JP2782320B2 - Electric drive - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric drive device suitable for use in, for example, an automatic door for automatically opening and closing an entrance of a building, a power window device of a vehicle, an electric sunroof, a power antenna device, and the like.

[0002]

2. Description of the Related Art Conventionally, a power window device includes an electric drive mechanism for raising and lowering a window glass and an electric drive for driving a motor of the electric drive mechanism. Some electric drive devices of this type have a function of detecting and automatically stopping foreign matter when the foreign matter is caught when closing the window glass. In addition, the position detection of the window glass by the electric driving device is obtained by a signal generator that generates an electric signal that changes in conjunction with a mechanical movement of a motor such as an encoder or a brush noise generated by the motor. In this case, the starting point (reference position) of the position of the window glass is normally the fully open position.

[0003]

However, in such a conventional electric drive device, a signal is generated from a signal generator or a motor which generates an electric signal which changes in accordance with the mechanical movement of a motor such as an encoder. Although the position information of the window glass is obtained by the brush noise, when the pinch is detected during the operation of moving the window glass up and down repeatedly at, for example, an intermediate position of the window glass, an error occurs in the position information from the starting point. This causes a problem that an accurate position cannot be detected.

Accordingly, the present invention provides a method for detecting position information of a window glass by using a pulse count, and detecting a pinch during the operation of moving the window glass up and down. It is an object of the present invention to provide an electric drive device capable of correcting an error.

[0005]

In order to achieve the above object, an electric driving device according to the present invention comprises an electric driving means for driving a moving portion, and an electric signal which changes in accordance with a mechanical movement of the electric driving means. and signal generating means for generating a position detection means for detecting a position of the mobile unit by the output of said signal generating means, a movement start command output means for outputting a command for starting the movement of the moving portion, the electric A load detecting means for detecting a load applied to the driving means; and an overload detecting means for comparing the load applied to the electric driving means with a predetermined value and detecting an overload when the load exceeds the predetermined value. In the electric drive device, the number of times of overload detection by the load detection means is counted, and a pinch counting means for outputting a reset signal when a predetermined count value is reached; When the overload is detected by the overload detection unit at a position other than the movement stop position, the electric drive unit is controlled to return the moving unit to the movement start position by a predetermined distance, and the movement start command is issued. In a state in which the movement start is designated by the output means, and when the resetting signal is output from the pinching counting means when the moving part is at a position other than the movement start position or the movement stop position, the movement part is moved to the movement start position. And a forward / reverse control means for controlling the electric driving means so as to return the electric drive means to the normal position.

[0006]

According to the present invention, when overload detection is continuously performed a plurality of times during the moving operation of the moving unit, the moving unit is returned to the movement start position and the position information is reset. Therefore, it is possible to eliminate the accumulated error of the position caused when the reciprocating motion is continuously performed a plurality of times between the movement start position and the movement stop position, and it is possible to perform accurate position detection. Specifically, in the electric drive device of the power window device, when a phenomenon occurs in which the entrapment operation of the window glass is repeatedly detected and detected repeatedly and the up and down is repeatedly performed,
Fully open the window glass and reset the position information.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a power window device to which an embodiment of an electric drive device according to the present invention is applied. In this figure, reference numeral 1 denotes a window glass of a side door, and 2 denotes an electric drive mechanism for moving the window glass 1 up and down, and comprises a motor (DC motor) 3A and a window regulator 3B. The window regulator 3B converts the rotational motion of the motor 3A into a linear motion, and moves the window glass 1 up and down with the power. Reference numeral 4 denotes a temperature sensor such as a thermistor, and reference numeral 5 denotes a switch which is operated when a person wants to manually or automatically raise and lower the window glass 1, and is usually arranged inside a door.

