JP3663615B2 - Open / close control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an opening / closing control device that controls an opening / closing body such as a window of a vehicle, and in particular, detects that a human finger or the like has been pinched by the opening / closing body being closed and forcibly stops / opens the opening / closing body. The present invention relates to an opening / closing control device having a function of preventing pinching to be opened.
[0002]
[Prior art]
Conventionally, an open / close control device having a pinch prevention function determines that pinch has occurred in a region before the fully closed position, for example, when the current of a motor driving the open / close body exceeds a certain threshold value. For example, there is an apparatus disclosed in JP-A-9-41800.
As another method, for example, the speed of the motor that drives the opening / closing body is monitored by a pulse sensor, and the motor speed is lowered and the pulse signal output by the pulse sensor is inserted when the period of the pulse signal exceeds a threshold value. Some of them are determined (so-called absolute value determination method).
[0003]
In recent years, the level of safety required in the automobile market and the like has become higher, and more sensitive and delicate performance is required for the pinching prevention function in this type of device.
For example, the force applied to the object in which the opening / closing body is pinched immediately before the stop / open movement at the time of pinching by the pinching prevention function (hereinafter referred to as pinching load) is set to a smaller value from the viewpoint of safety. For example, when an object having a spring constant of 10 (N / mm) is sandwiched, it has been proposed that the design target be a sandwiching load of 100 (N) or less.
[0004]
[Problems to be solved by the invention]
By the way, in the conventional opening / closing control device, as described above, for example, the pinch determination is performed by comparing the motor current with a certain threshold value. In order to prevent the malfunction due to the fluctuation of the power supply voltage, it is necessary to set the threshold value with a large margin in order to achieve the above-mentioned design target for the sandwiching load. Such sensitive pinching detection is impossible.
In addition, for example, a method for determining pinching when the pulse period as the motor operating speed data exceeds a threshold value (absolute value determination) is to set the threshold value sufficiently large to operate the motor (opening / closing body). It is possible to reliably determine that the operation has stopped, and it is possible to determine pinching particularly with high reliability. However, since the operation of the motor (the operation of the opening / closing body) is substantially detected by the pinching and the pinching determination is actually performed, the pinching determination is actually performed because the pinching state is already considerable. This is a state of progress (a state of being pinched with a certain amount of load), and it is impossible to detect such a pinching that achieves the design target for the pinching load.
[0005]
For this reason, the applicant has determined that the amount of change (for example, the difference value) in the operation speed data (for example, the operation cycle) detected by the detection output of the sensor that detects the rotation amount or the operation speed of the motor exceeds the threshold value. Although we are considering adopting so-called differential determination (or using it together with the absolute value determination) to determine that the pinching has occurred, even in this method, it is necessary to cope with fluctuations in the power supply voltage. There is a problem that it is necessary to set a threshold value with a certain degree of margin, and it is difficult to achieve the design target for the sandwiching load.
[0006]
This is because, for example, a DC motor is normally used as an actuator for an opening / closing body in a power window of an automobile, and the motor speed (that is, the operating speed of the opening / closing body) is a power supply voltage supplied to the motor (in some cases, the motor voltage It changes in proportion to. For this reason, for example, when the motor voltage suddenly drops as shown in the uppermost stage of FIG. 4 due to factors such as the start of the engine control operation of the vehicle, the motor speed is reduced as shown in the second stage of FIG. However, the motor speed change amount increases temporarily as shown in the third stage of FIG. If the threshold value is set to a small value that can achieve the design target for the sandwiching load described above, the amount of change in the motor speed caused by the fluctuation may increase depending on the magnitude of the fluctuation of the power supply voltage. The threshold value may be exceeded, and there is a risk of erroneous determination that pinching has occurred even though pinching has not actually occurred.
Therefore, it is still difficult to achieve the design target for the sandwiching load while preventing erroneous determination due to fluctuations in the power supply voltage.
[0007]
If there is a fluctuation that causes a sudden voltage drop, it may be possible to prohibit differential judgment and execute only absolute value judgment. Since it is a configuration in which pinching detection is impossible, it is incomplete.
