JP2954471B2 - Opening / closing body opening / closing control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an opening / closing control method for an opening / closing body such as a power window and a sunroof, and more particularly to a method for controlling opening / closing of an opening / closing body having means for judging a foreign substance from being caught when the opening / closing body is closed. is there.

[0002]

2. Description of the Related Art For example, as a device for opening and closing an opening and closing body,
2. Description of the Related Art As shown in FIG. 2, there is a device for opening and closing a window glass of an automobile using a driving force of a motor. This device is configured to operate in response to an opening / closing operation signal sent to the motor 3 via a control unit when a switch group arranged in the vehicle is operated. This motor 3 is connected to an X-shaped regulator 1 via a pinion (not shown) provided on its output shaft.
The X-shaped regulator 13 is actuated by the forward / reverse driving force of the motor 3, and the window glass 12 moves up and down within the range indicated by the arrow H1.

Conventionally, in such a power window device, rotation detection means for detecting rotation of the motor 3 or overcurrent detection means for detecting an overcurrent flowing through the motor 3 is used. A change in the rotation cycle and a change in the current when a foreign object is caught during the closing operation of the window glass 12 are detected, and the closing direction drive of the motor 3 is stopped based on the amount of these changes, and the reverse rotation drive is performed. Things are known.

As a method of determining the entrapment of a foreign object based on a change in the rotation cycle of the motor 3 using the above-described rotation detection means, a cycle T _n of the n-th signal and a cycle of the (n + 1) -th signal following this are used. by comparing the T n _{+ 1,} the method determines that sandwich the foreign matter has been proposed in the case where the change rate T _{n + 1} / T _n exceeds a predetermined judgment value K.

[0005]

However, as shown in FIG. 4, when a hard object is interposed, the rotation cycle increases rapidly, and when a soft object is interposed, the rotation cycle is relatively slow. Change. Therefore, when the judgment value K is set to be large, when sandwiched soft ones, because the rate of change of the rotational period T _{n + 1} / T _n is smaller below the determination value K,
There is a possibility that the determination of entrapment may not be possible or may be delayed. Conversely, if the determination value K is set to a small value, it may be determined that the motor 3 is trapped even when the load acting on the motor 3 changes due to the influence of the ambient temperature or the like. As described above, in the conventional method of determining the entrapment of a foreign substance using only one determination value, it is not possible to reliably perform the determination particularly when a soft object is entrapped.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and its main purpose is to quickly insert a soft object when the opening / closing body is closed. An object of the present invention is to provide an opening / closing control method of an opening / closing body capable of accurately determining and stopping a closing operation.

[0007]

SUMMARY OF THE INVENTION According to the present invention, there is provided a rotation detecting means for detecting rotation of a motor for driving an opening / closing member, and a method for closing a foreign object during the closing operation of the opening member. A closing operation control means for controlling to stop the closing operation based on a signal from the rotation detecting means, wherein the closing operation control means includes: The rotation cycle of the motor is constantly measured based on the signal, and the amount of change in the rotation cycle exceeds a predetermined first determination value, or exceeds a predetermined second determination value that is lower than the first determination value. It is attained by providing an opening / closing control method of an opening / closing body, characterized in that when the state continues for a predetermined period, it is determined that a foreign object has been caught, and the closing operation is stopped.

[0008]

In this way, if the rotation cycle changes abruptly when a hard object is sandwiched, that is, if the change in the rotation cycle is large, the change in the rotation cycle exceeds the first determination value. Is determined to be sandwiched, and the closing operation can be immediately stopped. In addition, when a soft object is sandwiched and the rotation cycle changes relatively slowly, that is, when the change amount of the rotation cycle is small, the change amount of the rotation cycle falls below the first determination value. If the second determination value that has been set lower than the second determination value continues for a predetermined period, it is determined that a foreign object has been inserted, so that even a soft object can be determined quickly and the closing operation can be stopped. . At the same time, it is possible to prevent a change in the load of the motor due to a temperature condition or the like from being erroneously determined to be a pinch and prevent a malfunction such as stopping the closing operation.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a preferred embodiment of the present invention.

