation. By doing so, the count value of the ripple component representing the open/close position of the window 52 after the open/close operation can be calculated. Therefore, every time the position calculation unit 105 calculates the count value of the ripple component representing the open/closed position of the window 52 after the opening/closing operation, the count value is stored in the memory included in the microcomputer 100.

The position calculation unit 105 resets the open/closed position of the window 52 when the window 52 reaches the fully closed position and when the window 52 reaches the fully opened position. Specifically, when the window 52 reaches the fully closed position, the position calculation unit 105 sets “0” to the count value of the ripple component indicating the open/closed position of the window 52. Further, when the window 52 reaches the fully opened position, the position calculation unit 105 sets a predetermined maximum value as the count value of the ripple component representing the open/closed position of the window 52. Accordingly, the position calculation unit 105 can reset the error Δ of the opening/closing position of the window 52. When the window 52 reaches the fully closed position and when the window 52 reaches the fully open position, the counting unit 108 sets the operation number N of the switch 40 to 0, thereby operating the switch 40. The number of times N is reset. As a result, the error Δ calculated by the error calculation unit 109 according to the number of operations N is also reset.

The rotational load calculation unit 106 calculates the rotational load of the rotating shaft of the motor 54 based on the current signal acquired by the current value acquisition unit 103. In the present embodiment, the rotational load calculation unit 106 calculates the drive torque τ of the motor 54 as a value representing the rotational load of the rotary shaft of the motor 54. This is because the driving torque τ of the motor 54 increases as the rotational load on the rotating shaft of the motor 54 increases. For example, the rotational load calculation unit 106 calculates the expression {τ=Kt×Im based on the current Im flowing through the motor 54 detected by the current detection circuit 30 which is specified by the current signal acquired by the current value acquisition unit 103. The driving torque τ of the motor 54 is calculated from −Tm}. However, Kt and Tm are constants specific to the motor 54.

The lock detector 107 detects a lock when the window 52 is closed. For example, the lock detection unit 107 determines that “the closing operation of the window 52 is locked” when the driving torque τ of the motor 54 calculated by the rotational load calculation unit 106 is equal to or larger than a predetermined threshold. The lock detection unit 107 determines that “the closing operation of the window 52 is locked” when the position of the window 52 does not change for a predetermined time or longer even though the motor control unit 110 controls the motor 54. May be.

The counting unit 108 counts the number of times N the switch 40 has been operated. For example, the counting unit 108 stores the number of operations N of the switch 40, and adds 1 to the number of operations N each time the operation signal acquisition unit 101 acquires an operation signal.

The error calculator 109 calculates an error Δ in the opening/closing position of the window 52 according to the number of times N the switch 40 has been operated. For example, the error calculation unit 109 calculates the error Δ of the opening/closing position of the window 52 by the following mathematical expression (1). Here, σ represents the standard deviation of the error in the opening/closing position of the window 52 per operation of the switch 40, and C and D represent predetermined constants.

Not limited to this, the error calculation unit 109 uses the following mathematical expressions (2) and (3) or other mathematical expressions (at least, the error Δ increases as the number of operations N increases) to open and close the window 52. The error Δ of may be calculated.

Δ=D・N・・・(2)

Δ=C·N^D (3)

The motor control unit 110 controls the opening/closing operation of the window 52 by supplying a control signal to the motor drive circuit 10 and controlling the motor 54 according to the operation signal acquired by the operation signal acquisition unit 101.

For example, the motor control unit 110 performs the closing operation of the switch 40 when the operation signal acquiring unit 101 acquires an operation signal corresponding to the closing operation of the window 52 (hereinafter, referred to as “closing operation signal”). Meanwhile, the window 52 is closed by supplying a control signal for rotating the rotating shaft of the motor 54 in the first direction (direction for closing the window) to the motor drive circuit 10.

Further, the motor control unit 110 performs the opening operation of the switch 40 when the operation signal acquisition unit 101 acquires an operation signal corresponding to the opening operation of the window 52 (hereinafter, referred to as an “open operation signal”). During this period, a control signal for rotating the rotation shaft of the motor 54 in the second direction (the direction of opening the window, which is the opposite direction to the direction of closing the window) opposite to the first direction is supplied to the motor drive circuit 10. To open the window 52.

Further, when the operation signal acquisition unit 101 acquires an operation signal corresponding to the automatic closing operation of the window 52 (hereinafter, referred to as “automatic closing operation signal”), the motor control unit 110 determines that the window 52 is in the fully closed state. Until then, the control signal for rotating the rotation shaft of the motor 54 in the first direction (direction for closing the window) is supplied to the motor drive circuit 10 to automatically close the window 52.

Further, when the operation signal acquisition unit 101 acquires an operation signal corresponding to the automatic opening operation of the window 52 (hereinafter, referred to as an “automatic opening operation signal”), the motor control unit 110 causes the window 52 to be in a fully opened state. Until then, the window 52 is automatically opened by supplying a control signal for rotating the rotation shaft of the motor 54 in the second direction (direction for opening the window) to the motor drive circuit 10.

For example, the motor control unit 110 calculates the effective voltage value Ve based on the output voltage Vb of the battery acquired by the voltage value acquisition unit 102, and outputs the drive voltage of the effective voltage value Ve via the motor drive circuit 10. By applying to the motor 54, the output of the motor 54 is controlled.

The motor control unit 110 causes the window 52 to reverse when the lock is detected by the lock detection unit 107 while the window 52 is closing and the window is in the non-reversal region. However, the motor control unit 110 does not invert the window 52 even when the open/close position of the window 52 is in the non-inversion region and the lock is detected by the lock detection unit 107. It is considered that this lock is caused by the window 52 coming into contact with the weather strip. The non-inverting region is a region provided below the fully closed position with a predetermined width, and is a region in which the entrapment prevention control is not performed.

Here, in the present embodiment, the motor control unit 110 controls the opening/closing operation of the window 52 in consideration of the error Δ of the opening/closing position of the window 52 when the lock is detected by the lock detection unit 107.

For example, when the lock is detected by the lock detection unit 107, the motor control unit 110 closes the window 52 to the fully closed position when the expression {x<(b−Δ)} is satisfied.

In addition, for example, when the lock is detected by the lock detection unit 107, the motor control unit 110 causes the window 52 to perform an inversion operation when the expression {x>(b+Δ)} is satisfied.

Further, for example, when the lock detection unit 107 detects the lock, the motor control unit 110 opens the window 52 when both the expression {x≧(b−Δ)} and the expression {x≦(b+Δ)} are satisfied. The reverse operation is performed and the subsequent automatic closing operation of the window 52 is prohibited.