Accordingly, an object of the present invention is to provide an open / close control device that can accurately determine pinching without malfunction regardless of fluctuations in power supply voltage and can realize a pinching prevention function with a lower pinching load.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the opening / closing control device according to claim 1 controls the opening / closing operation of the opening / closing body according to the operation input, and determines whether or not foreign matter is caught in the closing opening / closing body. When the determination is made and this pinching occurs, the opening / closing control device has a pinching prevention function for forcibly opening the opening and closing body,
An opening / closing body operation sensor for detecting an operation amount of the opening / closing body or a motor for driving the opening / closing body;
Voltage detection means for detecting a power supply voltage supplied to the motor;
At least when the opening / closing body is closed, the amount of change in the operating speed data related to the operating speed of the opening / closing body or the motor is calculated from the detection output of the opening / closing body operating sensor, and also due to fluctuations in the power supply voltage. An estimation process is performed to estimate the fluctuation amount of the change amount from the detection output of the voltage detection means, and when the change amount corrected by the fluctuation amount obtained by the estimation process exceeds a set threshold value, An opening / closing control device comprising: a control processing unit that executes differential determination that determines that the pinching has occurred as the pinching determination.
[0009]
According to a second aspect of the present invention, the control processing means has a first-order lag element for the estimation process, and the operating speed data varies with a first-order lag response characteristic due to fluctuations in the power supply voltage. As described above, the fluctuation amount of the change amount is estimated.
The opening / closing control device according to claim 3 is a pulse sensor in which the opening / closing body operation sensor outputs a pulse signal proportional to the rotation amount of the motor, and the operation speed data is the pulse signal of the pulse sensor. It is characterized by a period.
The opening / closing control apparatus according to claim 4 is characterized in that the control processing unit corrects the amount of change by subtracting a variation obtained by the estimation process from the amount of change.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which the present invention is applied to a vehicle power window will be described with reference to the drawings.
(Body structure of power window)
First, an outline of a configuration example of the main body of the power window will be described with reference to FIG.
As shown in FIG. 6A, the rotation of the output shaft of the motor 1 is transmitted to the drum 4 via the worm gear 2 and the worm wheel 3. Then, the wire 5 is pulled in either direction by the rotation of the drum 4, whereby the carrier plate 7 supported by the slider 6 so as to be movable up and down moves up and down and is fixed to the carrier plate 7. The glass 8 (opening / closing body) moves up and down (opening and closing operation). An inner sash 9a and a run channel 9b are attached to the sash 9 as a frame for supporting and storing the wind glass 8, as shown in FIG. 6B (XX sectional view). The peripheral edge including the side edge is fitted into the run channel 9b in the sash 9.
Here, the motor 1 is a DC motor, and the supplied power supply voltage and the rotation speed (rotation speed) are in a proportional relationship. The run channel 9b is formed of a rubber material such as a synthetic resin.
Needless to say, the present invention is not limited to such a main body configuration example. For example, there may be a system in which the driving force of the motor is transmitted by a link without using a wire.
[0011]
(Example of open / close control device)
Next, an example of the opening / closing control device for controlling the power window will be described with reference to FIGS.
A. Hardware Configuration FIG. 1 is a circuit diagram showing a hardware configuration of an opening / closing control device of this example. As shown in FIG. 1, the apparatus of this example includes a microcomputer 20 (hereinafter referred to as a microcomputer 20) that controls a window driving motor 1 in accordance with input signals from various sensor devices and various operation switches. Is.
The microcomputer 20 corresponds to the control processing means of the present invention, and includes a central processing unit (CPU) 21, an input circuit 22, an output circuit 23, a power supply circuit 24, and a voltage detection unit 25, which are not shown. A memory such as a ROM or a RAM for storing or temporarily storing operation programs and various setting values is provided. Note that the operation program of the microcomputer 20 includes software for digital filter processing (for example, primary low-pass filter processing) having characteristics as a temporary delay element.