FIG. 1 is a schematic circuit diagram showing a control unit of a power window device to which the present invention is applied. As described above, this is controlled by operating a group of switches according to a signal sent to the control unit. The power is supplied from the unit to the motor 3 to cause the vehicle window glass 12 shown in FIG. 2 to open and close.

As shown in FIG. 1, each input terminal I of a main control circuit 1 comprising a CPU as an open / close operation control means.
Opening / closing operation signals from the window glass closing operation switch 2a and the window glass opening operation switch 2b of the switch group 2 are input to I and I2, respectively.

A positive terminal of the motor 3 is connected to a relay Ry1 for closing the window glass, and a negative terminal is connected to a relay Ry2 for opening the window glass.
These relays Ry1 and Ry2 are connected to the transistors Tr1 and O2 connected to the output terminals O1 and O2 of the main control circuit 1, respectively.
1. On / off control is performed via Tr2.

Two Hall ICs for detecting the position of the rotor are provided on the inner wall of the stator (not shown) in the motor 3.
4 and 5 are sequentially arranged with a phase difference of 90 degrees in the normal rotation direction (clockwise) of the rotor. The output line from the first Hall IC 4 is connected to the motor rotation pulse conversion circuit 6 and the input terminal I4 of the main control circuit 1. The output line from the second Hall IC 5 is connected to the motor rotation pulse conversion circuit 6 and the input terminal I5 of the main control circuit 1.

In the motor rotation pulse conversion circuit 6, exclusive OR circuits EXOR1, EXOR2, EXOR3 and the like are connected. Outputs from both Hall ICs 4 and 5 are connected to each input terminal of the exclusive OR circuit EXOR1. Output terminal of exclusive OR circuit EXOR1 and GN
A resistor R1 and a capacitor C1 are connected to the node D via a node A, and a node B between the resistor R1 and the capacitor C1 is connected to one input terminal of an exclusive OR circuit EXOR2. . Exclusive OR circuit EXOR2
Is connected to the ground, and the output terminal of the exclusive OR circuit EXOR2 is connected to one input terminal of the exclusive OR circuit EXOR3 via the node C.
The other input terminal of the exclusive OR circuit EXOR3 is connected to the node A. Node B is connected to capacitor C
2 is connected to the node C. The output terminal of the exclusive OR circuit EXOR3 is connected to the input terminal I of the main control circuit 1.
3 is connected.

Next, the operation of the control unit of the power window device having the above configuration will be described. Each switch 2a,
By operating 2b, a power supply voltage is supplied to the motor 3, and the window glass 12 opens and closes. For example, when the window glass 12 is to be closed, the switch 2
Close a. Then, a closing operation signal is supplied to the input terminal I1 of the main control circuit 1, and in response to this signal, an ON signal is sent from the output terminal O1 of the main control circuit 1 to the relay Ry1. As a result, a current line is formed from the power supply through the + terminal and the-terminal of the motor 3 to GND, and the motor 3 rotates clockwise (this rotation direction is set to forward rotation), and the window glass 12 is moved. Close operation.

When it is desired to open the window glass 12, the switch 2b is closed. Then, an ON signal is output from the output terminal O2 of the main control circuit 1 to the relay Ry2, and the power supply passes through the negative terminal and the positive terminal of the motor 3 to GND.
Is formed, the motor 3 rotates counterclockwise (this rotation direction is reversed), and the window glass 12 is opened.

From the two Hall ICs 4 and 5, a signal indicating the rotational position of the rotor is output. This output signal is shown in FIG. 3 (a) and (b). The first Hall IC 4 outputs a signal that periodically switches between high and low as shown in FIG. Also, the first hall I
The second Hall IC 5 arranged clockwise at a phase angle of 90 degrees from C4 periodically delays the output signal from the first Hall IC 4 by 90 degrees from the output signal from the first Hall IC 4 as shown in FIG. A signal that switches between high and low is output.

The two-system signals from the two Hall ICs 4 and 5 are always supplied to respective input terminals of an exclusive OR circuit EXOR1 in the motor rotation pulse conversion circuit 6. These signals are converted by the motor rotation pulse conversion circuit 6 into motor rotation pulses as shown in FIG. 3C and output from the output terminal of the exclusive OR circuit EXOR3. This motor rotation pulse is input from the input terminal I3 to the main control circuit 1, and is used to determine the entrapment of foreign matter.

The signals of the two systems from the two Hall ICs 4 and 5 do not pass through the motor rotation pulse conversion circuit 6 as described above, but are separately input to the main control circuit 1 from the input terminals I4 and I5. Is done. The signals of the two systems from the Hall ICs 4 and 5 have a phase difference of 90 degrees from each other, so that the rotation direction of the motor 3 and the window glass 12
Identify the opening and closing directions.

The above-described motor rotation pulse is supplied to the input terminal I3
Is input to the main control circuit 1 to determine the entrapment of foreign matter as follows. However, it is only at the time of the closing operation that the trapping of the foreign matter is determined and the closing operation is stopped, and as shown in FIG. Only when it is within the range of H2 (for example, between 4 mm and 200 mm). The position of the window glass 12 is detected by counting motor rotation pulses. In other words, the moving distance per pulse is determined in advance, the fully closed state is set as the origin, the number of pulses is added during the opening operation, and the number of pulses is reduced during the closing operation, so that the position of the position is calculated from the number of pulses. Make a determination. Further, the fully opened state may be set as the origin.

First, a rotation cycle is calculated from a motor rotation pulse signal (see FIG. 3). The rotation period is determined by a moving average every four periods, taking into account the influence of the fluctuation of the rotation period due to a measurement error or the like.

Next, the first determination value K1 and the second determination value K2
Is used to determine the entrapment of a foreign object based on a change in the rotation cycle. and the period T _n of the n-th signal and examining the changes in the rotation period by comparing the period T _{n + 1} of the subsequent (n + 1) th signal, the rotation period variation rate T _n as an indication of the amount of change in the rotation cycle _{+ 1} / _Tn is adopted. This rotation cycle change rate T _{n + 1}
/ T _n and compares the first judgment value K1 and the second determination value K2, execute contaminant entrapment determination as follows. When the rotation cycle change rate _{Tn + 1} / _Tn is larger than 1, the rotation cycle tends to increase.

FIG. 4 shows a change in rotation cycle when a foreign object is sandwiched. As described above, when a hard object is sandwiched, the rotation cycle increases rapidly, and when a soft object is sandwiched, the rotation cycle changes relatively slowly.
Therefore, first, as a countermeasure when a hard object is sandwiched, a first determination value K1 (K1 = 1 + α,
Here, α> 0 is set, and a second determination value K2 (K2 = 1 + β, where 0 <β <), which is larger than 1 but smaller than the first determination value K1, is set as a case where a soft object is sandwiched.
α) is set. When the rotation period sandwich the foreign matter is abruptly increased to the rotation period variation rate T _{n + 1} / T _n exceeds the first determination value K1, it is determined immediately that sandwich the foreign object. On the other hand, since the rotation cycle of the object with the foreign matter interposed therebetween increases slowly, the rate of change of the rotation cycle T _{n + 1} /
T _n is less than a first determination value K1, and if it exceeds the second determination value K2, in order to prevent erroneous determination, if the rotation cycle is increasing, that is, changes in the rotation cycle rate T _{n + 1} /
If T _n is that that exceeds the second determination value K2 a predetermined number of times (e.g., 7 times) in succession, determines that sandwich the foreign object.

