JP2021046688A - Vehicular opening/closing body control device - Google Patents

Abstract

To stop an opening/closing body in a smooth manner.SOLUTION: A door ECU has a function as an operation request detection unit for detecting an operation request of a slide door as an opening/closing body provided in a door opening of a vehicle. In addition, the door ECU also has a function as an opening/closing control unit for controlling the operation of the slide door by controlling a motor serving as a driving source of the door ECU based on the detected operation request. Further, the door ECU executes advance control for advancing the phase of a motor control signal. Further, the door ECU executes advance control for advancing the phase of the motor control signal. Then, if a stop request of the slide door is detected during the drive of the slide door accompanying the execution of the advance control, the door ECU stops the drive of the slide door by reducing drive power supplied to the motor and reducing the advance value α of the advance control.SELECTED DRAWING: Figure 7

Description

The present invention relates to a vehicle opening / closing body control device.

For example, in a vehicle opening / closing body control device having a drive source and operating the opening / closing body of the vehicle, such as a power slide door device, a motor is often used as the drive source. Conventionally, as described in Patent Document 1, for example, there is a motor control device that executes advance angle control for advancing the phase of a motor control signal output to a drive circuit of the motor.

That is, by executing the advance angle control, the relationship between the motor torque (T) and the rotation speed (N: rotation speed), that is, the so-called NT characteristic changes. As a result, the control target driven by the motor can be moved at high speed like the wiper control device exemplified in the above-mentioned prior art.

Japanese Unexamined Patent Publication No. 2015-168273

However, the advance angle control has a problem that the followability to a change in voltage or a change in rotation speed is lowered by the execution thereof. Therefore, when the advance angle control is applied to the opening / closing body control device as described above, if the driving of the opening / closing body is stopped while the opening / closing body is being driven with the execution of the advance angle control, this operation is performed. The behavior of the opening / closing body may become unstable. As a result, the texture may be deteriorated, so that there is still room for improvement in this respect.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a vehicle opening / closing body control device capable of smoothly stopping the opening / closing body.

The vehicle opening / closing body control device that solves the above problems controls an operation request detecting unit that detects an operation request of the opening / closing body provided in the opening of the vehicle and a motor that is a drive source based on the operation request. The opening / closing control unit includes an opening / closing control unit that controls the operation of the opening / closing body, and the opening / closing control unit executes advance angle control for advancing the phase of the motor control signal, and the opening / closing control unit accompanied by execution of the advance angle control. When a stop request for the opening / closing body is detected while the body is being driven, the driving force supplied to the motor is reduced and the advance value of the advance angle control is reduced to drive the opening / closing body. It is preferable to stop.

According to the above configuration, the opening / closing body can be smoothly stopped based on the stop request detected during the driving of the opening / closing body accompanied by the execution of the advance angle control. As a result, it is possible to speed up the opening / closing operation by executing the advance angle control without causing deterioration of the texture.

In the vehicle opening / closing body control device for solving the above problems, it is preferable that the opening / closing control unit sets the advance angle value to zero before stopping the supply of the driving power to the motor.
That is, the destabilization of the behavior tends to become apparent when the opening / closing body is stopped. However, according to the above configuration, the advance control of the opening / closing body is stopped before the driving of the opening / closing body is stopped. Then, by stabilizing the behavior by this, the opening / closing body can be stopped more smoothly.

In the vehicle opening / closing body control device that solves the above problems, it is preferable that the opening / closing control unit starts the reduction of the advance angle value at the same time as the reduction of the driving power.
According to the above configuration, the opening / closing body can be stopped smoothly and promptly.

In the vehicle opening / closing body control device for solving the above problems, it is preferable that the opening / closing control unit starts the reduction of the advance angle value before the reduction of the driving power is started.
According to the above configuration, the advance angle value of the advance angle control can be quickly reduced. Then, by stabilizing the behavior by this, the opening / closing body can be stopped more smoothly.