[0012]
Here, the power circuit 24 is a circuit that transforms and stabilizes the power output of the battery 12 of the vehicle for the microcomputer 20. Note that a signal from a pulse sensor 33 (described later) built in the motor 1 is input to the microcomputer 20 so that the amount of rotation of the motor 1 (the amount of operation of the window glass 8) can be determined.
The voltage detector 25 corresponds to the voltage detector of the present invention, and is a circuit for detecting the power supply voltage supplied to the motor 1 via the output circuit 23.
The microcomputer 20 first performs a process for operating the motor 1 in a predetermined direction in accordance with an operation of a manual up switch 41 or a manual down switch 42, which will be described later, to realize an opening / closing operation by manual operation of the window glass 8. It is. Further, the microcomputer 20 performs auto up or auto down to automatically operate the motor 1 in a predetermined direction until the window glass 8 is fully closed or fully opened in accordance with an operation of an auto up switch 43 or an auto down switch 44 described later. It also has processing functions to be realized. In this example, at least the pinching prevention function based on the differential determination is realized in this auto-up operation. The processing contents of the microcomputer 20 including this pinching prevention function will be described later with reference to FIG.
For example, in addition to the above-described differential determination, so-called absolute value determination may be performed together. The absolute value determination is sandwiched when the detection data of the operating amount of the window glass 8 or the motor 1 (in this example, the pulse signal output from the pulse sensor 33) does not change beyond a preset specified time. This means a pinching determination method for determining that occurrence has occurred.
[0013]
Next, as the sensor device, an ignition switch 31, a limit switch 32, and a pulse sensor 33 (opening / closing body operation sensor) are connected to the microcomputer 20. Among these, the ignition switch 31 has a contact point connected between the positive side of the battery 12 and the input of the power supply circuit 24, and power is supplied to the present control device by operation of the ignition switch 31. The limit switch 32 is connected to the input circuit 22, and the operating state of the switch 32 is input to the CPU 21 as a digital signal.
Here, the limit switch 32 is a so-called fully-closed switch in which the contact is operated by detecting that the window has been operated close to the fully-closed position. Specifically, the contact is provided on the carrier plate 7 in FIG. For example, a mechanical micro switch that is pressed to activate an internal contact.
The pulse sensor 33 is a pulse generator that outputs a pulse signal proportional to the rotation amount of the motor 1, and the rotation amount (rotation angle) of the motor 1 from the number of edges (number of rises and falls) of the output signal waveform. ) And the rotational speed of the motor 1 (the operating speed of the window 8) can be detected from the period of the pulse signal.
[0014]
As the operation switches, a manual up switch 41, a manual down switch 42, an auto up switch 43, and an auto down switch 44 are provided. The operating state of these switches is input to the CPU 21 as a digital signal through the input circuit 22. It becomes the composition which is done.
In this case, the signal input lines of the auto up switch 43 and the auto down switch 44 are unified. For example, the manual up switch 43 is always operated when the auto up switch 43 is in an operating state due to the mechanical configuration of the operation part of the operation switch. 41 is in operation, and the manual down switch 42 is always in operation when the auto down switch 44 is in operation, so that the microcomputer 20 can determine whether auto down or auto up is instructed. It is configured as follows.
[0015]
B. Device operation (contents of control processing)
Next, the operation of the opening / closing control device of this example (the contents of control processing of the microcomputer 20) will be described.
When power is supplied by the operation of the ignition switch 31 and this control device is activated, the microcomputer 20 realizes a manual operation by the following processing.
That is, first, it is determined whether or not the manual down switch 42 is operated. If the manual down switch 42 is operated, the motor 1 is operated in the direction in which the window glass 8 opens (downward direction), and the window glass 8 is opened.
Next, it is determined whether or not the manual up switch 41 is operating. If the manual up switch 41 is operating, the motor 1 is operated in the direction in which the window glass 8 is closed (the direction in which the window glass 8 is lifted), and the window glass 8 is closed.