Reference numeral 6 denotes a forward rotation relay, and reference numeral 7 denotes a reverse rotation relay. Here, when the contact of the forward rotation relay 6 and the contact of the reverse rotation relay 7 are set to the state shown in the figure, that is, the common contact c of the forward rotation relay 6 is applied to the fixed contact a, and the reverse rotation relay When the common contact c of No. 7 is applied to the fixed contact b, the motor 3A rotates forward. When the contact state is opposite to that shown in the figure, that is, when the common contact c of the forward rotation relay 6 is applied to the fixed contact b and the common contact c of the reverse rotation relay 7 is applied to the fixed contact a, the motor 3A rotates reversely. A forward rotation driver 8 drives the forward rotation relay 6. Reference numeral 9 denotes a reverse rotation driver, which drives the reverse rotation relay 7. Reference numeral 10 denotes an output circuit for transmitting and receiving signals between the CPU 11 and the forward rotation driver 8 and the reverse rotation driver 9. The CPU 11 controls various parts of the apparatus and performs various calculations. In this case, the control of each part of the apparatus includes the control for temperature correction.

Reference numeral 12 denotes a ROM in which a program for controlling the CPU 11 is written. 13 is RAM
And is used for work area and data storage. Further, a load comparison value serving as a reference is written in the RAM 13 in advance. 14 is RA for backup
M and 15 are timers. The timer 15 is used for measuring an elapsed time immediately after starting the motor. This timer 15
Accordingly, the CPU 11 does not perform the overload detection in the transition period immediately after the start of driving of the motor 3A. Reference numeral 16 denotes an input circuit for inputting various data. Various data is taken into the CPU 11 via the input circuit 16. CPU 11,
The ROM 12, the RAM 13, the backup RAM 14, and the timer 15, and the output circuit 10 and the input circuit 16 are connected via a bus line 17.

Reference numeral 18 denotes a temperature detection circuit, which includes a bridge-connected resistor, an amplifier, and the like that include the temperature sensor 4 such as a thermistor as one of the constituent elements. 19 is a battery detection circuit for detecting the voltage of the battery BAT.
Reference numeral 20 denotes a motor current detection circuit, which detects a motor current by detecting a voltage generated across the resistor Rs by the motor current flowing through the resistor Rs. 21 is a differentiation circuit
And differentiates and outputs the output of the motor current detection circuit 20.
You. Reference numeral 22 denotes an A / D converter, which converts the outputs of the temperature detection circuit 18, the battery voltage detection circuit 19, and the differentiation circuit 21 into digital signals and supplies them to the input circuit 16. Reference numeral 23 denotes a current ripple detection circuit, which inputs a voltage across the resistor Rs, detects a current ripple from this voltage, and
To supply. Reference numeral 24 denotes an ignition switch, which is inserted in series with the battery BAT. Operation switch 5
Is supplied to the input circuit 16.

[0011] The forward rotation relay 6, the reverse rotation relay 7,
Forward rotation driver 8, reverse rotation driver 9, output circuit 10,
CPU 11, ROM 12, RAM 13, backup R
AM 14, timer 15, input circuit 16, bus line 1
7, temperature detecting circuit 18, battery voltage detecting circuit 19, motor current detecting circuit 20, differentiating circuit 21, A / D converter 2
2. The resistor Rs and the current ripple detection circuit 23 constitute an electronic control unit (ECU).

FIG. 2 is a block diagram showing various functions of the computer of the electronic control device constituting the power window device of this embodiment, together with a block diagram showing other input / output devices and various circuits. In this figure, reference numeral 25 denotes a motor drive unit, which rotates the motor 3A forward, reverse, and stops based on forward / reverse rotation commands and stop commands supplied from the forward / reverse rotation control unit 26. The motor drive unit 25 drives and controls the motor 3A by a chopper operation using a PWM (Pulse Width Modulation) pulse according to an H-bridge drive method including, for example, four switching elements.

The forward / reverse control unit 26 generates a forward / reverse rotation command for rotating the motor 3A forward or backward based on the output (up signal, down signal) of the operation switch 5 and supplies the same to the motor drive unit 25. In this case, when an up signal is output from the operation switch 5, a forward rotation command is generated, and when a down signal is output, a reverse rotation command is generated. When overload is detected while the windowpane 1 is being raised, the forward / reverse control unit 26 stops the motor 3A and immediately after that, generates a command to reversely rotate the windowpane 1 until the windowpane 1 lowers by several centimeters. To the unit 25.