In the vehicle opening / closing body control device for solving the above problems, the opening / closing body is preferably a sliding door provided in the door opening of the vehicle.
That is, the speed of opening / closing operation of the sliding door by executing the advance angle control tends to contribute to the improvement of convenience. Further, when the sliding door is stopped, the instability of its behavior tends to become apparent as so-called rocking or rattling. Therefore, according to the above configuration, a more remarkable effect can be obtained.

According to the present invention, the opening / closing body can be stopped smoothly.

A side view of a vehicle provided with a sliding door. Schematic diagram of the power sliding door device. The control block diagram of the power slide door device. The flowchart which shows the mode of advance angle control. A time chart showing the relationship between the opening / closing drive of the sliding door and the advance angle control. The flowchart which shows the processing procedure of the drive stop control based on the detection of the stop request. A time chart showing a mode of drive stop control during advance angle control. A time chart showing a mode of drive stop control at the time of advance angle control of another example.

Hereinafter, an embodiment in which the vehicle opening / closing body control device is embodied as a power slide door device will be described with reference to the drawings.
As shown in FIG. 1, the vehicle 1 of the present embodiment includes a sliding door 4 for opening and closing a door opening 3 provided on a side surface 2s of a vehicle body 2. Specifically, the vehicle 1 includes a plurality of guide rails 5a to 5c extending in the front-rear direction (left-right direction in FIG. 1) and a plurality of guide roller units 6a to connected to each of the guide rails 5. 6c and are provided. That is, the slide door 4 of the present embodiment is supported on the side surface 2s of the vehicle body 2 via each of these guide rails 5 and each guide roller unit 6. Further, each of these guide rails 5 and each guide roller unit 6 can move the engagement position of each guide roller unit 6 with respect to each of the guide rails 5 along the extending direction of each guide rail 5. ing. As a result, the slide door 4 of the present embodiment is configured to move in the front-rear direction of the vehicle along the side surface 2s of the vehicle body 2.

That is, when the sliding door 4 of the present embodiment moves to the front side of the vehicle (left side in FIG. 1), the door opening 3 is closed in a fully closed state, and the rear side of the vehicle (right side in the figure). By moving to, the occupant of the vehicle 1 can get on and off through the door opening 3 in a fully open state. The slide door 4 is provided with a door handle 10 for opening and closing the slide door 4.

Further, as shown in FIG. 2, the sliding door 4 is provided with a plurality of locking devices 11. The slide door 4 is provided with a front lock 11a and a rear lock 11b as fully closed locks that restrain the slide door 4 at the fully closed position. Further, the slide door 4 is provided with a fully open lock 11c for restraining the slide door 4 in the fully open position. Then, in the slide door 4 of the present embodiment, each of these lock devices 11 is connected to the door handle 10 via the remote controller 12.

That is, the sliding door 4 of the present embodiment is designed so that the restrained state by each lock device 11 is released by operating the door handle 10. The sliding door 4 can be released from the restrained state by each of the lock devices 11 by remote control by the occupant operating an operation switch provided in the vehicle interior, a portable device, or the like. ing. The sliding door 4 can be manually opened and closed by using the door handle 10 as a gripping portion.

Further, the slide door 4 of the present embodiment is provided with a door actuator 21 having a motor 20 as a drive source. Further, the motor 20 of the door actuator 21 rotates by receiving the drive power from the door ECU 25. That is, the door ECU 25 controls the operation of the door actuator 21 through the supply of driving power to the motor 20. Then, in the vehicle 1 of the present embodiment, a power slide door device 30 as a vehicle opening / closing body control device capable of opening / closing the slide door 4 based on the driving force of the motor 20 is formed. There is.

More specifically, the door actuator 21 of the present embodiment includes an opening / closing body and an opening / closing drive unit 31 for opening / closing the slide door 4 based on the driving force of the motor 20.
Further, the door actuator 21 of the present embodiment is provided with a pulse sensor 32 that outputs a pulse signal Sp synchronized with the operation of the opening / closing drive unit 31. Then, the door ECU 25 of the present embodiment detects the moving position X and the moving speed Vdr of the sliding door 4 driven by the door actuator 21 based on the pulse output of the pulse sensor 32.