However, when the motor is started, the rotation cycle abnormally fluctuates due to the influence of bending of the X-shaped regulator or the like, and therefore, there is a possibility that it is erroneously determined that a foreign object is caught. In order to cope with this, during a predetermined period (for example, 70 pulses) immediately after the motor is started, the rotation cycle change rate _{Tn + 1} / _Tn falls below the first determination value K1, and the rotation cycle change rate _{Tn +} the case _{where 1} / T _n is to exceed the second determination value K2 predetermined number of times in succession, carried out the predetermined number of times to extend than the normal number (e.g. 10 times) determination.

As described above, when the main control circuit 1 determines that a foreign object has been caught in the closing operation, that is, when the ON signal is output from the output terminal O1 and the relay Ry1 is in the ON state, the output terminal An ON signal is also output from O2, the relay Ry2 is turned on, and the dynamic brake operates. Subsequently, an off signal is output from the output terminal O1, and the closing operation of the window glass 12 is stopped. After the stop, the ON signal is continuously output from the output terminal O2 for a predetermined time, and the window glass 12 performs the opening operation for a predetermined period or a predetermined section.

In the present embodiment, T _{n + 1} / T _n is adopted as the change amount of the rotation cycle, and this is compared with the determination values K 1 and K 2 to determine the abnormality of the motor rotation. However, the present invention is not limited to this.
_n + 1 may be used as the -T _n. In this case, the rotation period change amount T
_{n + 1} -T _n is, if more than a predetermined first determination value L1, or is below a first judgment value L1, when it exceeds a predetermined second judgment value L2 are continuously given period, the foreign matter Is determined to be interposed.

Further, in this embodiment, the method for controlling the opening and closing of the device for opening and closing the side window glass 12 of the vehicle has been described. However, the present invention is not limited to this. Can be applied.

[0028]

As is apparent from the above description, according to the present invention, the amount of change of the rotation cycle of the motor for opening and closing the opening / closing body is compared with two large and small judgment values to determine the amount of foreign matter trapped. Hard and soft can be determined. In other words, when the rotation period sharply increases and the change amount of the rotation period exceeds a large determination value, it can be determined that a hard object is sandwiched, and the change amount of the rotation period is between two large and small determination values. If the rotation cycle continues to increase for a certain period of time, it can be determined that a soft object has been trapped. Can be stopped. In addition, it is possible to prevent a change in the load of the motor due to a temperature condition or the like from being erroneously determined to be interposed and to prevent a malfunction such as stopping the closing operation. As described above, according to the opening / closing body opening / closing control method of the present invention, the opening / closing body opening / closing device can be made more reliable without malfunction.

[Brief description of the drawings]

FIG. 1 is a schematic circuit diagram of a control unit of a power window device to which the present invention has been applied.

FIG. 2 is a side view showing a schematic configuration of a power window device.

FIG. 3 is a waveform diagram showing a signal output from a Hall IC and a corresponding motor rotation pulse.

FIG. 4 is a graph showing a change in a rotation cycle of a motor when a foreign object is interposed.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main control circuit 2 Switch group 2a Close operation switch 2b Open operation switch 3 Motor 4 1st hall IC 5 2nd hall IC 6 Motor rotation pulse conversion circuit 11 Door 12 Window glass 13 X-shaped regulator 13a Sector gear 14 Window frame

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masashi Shimada 1-2681, Hirosawa-cho, Kiryu-shi, Gunma Mitsuha Electric Co., Ltd. (58) Field surveyed (Int. Cl. ⁶ , DB name) E05F 15/00-15/20

Claims (1)

(57) [Claims] 1. A rotation detecting means for detecting the rotation of a motor for driving the opening / closing body to open and close, and the closing operation is stopped based on a signal from the rotation detecting means when a foreign object is caught during the closing operation of the opening / closing body. Closing operation control means for controlling the opening and closing of the opening and closing body, wherein the closing operation control means constantly measures a rotation cycle of the motor based on a signal from the rotation detection means, When the change amount of the rotation cycle exceeds a predetermined first determination value,
Alternatively, when the state exceeding a predetermined second determination value lower than the first determination value continues for a predetermined period, it is determined that a foreign object has been caught, and the closing operation is stopped, and the opening and closing of the opening and closing body is characterized in that Control method.