In each of the above equations, x represents the number of ripple component counts indicating the opening/closing position of the window 52, and b represents the distance from the fully closed position to the lower end of the non-inverting region (that is, the vertical width of the non-inverting region). , Δ represent the error of the opening/closing position of the window 52 calculated by the error calculating unit 109.

Note that the fully closed position of the window 52 (that is, the position where the count value of the ripple component is 0) may vary depending on the amount of biting into the weather strip (not shown) provided at the upper end of the window frame 2A of the window 52. .. Therefore, for example, the fully closed position of the window 52 is defined as the upper end portion of the window 52 when the upper end portion of the window 52 bites into the groove of the weather strip by a predetermined amount (eg, minimum amount, maximum amount, average amount, etc.). The position may be set to. At this time, the fully closed position of the window 52 is preferably set to an appropriate value according to individual difference for each window 52.

Further, the distance b to the lower end of the non-inverted region may also change depending on the amount of the window 52 biting into the weather strip. For example, the distance b is set such that the weather strip has a predetermined amount (for example, a minimum amount, a maximum amount, or the like) with an object having a predetermined thickness (for example, 4 mm) sandwiched between the upper end of the window 52 and the lower end of the weather strip. (Large amount, average amount, etc.) The position of the upper end of the window 52 when crushed may be set. It is preferable that b is set to an appropriate value for each window 52 according to the individual difference.

When the number of operations N reaches a predetermined number, or when the expression {Δ>b} is satisfied, the motor control unit 110 opens the window 52 to the fully open position, and the counting unit 108 causes the number of operations to be performed. N may be reset and the position calculation unit 105 may reset the open/close position x.

Here, when the expression {Δ>b} is satisfied while the window 52 is performing the automatic closing operation, the motor control unit 110 causes the window 52 to open to the fully open position, and the number of operations N and the opening/closing position. The window 52 may be closed to the fully closed position after x is reset.

If the expression {Δ>b} is satisfied when the window 52 is performing an opening/closing operation other than the automatic opening/closing operation, the motor control unit 110 causes the window 52 to open to the fully open position, and the window at that time is opened. The movement amount ΔP of 52 is stored, and after the number of operations N and the opening/closing position x are reset, the window 52 is returned by ΔP so that the window 52 is returned to the position at the start of the opening/closing operation. Good.

In addition, when the expression {Δ>b} is satisfied while the window 52 is performing the automatic opening operation, the motor control unit 110 opens the window 52 to the fully open position, and the operation count N and the opening/closing position x. After the reset is performed, the window 52 may be retained in the fully open position as it is.

(Procedure of control method by microcomputer 100 (first example))
FIG. 4 is a flowchart showing a first example of a procedure of a control method by the microcomputer 100 according to the embodiment of the present invention.

First, the microcomputer 100 sets the error Δ of the opening/closing position according to the number of operations of the window 52 to 0, and also sets the number of operations N of the switch 40 to 0 (step S401).

Next, the operation signal acquisition unit 101 determines whether or not the automatic closing operation signal has been acquired from the switch 40 (step S402). When it is determined in step S402 that "the automatic closing operation signal has not been acquired" (step S402: No), the microcomputer 100 executes the process of step S402 again.

On the other hand, when it is determined in step S402 that “the automatic closing operation signal has been acquired” (step S402: Yes), the counting unit 108 adds 1 to the number of operations N (step S403).

Next, the lock detector 107 determines whether or not the lock in the closing operation of the window 52 is detected (step S404).

When it is determined in step S404 that "the lock in the closing operation of the window 52 is not detected" (step S404: No), the microcomputer 100 executes the determination process of step S404 again.

On the other hand, when it is determined in step S404 that "the lock in the closing operation of the window 52 is detected" (step S404: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S405). Then, the error calculation unit 109 calculates the error Δ of the opening/closing position of the window 52 according to the number of times N the switch 40 has been operated (step S406).

Subsequently, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S407).

When it is determined in step S407 that “the expression {(x<(b−Δ)} is satisfied” (step S407: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S408). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, when it is determined in step S407 that the expression {(x<(b-Δ)} is not satisfied (step S407: No), the motor control unit 110 satisfies the expression {x>(b+Δ)}. It is determined whether or not (step S409).

When it is determined in step S409 that “the expression {(x>(b+Δ)} is satisfied” (step S409: Yes), the motor control unit 110 reverses the window 52 (step S410) and the microcomputer 100. Returns the process to step S402.

On the other hand, when it is determined in step S409 that “the expression {(x>(b+Δ)} is not satisfied” (step S409: No), the motor control unit 110 reverses the window 52 (step S411). The motor control unit 110 prohibits the automatic closing operation of the window 52 (step S412), and the microcomputer 100 returns the process to step S402.

According to this control method, when the window 52 is locked in a region where it is possible to determine whether or not an object is pinched, the window 52 is closed to the fully closed position, or the window 52 is inverted. Can be operated. On the other hand, according to this control method, when the window 52 is locked in an area where it is difficult to determine whether or not an object is trapped, safety is emphasized and the window 52 is inverted, and thereafter, The automatic closing operation of can be prohibited. According to this control method, the automatic opening/closing operation of the window is invalidated every time the error exceeds a predetermined value, and the automatic opening/closing operation is continuously performed without impairing safety as compared with the conventional control method. Therefore, it is possible to prevent the user from being bothered.

(Example of opening/closing operation of the window 52)
FIG. 5 is a diagram showing an example of the opening/closing operation of the window 52 under the control of the microcomputer 100 according to the embodiment of the present invention. In FIG. 5, x1 to x4 respectively indicate the first to fourth examples of the opening/closing position x of the window 52 when the closing operation of the window 52 is locked. Further, in FIG. 5, the range from the position where the error Δ is added upward to the position where the error Δ is added downward is hatched with reference to the position b at the lower end of the non-inversion region. ..

As shown by x1 in FIG. 5, when the position x of the upper end portion of the window 52 is further above the position where the error Δ is added upward with respect to the position b of the lower end portion of the non-inverting region (that is, The expression {(x<(b−Δ)} is satisfied), and the window 52 is closed to the fully closed position under the control of the motor control unit 110. In this case, even if the error Δ is taken into consideration, the object is pinched. This is because there is a low possibility that

Further, as indicated by x4 in FIG. 5, when the position x of the upper end portion of the window 52 is lower than the position where the error Δ is added downward with reference to the position b of the lower end portion of the non-inversion area ( That is, when the expression {(x>(b+Δ)} is satisfied), the window 52 reverses under the control of the motor control unit 110. In this case, the object is pinched even if the error Δ is taken into consideration. This is because it is considered highly likely.