Further, the operation input signal Scr is input to the door ECU 25 of the present embodiment from the operation input unit 33 provided in the door handle 10, the vehicle interior, the portable device, or the like. That is, the door ECU 25 of the present embodiment detects the operation request of the slide door 4 by the user based on the operation input signal Scr. Then, the operation of the door actuator 21 is controlled so as to move the slide door 4 in the required operation direction.

More specifically, as shown in FIG. 3, the door ECU 25 of the present embodiment includes a control target calculation unit 41 that calculates a control target ε of the motor 20 as a drive source for opening and closing the slide door 4. ing. Further, the door ECU 25 includes a motor control signal generation unit 43 that generates a motor control signal Smc based on the control target ε. Further, the door ECU 25 includes a drive circuit 45 that outputs drive power to the motor 20 based on the motor control signal Smc. The door ECU 25 of the present embodiment is configured to control the operation of the door actuator 21 through the supply of driving power to the motor 20.

Specifically, the control target calculation unit 41 of the present embodiment has an operation input signal Scr indicating an operation request of the user, a moving position X and a moving speed Vdr of the slide door 4, or various vehicles such as a vehicle speed. The control target ε of the motor 20 is calculated based on the state quantity. In the door ECU 25 of the present embodiment, the control target ε output by the control target calculation unit 41 indicates the rotation direction of the motor 20 and its duty. Further, a brushless motor is adopted as the motor 20 of the present embodiment, and the rotation angle θ of the motor 20 detected by the rotation angle sensor 47 is input to the motor control signal generation unit 43. The rotation angle θ in this case is an electric angle. The motor control signal generation unit 43 of the present embodiment is configured to output a motor control signal Smc whose phase changes according to the rotation angle θ of the motor 20.

That is, the drive circuit 45 of the present embodiment uses a well-known PWM inverter in which a plurality of switching elements (FETs: Field effect transistors (not shown)) are connected in a bridge shape. Further, the motor control signal Smc output by the motor control signal generation unit 43 is obtained by the control target calculation unit 41 together with a combination of on / off patterns according to the rotation angle θ of the motor 20 for each switching element of the drive circuit 45. It is a PWM control signal that defines the on / off timing corresponding to the duty indicated by the output control target ε. The duty of such motor control can be expressed as an on-duty ratio. The door ECU 25 of the present embodiment is configured to output three-phase drive power represented by "U", "V", and "W" to the motor 20 via the drive circuit 45.

Further, the door ECU 25 of the present embodiment includes an advance angle control unit 51 that advances the phase of the motor control signal Smc. That is, the rotation angle θ of the motor 20 and the advance angle value α output by the advance angle control unit 51 are input to the motor control signal generation unit 43 of the present embodiment. Then, in the door ECU 25 of the present embodiment, the motor control signal generation unit 43 can supply the drive power to the motor 20 by the motor control signal Smc whose phase is advanced by the advance angle value α. (Advance angle control).

Specifically, as shown in the flowchart of FIG. 4, the door ECU 25 of the present embodiment acquires the rotation speed N of the motor 20 (step 101), and determines whether the rotation speed N is equal to or higher than the predetermined speed N1. (Step 102). In this embodiment, the rotation speed N can be expressed as, for example, the number of rotations / minute. When the rotation speed N of the motor 20 is equal to or higher than the predetermined speed N1 (N ≧ N1, step 102: YES), the advance angle control is executed (step 103), and the rotation speed N satisfies the predetermined speed N1. If not (N <N1, step 102: NO), the advance angle control is not executed (step 104).

That is, by executing the advance angle control, the so-called NT characteristic showing the relationship between the motor torque and the rotation speed N changes to the high rotation / low torque type. Based on this point, in the power slide door device 30 of the present embodiment, the rotation speed N and the motor torque that can increase the rotation speed N of the motor 20 by executing the advance angle control by simulation or the like in advance. Relationship with is required. Then, the door ECU 25 of the present embodiment sets the lower limit value of the rotation speed N capable of accelerating the motor 20 by executing the advance angle control to the predetermined speed N1, that is, by the advance angle control. The advance angle control is executed only in the low load region where the motor 20 is rotating while leaving a spare force for increasing the rotation speed N.

Specifically, as shown in FIG. 5, immediately after starting the opening / closing drive of the slide door 4, the load of the motor 20 as the drive source is large. Therefore, most of the acceleration section for accelerating the slide door 4 from the stopped state is a non-advancement section R0 that does not control the advance angle.

Further, the door ECU 25 of the present embodiment moves the slide door 4 to the fully open position by detecting the user's open operation request, and moves the slide door 4 to the fully closed position by detecting the closing operation request. .. Further, the door ECU 25 reduces the moving speed Vdr of the sliding door 4 by moving the sliding door 4 being driven to the vicinity of the fully open position or the fully closed position. Therefore, the vicinity of the end point position of the opening / closing drive is also a non-advancement section R0 that does not control the advance angle. As a result, in the power slide door device 30 of the present embodiment, the section between the non-advanced section R0 near the start point position and the non-advanced section R0 near the end point position when opening and closing the slide door 4 is , The advance angle section R1 at which the advance angle control is executed.

Further, as shown in the flowchart of FIG. 6, when the door ECU 25 of the present embodiment detects a stop request of the slide door 4 by the user based on the operation input signal Scr (step 201), the slide door 4 is subsequently moved. It is determined whether or not the vehicle is being driven with the execution of the advance angle control, that is, whether or not it is in the advance angle section R1 (step 202). Then, based on the determination result in this step 202, the control mode when stopping the driving of the slide door 4 is selected.

More specifically, when the stop request of the sliding door 4 is detected (step 201: YES), the door ECU 25 of the present embodiment gradually reduces the driving power supplied to the motor 20 which is the driving source thereof. Therefore, the drive of the slide door 4 is stopped. Specifically, the duty D of the motor control is gradually reduced to zero (D → 0). Then, when the detection of the stop request is during the driving of the slide door 4 accompanied by the execution of the advance angle control (step 202: YES), in addition to the reduction of the drive power as described above, the advance angle control is performed. The advance angle value α of is gradually reduced to zero (drive stop control at advance angle, D → 0 & α → 0, step 203).

When the door ECU 25 of the present embodiment detects the stop request in the non-advanced section R0 in which the advance angle control is not executed in the above step 202 (step 202: NO), the driving power is reduced. Only is executed (normal drive stop control, D → 0, step 204). If the stop request is not detected in step 201 (step 201: NO), the processes after step 202 are not executed.

More specifically, as shown in FIG. 7, the door ECU 25 of the present embodiment has a duty when a stop request for the slide door 4 is detected while driving the slide door 4 accompanied by execution of advance angle control. The reduction of D and the reduction of the advance angle value α are started at the same time (time t1 in FIG. 7). Further, the door ECU 25 sets the advance value α of the advance control to zero before the duty D of the motor control becomes zero. That is, the door ECU 25 of the present embodiment stops the execution of the advance angle control at the time t2 before the supply of the drive power to the motor 20 is stopped at the time t3 in FIG. 7. Then, the power slide door device 30 can smoothly stop the slide door 4 even when a stop request is detected while driving the slide door 4 accompanied by the execution of the advance angle control. It is possible.

The door ECU 25 of the present embodiment has a detection confirmation time T1 for confirming the stop request when the user detects the stop request of the slide door 4. That is, after the input operation input signal Scr of the door ECU 25 is in the "on" state indicating the stop request of the slide door 4, the "on" state is set to the time t0 to the time t1 in FIG. If the detection confirmation time T1 is continued during the above-mentioned detection confirmation time T1, the detection of the stop request by the user is confirmed. Then, the power slide door device 30 of the present embodiment can smoothly stop the slide door 4 by correctly detecting the stop request by the user.

Further, the door ECU 25 of the present embodiment has an input mask time T2 that does not accept the input of a new operation request after the detection of the stop request by the user is confirmed. Specifically, in the power slide door device 30 of the present embodiment, the input mask time T2 is set longer than the time t1 to the time t3 at which the drive stop control by reducing the drive power for the motor 20 is completed. Has been done. Then, the door ECU 25 of the present embodiment can stop the slide door 4 more smoothly by prohibiting the change of the stop request.

Further, the door ECU 25 of the present embodiment executes the position holding control of the slide door 4 after stopping the driving of the slide door 4 as described above. Specifically, short-circuit brake control (regenerative brake control) that short-circuits each phase terminal of the motor 20 and electromagnetic brake control by so-called phase-fixed energization that fixes the energized phase are performed according to the traveling state of the vehicle 1. Selectively execute. The power slide door device 30 of the present embodiment is configured so that the slide door 4 stopped at an intermediate position between the fully open position and the fully closed position does not open and close by an external input.

Next, the effect of this embodiment will be described.
(1) The door ECU 25 has a function as an operation request detection unit 60a for detecting an operation request of the slide door 4 as an opening / closing body provided in the door opening 3 of the vehicle 1. Further, the door ECU 25 has a function as an open / close control unit 60b that controls the operation of the slide door 4 by controlling the motor 20 that is the drive source thereof based on the detected operation request. Further, the door ECU 25 executes advance angle control for advancing the phase of the motor control signal Smc. Then, when the stop request of the slide door 4 is detected during the drive of the slide door 4 accompanied by the execution of the advance angle control, the door ECU 25 reduces the drive power supplied to the motor 20 and advances the angle. By reducing the advance angle value α of the control, the driving of the slide door 4 is stopped.

According to the above configuration, the slide door 4 can be smoothly stopped based on the stop request detected during the driving of the slide door 4 accompanied by the execution of the advance angle control. As a result, it is possible to speed up the opening / closing operation by executing the advance angle control without causing deterioration of the texture.

(2) The door ECU 25 reduces the driving power by gradually reducing the duty D defined in the motor control signal Smc. Then, the advance angle value α of the advance angle control is set to zero before the duty becomes zero, that is, before the supply of the drive power to the motor 20 is stopped.

That is, when the sliding door 4 is stopped, the instability of its behavior tends to become apparent as so-called rocking or rattling. However, according to the above configuration, the advance angle control of the slide door 4 is stopped before the drive of the slide door 4 is stopped. Then, by stabilizing the behavior in this manner, the sliding door 4 can be stopped more smoothly.

(3) The door ECU 25 starts reducing the advance angle value α at the same time as reducing the duty D. As a result, the sliding door 4 can be stopped smoothly and promptly.
The above embodiment can be modified and implemented as follows. The above embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.

-In the above embodiment, the power slide door device 30 having the slide door 4 provided in the door opening 3 of the vehicle 1 as an opening / closing body is embodied. However, the present invention is not limited to this, and the opening / closing body may be applied to a back door, a swing type side door, or the like provided at the rear of the vehicle. Further, for example, it may be applied to an opening / closing body other than a door, such as a wind regulator for raising and lowering a window glass of a vehicle and a sunroof device. However, in the sliding door 4, the speeding up of the opening / closing operation by executing the advance angle control tends to contribute to the improvement of convenience, and the instability of the behavior causes the so-called swinging back when the sliding door 4 stops. It has the characteristic that it easily becomes apparent as rattling. Therefore, a more remarkable effect can be obtained by applying the slide door 4 to a vehicle opening / closing control device having the sliding door 4 as an opening / closing body. Then, the present invention is not limited to such an open / close control device for vehicles, and may be applied to a motor control device that can be used for other purposes.

-In the above embodiment, it is decided to start the reduction of the advance angle value α at the same time as the reduction of the driving power by the reduction of the duty D.
However, the present invention is not limited to this, and as shown in FIG. 8, the reduction of the advance angle value α may be started before the timing (time t1) when the reduction of the driving power is started (time t1 ′). ..

According to the above configuration, the advance angle value α of the advance angle control can be quickly reduced. Then, by stabilizing the behavior in this manner, the sliding door 4 can be stopped more smoothly.