Reference numeral 27 denotes a motor load detecting unit which detects and outputs a current flowing through the motor 3A. Specifically, a motor current is passed through a built-in resistor (the resistor Rs shown in FIG. 1), and a voltage between both ends of the resistor Rs generated by the motor current is converted into a digital signal and output. An A / D converter (not shown) or the like is used for digital conversion. The output of the motor load detection unit 27 is supplied to a motor load comparison unit 28. Motor load comparison unit 2
Reference numeral 8 denotes a motor load value detected by the motor load detection unit 27 while the window glass 1 is being raised and a comparison value learning unit 29 described later.
And compares the load comparison value written in the memory with the corresponding value, and outputs the difference value. The output difference value is supplied to the delay processing unit 30 and the overload detection unit 31. Motor load comparison unit 28
Determines whether the motor 3A is in the up operation or not.
6 is determined based on the output.

Numeral 32 denotes a current ripple detection unit which detects noise and ripple generated by a brush (not shown) of the motor 3A when the motor 3A rotates, differentiates the detected noise and ripple, and compares the detected noise and ripple with a comparator. To shape the pulse. Then, measure the number and period of the ripple pulse,
Output the result. The measurement of the number and cycle of the ripple pulse is performed by interrupt processing. A position detection unit 33 counts the number of ripple pulses output from the current ripple detection unit 32 and detects the position of the window glass 1 with respect to the rotation of the motor 3A. In this case, the fully open position of the window glass 1 is set as the starting point (reference) of the position information. Position detector 3
The count value corresponding to the position of the window glass 1 detected in 3 is:
The load value is supplied to the comparison value learning unit 29 as address data indicating the position of the window glass 1, and the load comparison value corresponding to the position of the window glass 1 is read out.

When counting the number of ripple pulses, the position detection unit 33 counts the broken or missing pulses after shaping the waveform. As a method of shaping the waveform in the position detection unit 33, the motor speed is calculated from the motor current Im and the motor voltage Vm during the movement of the window glass 1, the resistance of the motor 3A (measured in advance), and the torque constant. If the estimated and actual ripple pulse period is less than half of that value, it is determined to be "crack". If it is larger than that value, it is determined to be "missing" by the number divided by that value, and the count value is calculated. Add to In addition, a position detector such as an encoder may be used instead of the position detection by the ripple pulse.

The comparison value learning section 29 learns a load comparison value for a load change countermeasure such as aging, and outputs the result. The comparison value learning unit 29 is provided with a memory (RAM 13 shown in FIG. 1) for writing a load comparison value corresponding to the position of the window glass 1. Written. For example, assuming that the window glass 1 is divided into 100 stages from the fully closed state to the fully opened state, 100 load comparison values are written corresponding to each stage.

The comparison value learning unit 29 stores a motor load value output from the motor load detection unit 27 when the window glass 1 is raised and a memory at that time (the RAM 13 shown in FIG. 1).
The difference value from the load comparison value read from the
After reading, and weighting the difference value, a new load comparison value is created in addition to the load comparison value currently written in the memory at the present time, and is written to the memory. In this case, the weight for the difference value is usually 1
/ 2.

The comparison value learning section 29 performs learning of temperature information together with learning of the load comparison value. In the memory of the comparison value learning unit 29, a load comparison value storage area is divided into two and set. One area stores the load comparison value of the normal mode, and the other area stores the load comparison value. The load comparison value in the sudden change mode is stored. Further, the comparison value learning unit 29 corrects the weighting coefficient used when updating the load comparison value based on the temperature information. As described above, the comparison value learning unit 29 updates the load comparison value in consideration of the temperature information every time the windowpane 1 is raised. Note that the initial value of the load comparison value is written to the memory of the comparison value learning unit 29 in the adjustment process before shipment from the factory. Each time the window glass 1 is moved, the comparison value learning unit 29 reads the load comparison value currently written in the memory and supplies the read load comparison value to the motor load comparison unit 28.

The delay processing unit 30 includes a motor load comparing unit 28
The difference value outputted from the window glass 1 is temporarily stored in association with the position of the window glass 1, and is delayed and given to the comparison value learning unit 29. By temporarily storing the difference value in this manner, the comparison value learning unit 29 does not need to perform learning based on an erroneous difference value from when a foreign object is caught to when an overload is actually detected. That is, when an overload is detected, an erroneous difference value stored between the time when the signal is sandwiched and the time when the signal is detected can be discarded.