After the window glass 8 starts to open or close by this manual operation, the window glass 8 (motor 1) is stopped when the manual down switch 42 or the manual up switch 41 returns to the non-operating state.
[0016]
Further, the microcomputer 20 repeatedly executes a series of processes shown in FIG. 2 at a predetermined timing separately from the above-described manual operation process, performs an auto-up or auto-down operation, and prevents pinching in auto-up. Realize the function.
First, in step S22, it is determined whether or not the auto up switch 43 or the auto down switch 44 is turned on (operated). If it is turned on, the process proceeds to step S24. When a series of processing is completed, the processing is repeated from this step S22 at the next timing (the same applies hereinafter).
[0017]
Next, in step S24, it is determined whether auto-up or auto-down is instructed (that is, which of the manual up switch 41 or the manual down switch 42 is turned on), and in the next step S26, this is determined. A control signal for operating the motor 1 in the direction according to the command is output.
Thereafter, the process is stopped for an appropriate start-up period (a period until the motor 1 starts and reaches a steady speed) in step S28, and then in step S30, the output waveform of the pulse sensor 33 and the output of the voltage detector 25 ( The power supply voltage V) is read, and for example, the period T and the power supply voltage V at each subsequent time point are stored as time series data.
In the following, among the plurality of current and past periods T stored in step S30, the latest one is period T0, the previous one is period T1, and the previous one is period T2. To express.
After step S30, a branch process (not shown) is executed. If auto up, the process proceeds to step S32. If auto down, the process proceeds to step S34.
In step S32, it is determined whether or not the limit switch 32 (fully closed switch) is turned on. If turned on, the process proceeds to step S34, and if not turned on, the process proceeds to step S38.
[0018]
In step S34, it is determined whether or not the latest value of the period T read from the output signal of the pulse sensor 33 (ie, T0) has exceeded a threshold value A for determining stoppage due to full closing or full opening. If it has exceeded, the process proceeds to step S36. If not, the process returns to step S30 to repeat the process.
Next, in step S36, the drive output of the motor 1 is stopped, the drive (opening or closing) of the window glass 8 is stopped, and a series of processes is completed.
[0019]
In step S38, an estimated value Th of the pulse period is obtained from the power supply voltage V.
Specifically, digital filter processing (for example, first-order low-pass filter processing) having characteristics as a temporary delay element is performed on a given value of power supply voltage V (time-series data), and further, the digital filter processing The estimated value Wh of the operating speed (for example, the number of revolutions per unit time) of the motor 1 is obtained by multiplying or adding a predetermined coefficient or constant to the obtained value. In this case, an estimated value Th of the pulse period is obtained as an inverse of the estimated value Wh.
In other words, the operating speed of the motor 1 and the value of the pulse period as its reciprocal are uniquely determined proportionally to the value of the power supply voltage V if other conditions are constant, and are transient It has been found by the inventors' research that a small value follows the fluctuation of the power supply voltage V with a substantially first-order lag characteristic. Therefore, here, based on the relationship between the power supply voltage V and the operating speed data of the motor 1, the value of the operating speed data of the motor 1 (in this case, the pulse period) is estimated, and this is used as the estimated value Th. I remember it in the series.
It should be noted that the parameters (time constant as a first-order lag element) in the digital filter processing are set in advance by optimization through experiments or the like.
[0020]
Next, in step S40, a difference value ΔT (change amount) of the actual pulse period T read from the output waveform of the pulse sensor 33 is obtained, and a difference value ΔTh (variation) of the estimated value Th of the pulse period obtained in step S38. Ask for. Specifically, for example, the previous cycle T1 is subtracted from the latest cycle T0, and the difference is set as a difference value ΔT. The same applies to the difference value ΔTh.
In this example, a series of processes for obtaining the difference value ΔTh from the value of the power supply voltage V in steps S38 and S40 corresponds to the estimation process of the present invention.
Next, in step S42, first, the difference value ΔT is corrected by subtracting the value of the difference value ΔTh from the difference value ΔT obtained in step S38. Then, it is determined whether or not the value (ΔT−ΔTh) obtained as a result of this correction operation exceeds a preset threshold value D for differential determination. If it has exceeded, it is determined that pinching has occurred, and the process proceeds to step S44. If not, the process returns to step S30.
[0021]
In step S44, a control signal for reversing the motor 1 is output for a certain period of time, then the driving output of the motor 1 is stopped, the window glass 8 is reversed (opened) by a certain distance, and stopped, and a series of processing is completed. To do.
Note that a plurality of difference values ΔT and ΔTh are calculated for waveforms before a plurality of cycles, and for example, when the difference between all the difference values ΔT and ΔTh exceeds a predetermined threshold value D, step S44 is executed. Thus, the determination accuracy may be improved.
[0022]
According to the above processing, normal operations of auto up and auto down are realized, and in the region where the limit switch 32 is turned off by executing the processing after step S32 during auto up. A more accurate and low load pinching prevention function is realized.
That is, during the period until the limit switch 32 is turned on at the time of closing, the process proceeds to step S38 and subsequent steps in the branching process of step S32, so that at least the pinching prevention function (step S44) by the differential determination (step S42) is executed. The Then, after the difference value ΔT for differential determination is corrected by the difference value ΔTh estimated from the power supply voltage V, it is determined whether or not the threshold value is exceeded (step S42). For this reason, the influence of the fluctuation of the power supply voltage V on the differential determination can be removed, and even if the differential determination threshold is set to a smaller value than the conventional one, the possibility of malfunctioning is greatly reduced. Therefore, it is possible to realize a pinching prevention function with a low pinching load at all times without causing a malfunction with respect to fluctuations in the power supply voltage.
[0023]
For example, as shown in the uppermost stage of FIGS. 3 and 4, when there is a step fluctuation that suddenly drops at a certain point in time, the operating speed W of the motor 1 is as shown in the second stage of FIG. It changes with the same characteristics as the step response of the first order lag system. Similarly, the pulse period T of the pulse sensor 33 attached to the motor 1 also changes with the same tendency as shown in the second stage of FIG. For this reason, the difference value ΔTh (shown in the fifth stage of FIG. 3) of the estimated value Th of the pulse period obtained by the above estimation process is the difference value ΔT (shown in FIG. 3) of the actually measured pulse period T. (Shown in the third stage of 3). Therefore, if there is no state change other than the fluctuation of the power supply voltage V, the corrected pulse period (ΔT−ΔTh) becomes substantially zero as shown in the lowermost stage of FIG. Is almost completely removed.
Even when the power supply voltage V of the motor changes gradually, the influence of the change is removed by the same action.
[0024]
(Demonstration data)
FIG. 5 shows the results of a simulation test conducted by the inventors using a test apparatus that assumes an apparatus having the same configuration as that of the above-described embodiment in order to verify the operational effects of the above-described embodiment. In this test, the change of each parameter when the power supply voltage V is step-changed from 13.5 V to 10.5 V is measured. For convenience, the measurement points in FIG. 5 show simplified actual measurement results.
As shown in FIG. 5, the pulse period T corresponding to the actually measured value and the pulse period Th corresponding to the estimated value changed with similar characteristics close to the response characteristics of the first-order lag system. The corrected pulse period variation (ΔT−ΔTh) does not substantially change, and even when the pinching load is a low threshold value corresponding to about 80 (N), the threshold value is not exceeded. The differential judgment condition was not satisfied. On the other hand, the uncorrected pulse period variation (ΔT) increases primarily due to voltage fluctuations, and the threshold is set when the pinching load is a low threshold value corresponding to about 80 (N). The value was exceeded and the differentiation criterion was met.
Therefore, it can be understood that the sandwiching load can be always maintained at about 80 (N) even when the power supply voltage is changed by the configuration as in the above embodiment.
[0025]
In addition, this invention is not restricted to the said example of a form, There can be various aspects and deformation | transformation.
For example, the opening / closing body operation sensor of the present invention may be any sensor as long as it can detect an operation amount such as an operating distance (rotation angle) or an operation speed (rotation speed) of the opening / closing body or motor. It is not limited to the pulse sensor provided in a simple motor. For example, a circuit that detects a motor ripple or a detector such as a tachometer that detects the rotation speed of the motor may be used. Alternatively, various sensors (for example, potentiometers) that detect the amount and direction of movement of the opening / closing body or the movable portion of the transmission mechanism that operates in conjunction with the opening / closing body can be used. Further, when a pulse sensor or the like is provided, a two-phase type capable of obtaining two signals having different phases, for example, may be used so that the operating direction of the opening / closing body can be detected from this signal.
Further, in the above embodiment, the period T of the output signal waveform of the pulse sensor is used as the operation speed data of the present invention. For example, the rotation speed of the motor can be determined from data such as the rotation amount of the motor obtained from the opening / closing body operation sensor. The operating speed of the opening / closing body itself may be calculated, and the calculation result may be used as the operating speed data of the present invention. Further, when the opening / closing body operation sensor is a sensor that directly detects the operation speed of a motor or the like, the detection output may be used as it is as the operation speed data of the present invention.
Even when the motor speed W is used as the operation speed data of the present invention, by performing the same processing as in the above embodiment, the influence of the fluctuation of the power supply voltage V is almost completely obtained as shown in FIG. Can be removed. That is, the estimated value Wh of the motor speed is obtained from the value of the power supply voltage V (fourth stage in FIG. 4), and the difference value (change amount) ΔWh is obtained from the estimated value Wh (the fifth stage in FIG. 4). Then, if the difference value ΔWh of the estimated value Wh is subtracted from the difference value (change amount) ΔW of the motor speed calculated from the actual measurement value W, the influence of the voltage fluctuation is almost completely as shown in the lowermost stage of FIG. Removed.
[0026]
Moreover, in the said form example, although the difference (difference value (DELTA) T) of two operating speed data (period T) adjacent in time is used as a variation | change_quantity of this invention, it is not restricted to such an aspect. For example, when the operation speed data is given as an analog signal indicating the operation speed of the opening / closing body, a process for differentiating this signal may be performed, and the value obtained as a result of this differentiation process may be used as the amount of change of the present invention. Needless to say. That is, the amount of change of the present invention is a broad concept that means data related to the amount of change in operating speed or the operating acceleration of the opening / closing body or the motor that drives it.
Moreover, in the said form example, although the estimation process of this invention is all performed by software using a digital filter process, it is not restricted to this. For example, a signal having a waveform as shown in the second stage of FIG. 4 is obtained by processing a power supply voltage detection signal using a filter circuit having a first-order lag characteristic, and the amount of change in operating speed data is estimated based on this signal. A value (variation of the present invention) may be obtained. That is, the first-order lag element of the present invention may be a software component or a hardware component.
[0027]
Further, in the above embodiment, a limit switch that detects that the vicinity of the fully closed state is provided is provided, and in a region where the limit switch is turned on, the pinching determination by differential determination is not performed, and the fully closed state is pinched. Although a misoperation to prevent misidentification does not occur, there may be a mode in which such a limit switch is not provided. For example, the fully closed position and the determination area corresponding to the fully closed position are stored by learning processing, and re-learning is performed as necessary, so that it is always determined whether the opening / closing body is within a predetermined determination area up to the vicinity of the fully closed position. However, the sandwiching determination such as the above-described differential determination may be performed only in the predetermined determination region.
In the above embodiment, the pinch determination is performed only during the auto-up operation, but it goes without saying that the pinch prevention function can be similarly activated during the manual up operation.
The present invention is not limited to a vehicle power window, and may be used for a sunroof of a vehicle, for example, or may be applied to control of various opening / closing bodies in a building or structure other than a vehicle.