On the other hand, as indicated by x2 and x3 in FIG. 5, the position x of the upper end portion of the window 52 is based on the position b of the lower end portion of the non-inverted region, and a position where an error Δ is added to the upper position and an error Δ below the position are added. When the position is within the range of the position added with (that is, when both the expression {(x≧(b−Δ)} and the expression {(x≦(b+Δ)} are satisfied), by the control of the motor control unit 110, , The window 52 is reversed and the subsequent automatic closing operation is prohibited.In this case, it is difficult to determine whether or not the object is pinched in consideration of the error Δ, and therefore, This is because, with emphasis on safety, the window 52 is reversed and the subsequent automatic closing operation is prohibited.

(Procedure of control method by microcomputer 100 (second example))
FIG. 6 is a flowchart showing a second example of the procedure of the control method by the microcomputer 100 according to the embodiment of the present invention.

First, the microcomputer 100 sets 0 to the error Δ of the window 52, 0 to the number of operations N of the switch 40, and False to the unknown inversion variable m (step S601).

Next, the operation signal acquisition unit 101 determines whether or not an automatic closing operation signal has been acquired from the switch 40 (step S602). When it is determined in step S602 that "the automatic closing operation signal has not been acquired" (step S602: No), the microcomputer 100 executes the process of step S602 again.

On the other hand, when it is determined in step S602 that “the automatic closing operation signal has been acquired” (step S602: Yes), the counting unit 108 adds 1 to the number of operations N (step S603).

Next, the lock detector 107 determines whether or not the lock in the closing operation of the window 52 is detected (step S604).

When it is determined in step S604 that "the lock in the closing operation of the window 52 has not been detected" (step S604: No), the microcomputer 100 executes the determination process of step S604 again.

On the other hand, when it is determined in step S604 that "the lock in the closing operation of the window 52 is detected" (step S604: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S605). Then, the error calculation unit 109 calculates the error Δ of the opening/closing position of the window 52 according to the number of times N the switch 40 has been operated (step S606).

Subsequently, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S607).

When it is determined in step S607 that “the expression {(x<(b−Δ)} is satisfied” (step S607: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S608). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, when it is determined in step S607 that the expression {(x<(b-Δ)} is not satisfied (step S607: No), the motor control unit 110 satisfies the expression {x>(b+Δ)}. It is determined whether or not (step S609).

When it is determined in step S609 that “the expression {(x>(b+Δ)} is satisfied” (step S609: Yes), the motor control unit 110 reverses the window 52 (step S610), and the microcomputer 100. Returns the process to step S602.

On the other hand, when it is determined in step S609 that “the expression {(x>(b+Δ)} is not satisfied” (step S609: No), the motor control unit 110 determines whether the unknown inversion variable m is set to True. When it is determined in step S611 that "True is set in the unknown inversion variable m" (step S611: Yes), the motor control unit 110 causes the motor controller 110 to open/close the window 52 at the open/close position x. Is determined to be the same as the previous lock position (step S612).

When it is determined in step S612 that "the opening/closing position x of the window 52 is the same as the previous locked position" (step S612: Yes), the motor control unit 110 closes the window 52 to the fully closed position ( Step S608). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, when it is determined in step S611 that "True is not set in the unknown inversion variable m" (step S611: No), or in step S612, "the opening/closing position x of the window 52 is the previous lock position". When it is determined that they are not the same (step S612: No), the motor control unit 110 reverses the window 52 (step S613). Further, the motor control unit 110 sets True to the unknown inversion variable m (step S614). Then, the microcomputer 100 returns the processing to step S602.

According to this control method, even if the window 52 is locked in an area where it is difficult to determine whether or not an object is trapped, the position where the window 52 is locked is locked in the previous automatic closing operation. When it is the same as the above, the window 52 can be closed to the fully closed position. In this case, it is considered highly possible that the window 52 is not locked by being pinched by the object, but is locked by the window 52 coming into contact with the weather strip. Therefore, according to this control method, it is possible to highly accurately determine the lock of the window 52 during the closing operation, and it is possible to suppress the malfunction during the closing operation of the window 52.

(Procedure of control method by microcomputer 100 (third example))
FIG. 7 is a flowchart showing a third example of the procedure of the control method by the microcomputer 100 according to the embodiment of the present invention.

First, the microcomputer 100 sets 0 to the number of operations N of the switch 40 (step S701).

Next, the operation signal acquisition unit 101 determines whether an operation signal has been acquired from the switch 40 (step S702). When it is determined in step S702 that “the operation signal has not been acquired” (step S702: No), the microcomputer 100 executes the process of step S702 again.

On the other hand, when it is determined in step S702 that “the operation signal has been acquired” (step S702: Yes), the counting unit 108 adds 1 to the number of operations N, and the position calculation unit 105 sets the variable P1 to the variable P1. The opening/closing position of the window 52 at the start of the operation is set (step S703).

Next, the lock detector 107 determines whether or not the lock in the automatic closing operation of the window 52 is detected (step S704).

When it is determined in step S704 that "the lock in the automatic closing operation of the window 52 is not detected" (step S704: No), the error calculation unit 109 determines whether the opening/closing operation of the window 52 is completed. Yes (step S713).

When it is determined in step S713 that the opening/closing operation of the window 52 is not completed (step S713: No), the microcomputer 100 returns the process to step S704.

On the other hand, when it is determined in step S713 that the opening/closing operation of the window 52 is completed (step S713: Yes), the error calculation unit 109 causes an error in the opening/closing position of the window 52 according to the number of times N the switch 40 has been operated. Δ is calculated (step S714).

Then, the motor control unit 110 determines whether or not the expression {Δ>b} is satisfied (step S715). When it is determined in step S715 that “the expression {Δ>b} is not satisfied” (step S715: No), the microcomputer 100 returns the process to step S702.

On the other hand, when it is determined in step S715 that “the expression {Δ>b} is satisfied” (step S715: Yes), the motor control unit 110 opens the window 52 to the fully open position (step S716). Then, the motor control unit 110 sets the variable P2 to the open/closed position x of the window 52 at the fully open position, the variable ΔP to the moving amount of the window 52 obtained by P2-P1, and the position calculation unit 105. Resets the opening/closing position x by setting the opening/closing position x of the window 52 to a predetermined value corresponding to the lower end position of the window (step S717).

Subsequently, the motor control unit 110 closes the window 52 by ΔP, thereby returning the window 52 to the open/close position at the time of starting the open/close operation (step S718). Further, the counting unit 108 sets the number of operations N to 1 (step S719). Then, the microcomputer 100 returns the processing to step S702.

On the other hand, when it is determined in step S704 that "the lock in the automatic closing operation of the window 52 is detected" (step S704: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S705). .. Then, the error calculation unit 109 calculates the error Δ of the opening/closing position of the window 52 according to the number of times N the switch 40 has been operated (step S706).