Here, the reason why the difference value is temporarily stored will be further described. If the learning is performed immediately ignoring the delay time from the pinching to the actual overload detection, an abnormal difference value will be learned. In the worst case, if the pinching is performed immediately after the pinching is performed once, the overload detection is not performed unless the pinching force of the portion approximately reaches twice. In order to reduce the delay of the overload detection, the threshold value of the overload detection may be reduced. However, if the threshold value is reduced, a malfunction may occur even with a slight noise or a change in the load of the motor 3A. It is difficult to reduce the value of the threshold value so as not to cause the problem.

The overload detecting section 31 is a motor load comparing section 2
8 is compared with a preset threshold value (for example, 2A), and when the difference value is equal to or larger than the threshold value and the current position of the window glass 1 is not the closed position, an overload is detected. And output the result. However, motor 3
During a certain period immediately after the driving of A, an erroneous detection may occur due to a transient phenomenon of the motor 3A, so that overload is not detected during this period. Reference numeral 34 denotes an entrapment counting unit which counts the number of times overload is detected and provides the overload detection result of the overload detection unit 31 to the forward / reverse rotation control unit 26 as it is. The entrapment counting section 34 counts, for example, ten times (hereinafter, ten times) the entrapment detection (overload detection) in a state where the operation switch 5 is set to the up side, and corrects the signal indicating the result. This is given to the reverse rotation control unit 26.

The forward / reverse control unit 26 includes an entrapment counting unit 34
Upon receiving a signal indicating that overload detection has been performed 10 times in succession, a command to fully open the window glass 1 is supplied to the motor drive unit 25 to reset the position information of the window glass 1. As a result, it is possible to eliminate an error in position information that occurs when the windowpane 1 is repeatedly moved up and down at an intermediate position or the like. As described above, when the forward / reverse control unit 26 receives a signal indicating overload from the overload detection unit 31 via the pinch counting unit 34,
A command to stop the motor 3A is supplied to the motor driving unit 25, and then the motor 3A is driven until the window glass 1 is lowered by several centimeters.
Is supplied to the motor drive unit 25.

[0024] Here, FIG. 3 is a schematic diagram showing the process in the case of continuously detected for pinching, as shown in this figure, while pressing the operation switch 5 to the up side,
When the pinch is detected, the window glass 1 is lowered by several tens mm. When the steps (1) to (4) are continuously performed ten times, the window glass 1 is fully opened and the position information is reset.

Referring back to FIG . 2, reference numeral 36 denotes a temperature detecting unit.
The output of the temperature sensor 4 is converted to digital by A / D and output.
Power. Reference numeral 37 denotes a mode determination unit.
Normal mode or sudden change mode based on detected temperature data
To determine if the In this case, the current learning temperature and
The difference value from the temperature at the time of the previous learning is greater than or equal to a predetermined value.
The load comparison value and the window glass 1
When the difference value from the motor load value during
It is determined that the motor load has changed abruptly when the motor load changes.

Reference numeral 38 denotes a temperature correction unit, and the mode determination unit 3
Based on the determination result in step 7, the comparison value learning unit 29 is controlled so that the storage area of the load comparison value is different between the normal mode and the sudden change mode. Similarly, based on the determination result of the mode determination unit 37, the comparison value learning unit 29 is caused to correct the weighting coefficient used when updating the load comparison value. Similarly, it causes the overload detector 31 to correct the threshold based on the determination result of the mode determiner 37. These treatments may be used alone or in combination.

The window glass 1 corresponds to a moving unit. The motor 3A corresponds to an electric drive unit and a signal generation unit. The current ripple detector 32 and the position detector 33 constitute a position detector 100. The operation switch 5 corresponds to a movement start command output unit. The motor load detector 27 corresponds to a load detector. Further, the motor load comparing section 28 and the overload detecting section 31 constitute overload detecting means 110. Further, the pinch counting section 34
Corresponds to the pinching counting means. The forward / reverse control section 26 corresponds to forward / reverse control means.

Next, the operation will be described. Main Process FIG. 4 is a flowchart showing a main processing in this embodiment. After the power is turned on, first, in step S10, the RAM 1
3. Initialize the backup RAM 14, the timer 15, and the like. Next, in step S11, the output of the operation switch 5 is captured, and the motor 3
The driving of A is started. In this case, it is assumed that the up operation has been performed, and the motor 3A starts operating in the direction in which the window glass 1 is up.