[0028]
【The invention's effect】
According to the opening / closing control device of claim 1, at least when the opening / closing body is closed, the change amount of the operating speed data related to the operating speed of the opening / closing body or the motor is calculated from the detection output of the opening / closing body operating sensor. In addition, an estimation process is performed to estimate the variation of the variation due to the variation of the power supply voltage from the detection output of the voltage detection means, and the variation corrected by the variation obtained by the estimation processing (for example, claim 4). Thus, when the value obtained by subtracting the fluctuation amount exceeds a set threshold value, differential determination that determines that pinching has occurred is executed by the control processing means.
For this reason, the influence of the fluctuation of the power supply voltage on the pinching determination by the differential judgment is removed, and even if the power supply voltage fluctuates, the function of preventing pinching with a low pinching load can be realized without causing malfunction.
[0029]
In particular, as described in claim 2, the control processing means has a first-order lag element for the estimation process, and it is assumed that the operating speed data changes in response characteristics of the first-order lag due to fluctuations in power supply voltage. In the configuration for estimating the fluctuation, the influence of the voltage fluctuation on the operation speed when the DC motor is used can be almost completely eliminated. For this reason, it is possible to realize a pinching prevention function with a particularly low pinching load while preventing malfunction due to voltage fluctuation.
[0030]
Further, when a pulse sensor that outputs a pulse signal proportional to the amount of rotation of the motor is used as the opening / closing body operation sensor, and the period of the pulse signal of the pulse sensor is used as the operation speed data, The signal that needs to be read in order to obtain the operation speed data can be handled as a digital signal as it is, and the operation speed data (only by counting the falling or rising timing of the signal (that is, the pulse signal)) That is, the period is easily obtained. For this reason, when the control processing means is constituted by a digital circuit made of a microcomputer or the like, there is an effect that the processing for the differential determination can be performed particularly easily.
[Brief description of the drawings]
FIG. 1 is a circuit diagram showing a configuration of an open / close control device.
FIG. 2 is a flowchart showing a control process of the opening / closing control device.
FIG. 3 is a diagram illustrating a control process of the opening / closing control device.
FIG. 4 is a diagram illustrating a control process of the opening / closing control device.
FIG. 5 is a diagram showing test results that demonstrate the operation of the open / close control device.
FIG. 6 is a diagram showing a mechanical configuration of a power window.
[Explanation of symbols]
1 Motor 8 Wind glass (opening / closing body)
20 Microcomputer (control processing means)
25 Voltage detector (voltage detection means)
33 Pulse sensor (opening / closing body operation sensor)
D Threshold value T Pulse period (operation speed data)
Th Estimated pulse period value ΔT Difference value (change amount)
ΔTh difference value (variation)
V Power supply voltage

Claims (4)

The opening / closing operation of the opening / closing body is controlled according to the operation input, and a pinching determination is performed to determine whether or not a foreign object has been caught in the closing opening / closing body. An opening / closing control device having a function of preventing pinching to be automatically opened,
An opening / closing body operation sensor for detecting an operation amount of the opening / closing body or a motor for driving the opening / closing body;
Voltage detection means for detecting a power supply voltage supplied to the motor;
At least when the opening / closing body is closed, the amount of change in the operation speed data related to the operation speed of the opening / closing body or the motor is calculated from the detection output of the opening / closing body operation sensor, and also due to fluctuations in the power supply voltage. An estimation process is performed to estimate the fluctuation amount of the change amount from the detection output of the voltage detection means, and when the change amount corrected by the fluctuation amount obtained by the estimation process exceeds a set threshold value, An opening / closing control device comprising: a control processing unit that executes differential determination that determines that the pinching has occurred as the pinching determination.   The control processing means has a first-order lag element for the estimation process, and estimates the variation of the amount of change assuming that the operating speed data changes with a response characteristic of first-order lag due to a variation in the power supply voltage. The opening / closing control apparatus according to claim 1, wherein: The opening / closing body operation sensor is a pulse sensor that outputs a pulse signal proportional to the rotation amount of the motor,
The opening / closing control device according to claim 1, wherein the operating speed data is a cycle of a pulse signal of the pulse sensor. The opening / closing control device according to claim 1, wherein the control processing unit corrects the change amount by subtracting a variation obtained by the estimation process from the change amount. .

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