Subsequently, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S707).

When it is determined in step S707 that “the expression {(x<(b−Δ)} is satisfied” (step S707: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S708). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, in step S707, when it is determined that “the expression {(x<(b−Δ)} is not satisfied” (step S707: No), the motor control unit 110 satisfies the expression {x>(b+Δ)}. It is determined whether or not (step S709).

When it is determined in step S709 that “the expression {(x>(b+Δ)} is satisfied” (step S709: Yes), the motor control unit 110 reverses the window 52 (step S710) and the microcomputer 100. Returns the process to step S702.

On the other hand, when it is determined in step S709 that “the expression {(x>(b+Δ)} is not satisfied” (step S709: No), the motor control unit 110 opens the window 52 to the fully open position (step S711). Then, the position calculation unit 105 sets the opening/closing position x of the window 52 to a predetermined value corresponding to the lower end position of the window, and the counting unit 108 sets 0 to the number of operations N (step S712). The microcomputer 100 returns the process to step S702.

According to this control method, when the error Δ in the opening/closing position of the window 52 becomes larger than the vertical width of the non-inverting region, the window 52 is opened to the fully open position to reset the opening/closing position of the window. It is possible to reset Δ, and it is possible to avoid a situation in which the window 52 cannot be closed completely due to the error Δ being larger than the vertical width of the non-inversion region. In particular, according to this control method, since the window 52 is opened to the fully open position to reset the opening/closing position of the window, no pinching occurs at the time of resetting, and an accident due to pinching can be avoided. Further, according to this control method, after the opening/closing position of the window 52 is reset, the window 52 can be returned to the position at the start of the operation, so that the user operation for returning to the position at the start of the operation is unnecessary. Therefore, it is possible to prevent the user from being bothered.

(Procedure of control method by microcomputer 100 (fourth example))
FIG. 8 is a flowchart showing a fourth example of the procedure of the control method by the microcomputer 100 according to the embodiment of the present invention.

First, the microcomputer 100 sets 0 to the number of operations N of the switch 40 (step S801).

Next, the operation signal acquisition unit 101 determines whether or not an operation signal has been acquired from the switch 40 (step S802). When it is determined in step S802 that “the operation signal has not been acquired” (step S802: No), the microcomputer 100 executes the process of step S802 again.

On the other hand, when it is determined in step S802 that “the operation signal has been acquired” (step S802: Yes), the counting unit 108 adds 1 to the number of operations N, and the position calculation unit 105 sets the variable P1 to the variable P1. The opening/closing position of the window 52 at the start of the operation is set (step S803).

Next, the lock detection unit 107 determines whether or not the lock in the automatic closing operation of the window 52 is detected (step S804).

When it is determined in step S804 that "the lock in the automatic closing operation of the window 52 is not detected" (step S804: No), the microcomputer 100 executes the determination process of step S804 again.

On the other hand, when it is determined in step S804 that "the lock in the closing operation of the window 52 is detected" (step S804: Yes), the position calculation unit 105 determines whether the position where the window 52 is locked is the fully closed position. It is determined whether or not (step S805).

When it is determined in step S805 that the position where the window 52 is locked is the fully closed position (step S805: Yes), the position calculation unit 105 sets 0 to the opening/closing position x of the window 52, The opening/closing position x is reset, and the counting unit 108 resets the number of operations N by setting 0 to the number of operations N (step S806). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, when it is determined in step S805 that "the position where the window 52 is locked is not the fully closed position" (step S805: No), the counting unit 108 determines whether the number of operations N is larger than a predetermined number of times. It is determined (step S807).

When it is determined in step S807 that "the number of operations N is equal to or smaller than the predetermined number" (step S807: No), the microcomputer 100 returns the process to step S802.

On the other hand, when it is determined in step S807 that "the number of operations N is larger than the predetermined number of times" (step S807: Yes), the motor control unit 110 opens the window 52 to the fully open position (step S808).

Then, the motor control unit 110 sets the variable P2 to the open/closed position x of the window 52 at the fully open position, the variable ΔP to the moving amount of the window 52 obtained by P2-P1, and the position calculation unit 105. Resets the opening/closing position x by setting the opening/closing position x of the window 52 to a predetermined value corresponding to the lower end position of the window (step S809).

Subsequently, the motor control unit 110 closes the window 52 by ΔP to return the window 52 to the open/close position at the time of starting the open/close operation (step S810). Further, the counting unit 108 sets the number of operations N to 1 (step S811). Then, the microcomputer 100 returns the processing to step S802.

According to this control method, when the number of operations N exceeds a predetermined number, the window 52 is opened to the fully open position and the open/close position of the window 52 is reset. Therefore, the error Δ can be reset. It is possible to avoid a situation in which the window 52 cannot be closed completely due to Δ becoming larger than the vertical width of the non-inversion region. In particular, according to this control method, since the window 52 is opened to the fully open position to reset the opening/closing position of the window, no pinching occurs at the time of resetting, and an accident due to pinching can be avoided. Further, according to this control method, after the opening/closing position of the window 52 is reset, the window 52 can be returned to the position at the start of the operation, so that the user operation for returning to the position at the start of the operation is unnecessary. Therefore, it is possible to prevent the user from being bothered.

(Example of calculating the error Δ by the microcomputer 100)
9 to 11 are diagrams showing an example of calculating the error Δ by the microcomputer 100 according to the embodiment of the present invention.

<First calculation example>
FIG. 9 shows the error Δ calculated by the microcomputer 100 using the above-mentioned mathematical expression (1) in comparison with the error Δ generated in the actual window 52. In the graph shown in FIG. 9, the horizontal axis represents the number of operations N raised to the 0.5th power, and the vertical axis represents the error Δ[ripple count]. Further, in the graph shown in FIG. 9, the dotted line represents the error Δ calculated by the microcomputer 100 using the above mathematical expression (1), and the dot represents the actually generated error Δ.

In the first calculation example shown in FIG. 9, as the constant C, “2.8257”, which is a suitable value determined in advance according to individual difference, is used. That is, in the first calculation example shown in FIG. 9, the error Δ is calculated using the formula {Δ=2.8257·N̂0.5}.

As shown in FIG. 9, the error Δ calculated by the microcomputer 100 using the above equation (1) increases as the number of operations N increases. It is almost similar. As described above, in the first calculation example, it was confirmed that the error Δ can be calculated with high accuracy by setting the appropriate value for the constant C by using the mathematical expression (1).

<Second calculation example>
FIG. 10 shows the error Δ calculated by the microcomputer 100 using the above-mentioned mathematical expression (2) in comparison with the error Δ generated in the actual window 52. In the graph shown in FIG. 10, the horizontal axis represents the number of operations N, and the vertical axis represents the error Δ[ripple count]. Further, in the graph shown in FIG. 10, the dotted line represents the error Δ calculated by the microcomputer 100 using the above formula (2), and the dot represents the actually generated error Δ.

In the second calculation example shown in FIG. 10, “0.8135”, which is a suitable value obtained in advance according to the individual difference, is set as the constant D. That is, in the second calculation example shown in FIG. 10, the error Δ is calculated using the formula {Δ=0.8135·N}.

As shown in FIG. 10, the error Δ calculated by the microcomputer 100 using the equation (2) is such that the error Δ linearly increases as the number of operations N increases. It is approximately similar to Δ. As described above, in this second calculation example, it was confirmed that the error Δ can be calculated with high accuracy by setting an appropriate value for the constant D using the mathematical expression (2).

<Third calculation example>
FIG. 11 shows the error Δ calculated by the microcomputer 100 using the above-mentioned mathematical expression (3) in comparison with the error Δ generated in the actual window 52. In the graph shown in FIG. 11, the horizontal axis represents the number of operations N, and the vertical axis represents the error Δ[ripple count]. Further, in the graph shown in FIG. 11, the dotted line represents the error Δ calculated by the microcomputer 100 using the above equation (3), and the dot represents the actually generated error Δ.

In the third calculation example shown in FIG. 11, the constant C is set to “0.6858” which is a suitable value obtained in advance according to the individual difference. Further, as the constant D, “2.1304” which is a suitable value obtained in advance according to individual difference is set. That is, in the third calculation example shown in FIG. 11, the error Δ is calculated using the formula {Δ=0.6858·N^2.1304}.

As shown in FIG. 11, the error Δ calculated by the microcomputer 100 using the above equation (3) is such that the error Δ increases non-linearly as the number of operations N increases, and the error that occurs in the actual window 52. It is approximately similar to Δ. As described above, in the third calculation example, it was confirmed that the error Δ can be calculated with high accuracy by setting the appropriate values for the constant C and the constant D using the mathematical expression (3).

As described above, the opening/closing system 1 of the present embodiment includes the switch 40, the motor 54 that opens and closes the window 52, and the microcomputer 100 that controls the motor 54 according to the operation signal output from the switch 40. The microcomputer 100 includes the counting unit 108 that counts the number of times N the switch 40 has been operated, the rotation amount detection unit 104 that detects the rotation amount of the rotation shaft of the motor 54, and the lock detection that detects the lock in the closing operation of the window 52. Unit 107, a position calculation unit 105 that calculates the opening/closing position x of the window 52 based on the rotation amount detected by the rotation amount detecting unit 104, and an error that calculates an error Δ of the opening/closing position x according to the number of operations N. In the calculation unit 109 and when the lock is detected, when the expression {x<(b−Δ)} is satisfied, the window 52 is closed to the fully closed position, and when the expression {x>(b+Δ)} is satisfied, And a motor control unit 110 for reversing the window 52.

Accordingly, the opening/closing system 1 of the present embodiment opens the window 52 when it can be determined that the object is not pinched in consideration of the error Δ (when the expression {x<(b−Δ)} is satisfied). It can be closed to the fully closed position. Further, the opening/closing system 1 of the present embodiment considers the error Δ, and when it can be determined that the object is pinched (when the expression {x>(b+Δ)} is satisfied) and when the object is pinched. If it is unclear whether or not it has occurred, the window 52 can be reversed by giving priority to safety. That is, according to the opening/closing system 1 of the present embodiment, as compared with the conventional control method in which the automatic opening/closing operation of the window is invalidated every time the error exceeds a predetermined value, the window is opened without sacrificing safety. The automatic opening/closing function of 52 can be continuously used, and therefore, it is possible to prevent the user from being bothered.

In addition, in the opening/closing system 1 of the present embodiment, when the lock is detected, the motor control unit 110 satisfies both the expression {x≧(b−Δ)} and the expression {x≦(b+Δ)}, It is possible to reverse the window 52 and prohibit the subsequent automatic closing operation of the window 52.

Accordingly, the opening/closing system 1 of the present embodiment can reverse the window 52 while giving importance to safety when it is unclear whether or not an object is pinched in consideration of the error Δ. At the same time, with importance placed on safety, the window 52 can be closed to the fully closed position by the non-automatic closing operation of the window 52.

In addition, in the opening/closing system 1 of the present embodiment, the motor control unit 110 satisfies both the expression {x≧(b−Δ)} and the expression {x≦(b+Δ)} when the lock is detected, and If x is the same as when the lock was detected last time, the window 52 can be closed to the fully closed position.

As a result, even if the window 52 is locked in an area in which it is unclear whether or not an object is pinched, the position where the window 52 is locked is the same as when it was previously locked. In some cases, the window 52 can be closed to the fully closed position. In this case, it is considered highly possible that the window 52 is not locked by being pinched by the object, but is locked by the window 52 coming into contact with the weather strip. Therefore, according to the opening/closing system 1 of the present embodiment, it is possible to highly accurately determine the lock of the window 52 during the closing operation, and it is possible to suppress the malfunction during the closing operation of the window 52.

Further, in the opening/closing system 1 of the present embodiment, the error calculating unit 109 can calculate the error Δ by multiplying the power of the number of operations N by a predetermined constant.

Accordingly, the opening/closing system 1 of the present embodiment can calculate the error Δ with relatively high accuracy by setting an appropriate value for the predetermined constant, and therefore, the window when the lock is detected is detected. It is possible to further improve the accuracy of determination as to whether or not there is a pinch by 52.

Further, in the opening/closing system 1 of the present embodiment, the error calculation unit 109 can calculate the error Δ by multiplying the 1/2 power of the number of operations N by a predetermined constant.

Accordingly, the opening/closing system 1 of the present embodiment can calculate the error Δ with relatively high accuracy by setting an appropriate value for the predetermined constant, and therefore, the window when the lock is detected is detected. It is possible to further improve the accuracy of determination as to whether or not there is a pinch by 52.

In addition, in the opening/closing system 1 of the present embodiment, the error calculation unit 109 can calculate the error Δ by multiplying the number of operations N by a predetermined constant.

Accordingly, the opening/closing system 1 of the present embodiment can calculate the error Δ with relatively high accuracy by setting an appropriate value for the predetermined constant, and therefore, the window when the lock is detected is detected. It is possible to further improve the accuracy of determination as to whether or not there is a pinch by 52.

In addition, in the opening/closing system 1 of the present embodiment, when the window 52 reaches the fully closed position, the counting unit 108 can reset the number of operations N, and the position calculation unit 105 can reset the opening/closing position x.

Thereby, the opening/closing system 1 of the present embodiment can match the opening/closing position x calculated by the position calculating unit 105 with the actual opening/closing position of the window when the window 52 reaches the fully closed position. That is, the error Δ can be set to 0, so that the accuracy of determination as to whether or not the window 52 is sandwiched thereafter can be further improved.

In addition, in the opening/closing system 1 of the present embodiment, when the window 52 reaches the fully opened position, the counting unit 108 can reset the number of operations N, and the position calculation unit 105 can reset the opening/closing position x.

Thereby, the opening/closing system 1 of the present embodiment can match the opening/closing position x calculated by the position calculating unit 105 with the actual opening/closing position of the window when the window 52 reaches the fully opened position, that is, , The error Δ can be set to 0, so that the accuracy of the determination as to whether or not the window 52 is sandwiched thereafter can be further improved.

Further, in the opening/closing system 1 of the present embodiment, when the number of operations N reaches a predetermined number, the motor control unit 110 opens the window 52 to the fully open position, and the counting unit 108 resets the number of operations N. The position calculation unit 105 can reset the open/close position x.

Accordingly, the opening/closing system 1 of the present embodiment automatically opens the window 52 to the fully open position when the error Δ reaches a certain amount due to the number of operations N reaching a predetermined number, and the position calculating unit 105 It is possible to match the opening/closing position x calculated by the above with the actual opening/closing position of the window, that is, the error Δ can be set to 0. Therefore, it is determined whether or not there is a subsequent pinch by the window 52. The accuracy can be further increased.

Further, in the opening/closing system 1 of the present embodiment, when the expression {Δ>b} is satisfied, the motor control unit 110 opens the window 52 to the fully open position, and the counting unit 108 resets the operation number N, The position calculation unit 105 can reset the open/close position x.

Accordingly, the opening/closing system 1 of the present embodiment automatically opens the window 52 to the fully open position when the error Δ reaches a certain amount, and the opening/closing position x calculated by the position calculating unit 105 and the actual position. The opening/closing position of the window can be matched, that is, the error Δ can be set to 0, and thus the accuracy of determining whether or not the window 52 is sandwiched thereafter can be further improved.

In addition, in the opening/closing system 1 of the present embodiment, when the window 52 is performing the automatic closing operation, if the formula {Δ>b} is satisfied, the motor control unit 110 causes the window 52 to open to the fully open position. Thus, after the number of operations N and the opening/closing position x are reset, the window 52 can be closed to the fully closed position.

With this, the opening/closing system 1 of the present embodiment can automatically restart the automatic closing operation of the window 52 after resetting the opening/closing position of the window 52, so that a user operation for restarting the automatic closing operation is performed. It is unnecessary, and therefore it is possible to prevent the user from being bothered.

Further, in the opening/closing system 1 of the present embodiment, when the expression {Δ>b} is satisfied when the window 52 is performing an opening/closing operation other than the automatic opening/closing operation, the motor control unit 110 opens the window 52 at the fully open position. After the number of operations N and the opening/closing position x are reset by opening the window 52, the window 52 can be returned to the position at the start of the opening/closing operation.

With this, the opening/closing system 1 of the present embodiment can automatically return the window 52 to the position at the start of the operation after resetting the opening/closing position of the window 52, and thus can return to the position at the start of the operation. No user operation is required, and thus it is possible to prevent the user from being bothered.

The switching system 1 of the present embodiment further includes a current detection circuit 30 that detects a current flowing through the motor 54, and the rotation amount detection unit 104 generates a ripple component included in the current detected by the current detection circuit 30. The rotation amount can be detected based on the number, and the lock detection unit 107 can detect the lock in the closing operation of the window 52 based on the current detected by the current detection circuit 30.

As a result, the opening/closing system 1 according to the present embodiment can reduce the cost of the configuration for detecting the rotation amount.

(Procedure of control method by microcomputer 100 (fifth example))
FIG. 12 is a flowchart showing a fifth example of the procedure of the control method by the microcomputer 100 according to the embodiment of the present invention.

First, the microcomputer 100 initializes various variables as shown below (step S1201).

Set 0 to the error Δ of the opening/closing position of the window 52.

Set 0 to the number of times Nup of closing the window 52.

-Set 0 to the number Ndown of opening operations of the window 52.

-Set 0 to the number Npinch of inversion operations of the window 52.

Next, the operation signal acquisition unit 101 determines whether or not the automatic closing operation signal or the automatic opening operation signal is acquired from the switch 40 (step S1202). When it is determined in step S1202 that "the automatic closing operation signal or the automatic opening operation signal has not been acquired" (step S1202: No), the microcomputer 100 executes the process of step S1202 again.

On the other hand, when it is determined in step S1202 that “the automatic closing operation signal or the automatic opening operation signal has been acquired” (step S1202: Yes), the counting unit 108 causes the acquired operation signal to be the automatic closing operation signal. It is determined whether or not (step S1203).

When it is determined in step S1203 that the acquired operation signal is the automatic closing operation signal (step S1203: Yes), the counting unit 108 adds 1 to the number of times Nup of closing operations (step S1204). Then, the counting unit 108 determines whether or not the window 52 has performed the reversing operation (step S1205).

When it is determined in step S1205 that the window 52 has performed the reversing operation (step S1205: Yes), the counting unit 108 adds 1 to the number of reversing operations Npinch (step S1205). Then, the microcomputer 100 advances the process to step S1208.

On the other hand, when it is determined in step S1205 that the window 52 is not performing the reversing operation (step S1205: No), the microcomputer 100 advances the process to step S1208.

When it is determined in step S1203 that the acquired operation signal is not the automatic closing operation signal (that is, the automatic opening operation signal) (step S1203: No), the counting unit 108 sets the closing operation number Ndown to 1. Add (step S1207). Then, the microcomputer 100 advances the process to step S1208.

In step S1208, the lock detection unit 107 determines whether or not the lock in the closing operation of the window 52 is detected.

When it is determined in step S1208 that “the lock in the closing operation of the window 52 has not been detected” (step S1208: No), the microcomputer 100 ends the series of processes illustrated in FIG.

On the other hand, when it is determined in step S1208 that “the lock in the closing operation of the window 52 is detected” (step S1208: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S1209). Then, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S1210).

When it is determined in step S1210 that “the expression {(x<(b−Δ)} is satisfied” (step S1210: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S1211). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, when it is determined in step S1210 that “the expression {(x<(b−Δ)} is not satisfied” (step S1210: No), the motor control unit 110 satisfies the expression {x>(b+Δ)}. It is determined whether or not (step S1212).

When it is determined in step S1212 that “the expression {(x>(b+Δ)} is satisfied” (step S1212: Yes), the motor control unit 110 reverses the window 52 (step S1213), and the microcomputer 100. Advances the process to step S1216.

On the other hand, when it is determined in step S1212 that “the expression {(x>(b+Δ)} is not satisfied” (step S1212: No), the motor control unit 110 reverses the window 52 (step S1214). The motor control unit 110 prohibits the automatic closing operation of the window 52 (step S1215), and the microcomputer 100 advances the process to step S1216.

In step S1216, the error calculation unit 109 updates the error Δ in the opening/closing position of the window 52 based on the number of times Nup of the switch 40, the number of times Nopen of the switch 40, and the number of times Np of the reversing operation. After that, the microcomputer 100 returns the process to step S1202.

For example, in step S1216, the error calculation unit 109 calculates the error Δ (updated value) in the opening/closing position of the window 52 using the following mathematical expression (4).

Δ=E _up ·N _up ^Fup
+E _down・N _down ^F _down
＋E _pinch・N _pinch ^Fpinch・・・(4)

The error Δ obtained by the above mathematical expression (4) is the error in the opening/closing position of the window 52 due to the number of times Nup of closing operation of the switch 40, the error in the opening/closing position of the window 52 due to the number of times Ndown of opening operation of the switch 40, and the inversion of switch 40 The error of the opening/closing position of the window 52 due to the number of operations Npinch is added.

However, in the above formula (4), each of the parameters Eup, Fup, Edown, Fdown, Epinch, and Fpinch is set to a suitable value that has been individually obtained for each window 52 in advance by an actual machine test, simulation, or the like. It

For example, in one embodiment, when each index Fup=1, Fdown=1, Fpinch=1, it is preferable to set each constant Eup=0.23, Edown=2.45, Epinch=3.33. It was confirmed that there is (that is, the error Δ can be calculated with high accuracy).

Further, for example, in another embodiment, when each index Fup=0.5, Fdown=0.5, Fpinch=0.5, each constant Eup=0.31, Edown=3.57, Epinch=4. It was confirmed that the value of 0.48 is suitable (that is, the error Δ can be calculated with high accuracy).

According to this control method, an error is obtained for each type of operation of the window 52 (closing operation, opening operation, and reversing operation), and a plurality of errors for each type of operation of the window 52 are added to obtain the window 52. Since the error Δ of the opening/closing position is calculated, it is possible to calculate the error Δ of the opening/closing position of the window 52 with higher accuracy even when the error generated for each type of operation of the window 52 is different. Therefore, according to this control method, the operation of closing the window 52 (closing operation or reversing operation) can be controlled with higher accuracy.

(Additional function of microcomputer 100)
The microcomputer 100 according to the embodiment of the present invention may have at least one of a plurality of additional functions described below.

(Backlash countermeasure function)
When the window 52 moves to the fully closed position, the window 52 slightly moves in the reversing direction due to the elastic force generated in the weather strip even though the driving of the motor 54 is stopped. This causes an error in the opening/closing position of the window 52. Here, this error is called "backlash". Since the microcomputer 100 detects the movement amount of the window based on the ripple component of the current Im flowing through the motor 54, it cannot detect the backlash that occurs when the driving of the motor 54 is stopped.

Therefore, the microcomputer 100 reduces the drive voltage (effective voltage) of the motor 54 by the motor drive circuit 10 by PWM control immediately before the window 52 is located at the fully closed position (immediately before the window 52 hits the weather strip). Good.

For example, FIG. 13 is a diagram showing an example of a control profile of the drive voltage of the motor 54 by the microcomputer 100 according to the embodiment of the present invention. In the example shown in FIG. 13, the drive voltage (effective voltage) of the motor 54 is changed from “16V” (battery voltage) to “9V” (the lowest voltage value at which the ripple component can be detected) immediately before the window 52 is located at the fully closed position. ) Is low.

As a result, the microcomputer 100 can reduce the drive torque τ of the motor 54 when the window 52 hits the weather strip and weaken the elastic force generated in the weather strip, thus suppressing the amount of backlash generated. it can.

Further, the microcomputer 100 calculates the amount of backlash generated based on the battery voltage when the window 52 hits the weather strip, and corrects the opening/closing position of the window 52 using the calculated amount of backlash generated. May be.

For example, FIG. 14 is a diagram showing the relationship between the battery voltage and the amount of backlash generated in the switching system 1 according to the embodiment of the present invention. As shown in FIG. 14, the amount of backlash generated can be calculated by a function (A×E[V]+B) of the battery voltage E[V] when the window 52 hits the weather strip. However, the respective parameters A and B are set to suitable values which have been individually obtained for each window 52 in advance by actual machine tests, simulations and the like. For example, FIG. 14 shows an example in which it is preferable to set A=1.9424 and B=-13.508.

(Correction function of the opening/closing position of the window 52)
The microcomputer 100 may correct the fully closed position and the fully open position of the window 52 at a predetermined correction timing in consideration of various fluctuation factors (for example, deterioration over time, temperature fluctuations, etc.). The predetermined correction timing may be, for example, every time the engine is started, at regular intervals (for example, once a month), whenever the temperature at engine startup changes by a constant value (for example, 10° C.) or more from the previous time, etc. (however, (Not limited to these).

For example, the microcomputer 100 corrects the count number at the fully closed position of the window 52 to “0” when the window 52 stops at the upper end at a predetermined correction timing. However, when calculating the backlash occurrence amount as described above, the microcomputer 100 corrects the count value at the fully closed position of the window 52 to “0+backlash occurrence amount” when the window 52 stops at the upper end. ..

Further, for example, the microcomputer 100 corrects the count value of the fully open position of the window 52 to the count value at that time when the window 52 stops at the upper end and then the window 52 stops at the lower end at a predetermined correction timing. To do.

The microcomputer 100 may perform the correction of the fully closed position of the window 52 and the correction of the fully open position of the window 52 at the same timing or at different timings. Further, the microcomputer 100 may set the frequency of correction of the fully closed position of the window 52 and the frequency of correction of the fully open position of the window 52 to be the same or different from each other. For example, the microcomputer 100 may perform the correction of the fully closed position of the window 52 every one month and the correction of the fully open position of the window 52 every two months. Further, for example, the microcomputer 100 may correct the fully closed position of the window 52 each time the engine is started, and may perform the correction of the fully open position of the window 52 each time the window 52 is located at the lower end.

The microcomputer 100 may represent the position of the window 52 by a ripple component count value, or may convert the ripple component count value by a predetermined conversion formula. However, by expressing the position of the window 52 by the count value of the ripple component, a conversion formula is not required, which is preferable in that the control program can be simplified.

As described above, one embodiment of the present invention has been described in detail, but the present invention is not limited to these embodiments, and within the scope of the gist of the present invention described in the claims, various modifications or It can be changed.