After taking in the output of the operation switch 5, the CPU 11 operates the forward rotation driver 8 and the reverse rotation driver 9 to start driving the motor 3 A,
The circuit is switched in a direction to rotate the motor 3A forward. Next, in step S12, the CPU 11 inputs and stores the temperature information. Next, at step S13, the motor voltage V
The acquisition of m and the motor current Im is started. Then, the ripple pulses are counted in step S14. This number of ripple pulses corresponds to the position of the window glass 1. Next, in step S15, it is determined whether or not the window glass 1 is at the closed position based on the number of ripple pulses. In this determination, if it is determined that the position is the close position, step S
Returning to step 11, if it is determined that the position is not the closed position, an operation for obtaining the position of the window glass 1 is performed in step S16.

Next, in step S17, counting of the motor driving time is started. That is, the time from the start of driving of the motor 3A is counted. Then, step S1
At 8, it is determined whether or not it is a transitional period. If it is determined that the period is a transitional period, the process returns to step S <b> 12. If it is determined that the period is not a transient period, the process proceeds to step S <b> 19. In addition,
In the transition period, the ripple pulses are counted, but the entrapment detection is not performed. In step S19, a mode is determined. That is, the temperature detected by the temperature detection circuit 18 is
Normal mode or sudden change mode based on the measured temperature
I do.

Next, in step S20, it is determined whether or not the temperature has suddenly changed. If it is determined that the temperature has suddenly changed, a temperature correction process is performed in step S21. On the other hand, if it is determined that the temperature does not change suddenly, the motor load is compared in step S22. That is, the RAM (comparison value learning unit 29)
The load comparison value stored in the memory 13 is read out, and the load comparison value is compared with the current motor load value to obtain a difference value. After obtaining this difference value, an overload detection process is performed in step S23. That is, it is detected whether the difference value obtained in step S22 is equal to or greater than a preset threshold value and whether the window glass 1 is in the closed state. Next, it is determined in step S24 whether or not pinching has occurred based on the detection result in step S23. That is, when the difference value is equal to or larger than the preset threshold value and the window glass 1
When it is detected that is not in the closed state, it is determined that the object is pinched.

If it is determined that no jamming has occurred, step S
At 25, the comparison learning process is started. That is, the window glass 1
Then, a difference value (previous minute) between the motor load value at the time of increasing the motor load value and the load comparison value stored in the memory is read, and a predetermined weight (usually １ ／) is given to the difference value. Then, a new load comparison value is created in addition to the load comparison value currently stored in the RAM 13 and written to the RAM 13. Further, learning of the temperature data is performed simultaneously with learning of the load comparison value. If it is determined in step S24 that the object is pinched,
In step S26, the number of times of pinching is determined. That is,
It is determined whether or not the entrapment has occurred ten times in a row.
In this determination, if it is determined that the sandwiching has occurred ten times in a row, the motor 3A is immediately reversed in step S27, and the window glass 1 is fully opened. After the window glass 1 is fully opened, the position information is reset, and the process returns to step S11.
On the other hand, if it is determined that the entrapment has not occurred 10 times in a row, the motor normal / reverse rotation control is performed in Step S28. That is, if an overload is detected while the window glass 1 is being lifted, the motor 3A is immediately started in step S28.
Is stopped, and immediately after that, the forward rotation driver 8 and the reverse rotation driver 9 are operated, and the motor 3A is rotated backward until the window glass 1 is lowered by several centimeters. After this process ends,
It returns to step S11.

Interrupt Processing FIG. 5 is a flowchart showing the interrupt processing. In this figure, the number and cycle of ripple pulses are counted in step S40, and the counted ripple pulses are written in the memory in step S42. This interrupt processing is executed at predetermined intervals.

The temperature correction 6 is a flowchart showing a temperature correction process. First, in step S50, the temperature in the previous learning of the load comparison value is compared with the current temperature. Next, in step S52, the total of the comparison results of the motor load values at the check position is calculated. Next, an analysis of the absolute temperature value is performed in step S54. Then, the mode is determined in step S56. That is, it is determined whether or not the temperature at the time of the current learning is suddenly changed from the temperature at the time of the previous learning based on the information in steps S50 to S54. Then, in step S58, it is determined whether the mode is the normal mode or the sudden change mode. If it is determined that the mode is the normal mode, the motor load storage area No. is determined in step S60. Specify 1 (for normal use). Next, in step S62, the motor load comparison area No. Specify 1 (for normal use). After designating the storage area, the threshold value for overload detection is set to a normal value in step S64. Then, after clearing the number of sudden change modes in step S66, the process returns to the main processing.