-In the above embodiment, the advance angle value α of the advance angle control is set to zero before the duty D becomes zero, that is, before the supply of the drive power to the motor 20 is stopped, but the duty is set to zero. The advance angle value α of the advance angle control may be set to zero at the same timing as when it becomes zero. Then, at the timing when the supply of the drive power is stopped (see FIG. 7, time t3), the advance angle control α is not zero, that is, the advance angle control is executed with the advance angle value α reduced. This is also not excluded from the configuration that is used and the configuration that starts the reduction of the advance angle value α after the reduction of the driving power is started.

-In the above embodiment, the detection confirmation time T1 and the input mask time T2 are provided for the detection of the stop request by the user, but the presence or absence of these settings may be arbitrarily changed. Then, the mode of the position holding control to be executed after the drive of the slide door 4 is stopped and the presence or absence of the execution may be arbitrarily changed.

Next, the technical idea that can be grasped from the above-described embodiment and modified example will be described.
(A) The opening / closing body control device for a vehicle, wherein the operation request detection unit has a detection confirmation time for confirming the detection of the stop request. As a result, the stop request by the user can be correctly detected and the sliding door can be stopped smoothly.

(B) The vehicle opening / closing body control device, wherein the operation request detection unit has an input mask time for not accepting an input of the operation request after confirming the detection of the stop request. As a result, the sliding door can be stopped more smoothly by prohibiting the change of the stop request.

(C) The open / close control unit reduces the drive power by gradually reducing the duty defined in the motor control signal, and sets the advance value to zero before the duty becomes zero. A vehicle opening / closing body control device characterized by that.

(D) An operation request detection unit that detects an operation request of the motor and a motor control unit that controls the motor based on the operation request are provided, and the motor control unit advances the phase of the motor control signal. When the advance control is executed and a stop request for the motor is detected while the motor is being driven with the execution of the advance control, the drive power supplied to the motor is reduced and the advance control is performed. A motor control device that stops driving the motor by reducing the advance value of the motor.

1 ... Vehicle, 2 ... Body, 2s ... Side, 3 ... Door opening (opening), 4 ... Sliding door, 20 ... Motor, 21 ... Door actuator, 25 ... Door ECU, 30 ... Power sliding door device, 31 ... Open / close drive unit, 32 ... pulse sensor, 33 ... operation input unit, 41 ... control target calculation unit, 43 ... motor control signal generation unit, 45 ... drive circuit, 47 ... rotation angle sensor, 51 ... advance angle control unit, 60a ... Operation request detection unit, 60b ... Open / close control unit, Sp ... Pulse signal, X ... Movement position, Vdr ... Movement speed, Scr ... Operation input signal, Smc ... Motor control signal, ε ... Control target, θ ... Rotation angle, α ... Advance value, R0 ... non-advance section, R1 ... advance section, N ... rotation speed, N1 ... predetermined speed, D ... duty, t0 to t3 ... time, T1 ... detection confirmation time, T2 ... input mask time.

Claims (5)

An operation request detection unit that detects an operation request of the opening / closing body provided at the opening of the vehicle, and an operation request detection unit.
An opening / closing control unit that controls the operation of the opening / closing body by controlling a motor as a drive source based on the operation request is provided.
The open / close control unit executes advance angle control for advancing the phase of the motor control signal, and also performs advance angle control.
When a stop request for the opening / closing body is detected while driving the opening / closing body accompanied by execution of the advance control, the driving power supplied to the motor is reduced and the advance value of the advance control is reduced. A vehicle opening / closing body control device that stops driving the opening / closing body. In the vehicle opening / closing body control device according to claim 1,
The opening / closing control unit is a vehicle opening / closing body control device, wherein the advance angle value is set to zero before the supply of driving power to the motor is stopped. In the vehicle opening / closing body control device according to claim 1 or 2.
The opening / closing control unit starts the reduction of the advance angle value at the same time as the reduction of the driving power.
A vehicle opening / closing body control device characterized by. In the vehicle opening / closing body control device according to claim 1 or 2.
The opening / closing control unit for a vehicle is characterized in that the opening / closing control unit starts the reduction of the advance angle value before the reduction of the driving power is started. In the vehicle opening / closing body control device according to any one of claims 1 to 4.
The opening / closing body is a sliding door provided in the door opening of the vehicle.
A vehicle opening / closing body control device characterized by.

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