For example, in the above embodiment, the rotation amount detection unit 104 detects the rotation amount of the rotation shaft of the motor 54 based on the current signal output from the current detection circuit 30, and the rotation load calculation unit 106 causes the rotation load calculation unit 106 to detect the rotation amount. Although the rotational load of the rotating shaft of the motor 54 is calculated based on the current signal output from 30, the invention is not limited to this. For example, when the motor 54 is provided with a Hall sensor, the rotation amount detection unit 104 detects the rotation amount of the rotation shaft of the motor 54 based on the pulse signal output from the Hall sensor, and the rotation load calculation unit 106. However, the rotation load of the rotation shaft of the motor 54 may be calculated based on the rotation speed, the battery voltage, and the constant peculiar to the motor.

Further, for example, in the above-described embodiment, the position calculation unit 105 sets the opening/closing position of the window 52 to a constant value according to the amount of inertial movement when the drive of the motor 54 is stopped, each time the motor control unit 110 drives the motor 54. You may make it correct|amend with a correction value. Accordingly, the position calculation unit 105 can calculate the opening/closing position of the window 52 with higher accuracy.

1 Opening/closing system 2 Door 2A Window frame 10 Motor drive circuit 20 Voltage detection circuit 30 Current detection circuit (current detection means)
40 switch 50 power window device 52 window (opening/closing member)
54 motor 100 microcomputer (control device, computer)
101 Operation Signal Acquisition Unit 102 Voltage Value Acquisition Unit 103 Current Value Acquisition Unit 104 Rotation Amount Detection Unit 105 Position Calculation Unit 106 Rotational Load Calculation Unit 107 Lock Detection Unit 108 Counting Unit 109 Error Calculation Unit 110 Motor Control Unit

Claims (19)

An opening/closing system for controlling the opening/closing operation of an opening/closing member,
Switch,
A motor for opening and closing the opening and closing member,
A control device for controlling the motor according to an operation signal output from the switch,
The control device is
A counting unit that counts the number of times the switch is operated,
A rotation amount detection unit that detects the rotation amount of the rotation shaft of the motor,
A lock detection unit that detects a lock in the closing operation of the opening/closing member,
A position calculation unit that calculates the opening/closing position of the opening/closing member based on the rotation amount;
An error calculation unit that calculates an error Δ of the open/closed position according to the number of operations,
When the lock is detected, if the expression {x<(b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, the opening/closing member is An opening/closing system comprising: a motor control unit for reversing.
Here, x represents the opening/closing position of the opening/closing member according to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-inverting region. The motor control unit,
When both the expression {x≧(b−Δ)} and the expression {x≦(b+Δ)} are satisfied in the case where the lock is detected, the opening/closing member is reversed and the opening/closing member is automatically operated thereafter. The opening/closing system according to claim 1, wherein a closing operation is prohibited. The motor control unit,
When the lock is detected, both the expression {x≧(b−Δ)} and the expression {x≦(b+Δ)} are satisfied, and x is the same as when the lock was detected last time. The opening/closing system according to claim 1, wherein the opening/closing member is closed to a fully closed position. The error calculation unit,
The opening/closing system according to any one of claims 1 to 3, wherein the error Δ is calculated by multiplying a power of the number of operations by a predetermined constant. The error calculation unit,
The opening/closing system according to claim 4, wherein the error Δ is calculated by multiplying the 1/2 power of the number of operations by a predetermined constant. The error calculation unit,
The opening/closing system according to any one of claims 1 to 3, wherein the error Δ is calculated by multiplying the number of operations by a predetermined constant. When the opening/closing member reaches the fully closed position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 6, wherein the position calculation unit resets the opening/closing position. When the opening/closing member reaches the fully open position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 7, wherein the position calculation unit resets the opening/closing position. When the number of operations reaches a predetermined number,
The motor control unit opens the opening/closing member to a fully open position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 7, wherein the position calculation unit resets the opening/closing position. When the expression {Δ>b} is satisfied,
The motor control unit opens the opening/closing member to a fully open position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 8, wherein the position calculation unit resets the opening/closing position. If the expression {Δ>b} is satisfied while the opening/closing member is performing the automatic closing operation,
The motor control unit opens the open/close member to a fully open position, and after the operation count and the open/close position are reset, closes the open/close member to a fully closed position. Opening and closing system described in. When the opening/closing member is performing an opening/closing operation other than the automatic opening/closing operation, when the expression {Δ>b} is satisfied,
The motor control unit opens the opening/closing member to a fully open position, resets the number of operations and the opening/closing position, and then returns the opening/closing member to a position at the start of the opening/closing operation. The opening/closing system according to claim 10 or 11. Further comprising current detection means for detecting a current flowing through the motor,
The rotation amount detection unit,
Based on the number of occurrences of ripple components contained in the current detected by the current detection means, to detect the rotation amount,
The lock detector is
The opening/closing system according to any one of claims 1 to 12, wherein a lock in the closing operation of the opening/closing member is detected based on the current detected by the current detecting unit. The position calculation unit,
Each time the motor control unit drives the motor, the open/close position of the open/close member is corrected with a predetermined correction value according to the amount of inertial movement when the drive of the motor is stopped. The opening/closing system according to any one of 13 above. An opening/closing system for controlling the opening/closing operation of an opening/closing member,
Switch,
A motor for opening and closing the opening and closing member,
A control device for controlling the motor according to an operation signal output from the switch,
The control device is
A counting unit that counts the number of operations for each operation type of the opening/closing member,
A rotation amount detection unit that detects the rotation amount of the rotation shaft of the motor,
A lock detection unit that detects a lock in the closing operation of the opening/closing member,
A position calculation unit that calculates the opening/closing position of the opening/closing member based on the rotation amount;
An error calculation unit that calculates an error Δ of the opening/closing position according to the number of operations for each operation type of the opening/closing member,
When the lock is detected, if the expression {x<(b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, the opening/closing member is An opening/closing system comprising: a motor control unit for reversing.
Here, x represents the opening/closing position of the opening/closing member according to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-inverting region. The opening/closing system according to claim 15, wherein the operation type includes an opening operation, a closing operation, and a reversing operation. The error calculation unit,
The opening/closing system according to claim 15 or 16, wherein the error Δ is calculated by multiplying the power of the number of operations by a predetermined constant for each of the operation types. The error calculation unit,
The opening/closing system according to claim 17, wherein the error Δ is calculated by multiplying the 1/2 power of the number of operations by a predetermined constant for each of the operation types. The error calculation unit,
The opening/closing system according to claim 15 or 16, wherein the error Δ is calculated by multiplying the number of operations by a predetermined constant for each of the operation types.

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