On the other hand, if it is determined in step S58 that the sudden change mode has been set, then in step S68 the motor load storage area No. Specify 2 (for sudden change). Next, in step S70, it is determined whether or not the sudden change mode is the first time. If it is not the first time, the process proceeds to step S72, and the motor load comparison area No. Specify 1 (for normal use). Then, in step S74, the threshold value for overload detection is corrected. That is, the threshold is corrected according to the amount of change in temperature. This corrected threshold value is called a sudden change value. After correcting the threshold, step S
At 76, a sudden change value is set. Next, after clearing the number of sudden change modes in step S78, the process returns to the main process. If the sudden change mode is the first time in step S70, the process proceeds to step S80, where the motor load comparison area No. Specify 2 (for sudden change). Next, a normal threshold is set in step S82, and thereafter, the process returns to the main processing.

In the above embodiment, the position is detected based on the current ripple generated by the motor 3A. However, the position may be detected using a position detector such as an encoder. . Further, in the above embodiment, the number of consecutive pinching is "10", but the number is not limited to this number. In the above embodiment, the motor load is detected from the current flowing through the motor 3A. However, the motor load may be detected based on the motor speed. Further, in the above embodiment, the case where the present invention is applied to the power window device is described.
It goes without saying that the present invention can be applied to a power antenna device and a window opening / closing device of a house or an apartment.

[0037]

According to the present invention, when overload detection is continuously performed a plurality of times during the moving operation of the moving unit (the window glass 1 in the embodiment), the moving unit is moved to the movement start position (in the embodiment, the moving glass window 1). Since the position information is reset by returning to the fully open position, when the reciprocating motion is continuously performed a plurality of times between the movement start position and the movement stop position (in the embodiment, the pinch detection is performed). Accumulated errors in the generated positions can be eliminated, and accurate position detection can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram of a power steering device to which an electric drive device according to an embodiment of the present invention is applied.

FIG. 2 is a block diagram showing various functions of a computer of an electronic control device constituting a power steering device to which the electric drive device of the embodiment is applied, together with a block diagram showing other input / output devices and various circuits. is there.

FIG. 3 is a diagram for explaining features of the electric drive device of the embodiment.

FIG. 4 is a flowchart of a main process of the electric drive device of the embodiment.

FIG. 5 is a flowchart of an interrupt process of the electric drive device of the embodiment.

FIG. 6 is a flowchart of a temperature correction process of the electric drive device of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Window glass (moving part) 3A Motor (electric drive means, signal generation means) 5 Operation switch (movement start command output means) 26 Forward / reverse rotation control part (forward / reverse rotation control means) 27 Motor load detection part (load detection means) 28 Motor load comparing section 31 Overload detecting section 32 Current ripple detecting section 33 Position detecting section 34 Pinching counting section (pinching counting section) 100 Position detecting section 110 Overload detecting section

Claims (1)

(57) [Claims] 1. A and electric drive means for driving the moving unit, a signal generating means for generating an electrical signal that varies in conjunction with the mechanical motion of the electric drive unit, the position of the movable portion by an output of said signal generating means Position detection means for detecting the movement of the moving part, movement start command output means for outputting a command for starting the movement of the moving part, load detection means for detecting a load applied to the electric driving means, and addition to the electric driving means An overload detecting means for comparing the load with a predetermined value and detecting an overload when the load exceeds the predetermined value, wherein the number of times of the overload detection by the load detecting means is counted. An entrapment counting means for outputting a reset signal when a predetermined count value is reached; and an overload detecting means for detecting an overload at a position other than the movement start position or the movement stop position of the moving part. The electric drive unit is controlled so that the moving unit is returned to the movement start position by a predetermined distance when the moving unit is moved, and the moving unit is instructed to start moving by the movement start command output unit, and Forward / reverse rotation control means for controlling the electric drive means to return the moving part to the movement start position when a reset signal is output from the pinch counting means at a position other than the movement start position or the movement stop position, An electric drive device comprising: