JP3687532B2 - Open / close control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an opening / closing control device for controlling an opening / closing body such as a window of a vehicle, and in particular, forcing a closing movement of the opening / closing body by detecting that a human finger or the like is caught in the opening / closing body being closed. The present invention relates to an opening / closing control device provided with a pinching prevention function for stopping.
[0002]
[Prior art]
Conventionally, as an open / close control device that determines pinching relatively sensitively and prevents pinching accurately, for example, as described in Japanese Patent Application Nos. 6-74781 and 9-35641, an opening / closing body is used. Some employ so-called differential judgment that determines whether or not pinching has occurred by comparing the differential value (including difference value) of the detection signal such as the current, torque or operating speed of the motor to be driven with a threshold value. Are known.
[0003]
However, in this differential determination method, the differential value rapidly increases and exceeds the threshold value due to a sudden change in the detection signal at the start of the motor (for example, a rapid increase in motor current), and in actuality pinching has occurred. However, there was a problem of misjudgment that pinching occurred.
Therefore, conventionally, for example, as described in Japanese Patent Application No. 6-74781, a sandwiching determination result is ignored for a predetermined period after the motor is started, or described in Japanese Patent Application No. 9-35641. As described above, measures are taken such that the change in the detection signal is moderated by gradually increasing the operating speed of the motor (providing a so-called soft start period).
[0004]
[Problems to be solved by the invention]
However, in the former measure, it is necessary to ignore the determination result for a relatively long period after the motor is started (for example, about 500 msec). Therefore, when pinching occurs immediately after the motor starts, pinching detection is delayed and pinching load is increased. May increase excessively. The pinching load referred to here is the force applied to the object in which the opening / closing body is pinched until the pinching is released, and the level of safety required in the automobile market and the like is higher. Reflecting the fact that it is becoming more advanced, there is a demand for a smaller value.
In the latter measure, the motor operating speed is gradually increased for a relatively long period after the motor is started, and the motor reaches a maximum speed considerably. For this reason, there is a disadvantage that the operation of the opening / closing body is delayed with respect to the operation of the operator, and the time until the operation is completed also becomes long.
Accordingly, an object of the present invention is to provide an open / close control device in which the pinching prevention function is effective immediately after the motor is started without causing erroneous pinching determination, and the motor accelerates quickly.
[0005]
[Means for Solving the Problems]
The opening / closing control device according to the present invention controls a motor for driving the opening / closing body to control the opening / closing operation of the opening / closing body, and when determining that foreign matter is caught in the opening / closing body during closing, An opening / closing control device that performs an anti-pinch operation that forcibly stops closing of the opening / closing body,
Drive means for controlling the energization state and energization direction of the motor;
Load detecting means for detecting a load applied to the motor;
Calculation means for amplifying the differential value of the load detected by the load detection means with a predetermined amplification factor;
Control of the motor via the driving means, and when the opening / closing body is closed, if the differential value obtained by the calculating means exceeds a threshold value, it is determined that the pinching has occurred and the pinching prevention operation Control means for executing the control of
The gain of the arithmetic means is set to zero immediately after the motor is started, and increases continuously or stepwise after the motor is started.
The “differential value” here includes a difference value.
According to the present invention, immediately after the motor is started, the magnitude of the differential value, which is an index for pinching determination, is suppressed to zero or a value near zero, so that erroneous pinching determination immediately after motor starting can be avoided. it can. In addition, since the magnitude of the amplification factor that suppresses the magnitude of the differential value increases after the motor is started, the pinching prevention function becomes effective immediately. Further, since it is not necessary to provide a long soft start period, the motor can be accelerated quickly.
[0006]
Also, a preferred aspect of the present invention includes operation detection means for detecting the operation (for example, rotation) of the motor, and the amplification factor of the calculation means is determined from the time when the operation of the motor is detected by the operation detection means. It is configured to increase continuously or stepwise.
With this configuration, since the magnitude of the differential value is always zero from the time when the motor is started (the time when the motor is energized) until the time when the operation of the motor is detected, a pinching error immediately after the motor is started. The determination can be avoided more reliably. That is, when detection data (physical quantity influenced by the force applied to the motor) such as motor current and torque is used as motor load data for pinching determination, when the motor is actually started (the amplification factor is zero). Since this detection data has already increased to the value of the friction component, it is highly unlikely that the differential value will increase significantly due to load changes due to motor start-up, and the aforementioned misjudgment is reliable. Highly avoided. In addition, when data such as the motor rotation speed (physical quantity that changes due to the operation of the motor) is used as the motor load data for pinching determination, the amplification factor increases from zero when the motor is actually started. Since it starts, the possibility that the differential value increases greatly is very low, and the above-mentioned erroneous determination is reliably avoided.
[0007]
The differential value may be, for example, a differential value based on an operating position (for example, a rotational position) of a motor (or an opening / closing body). That is, the differential value does not necessarily have to be based on time differentiation. If the differential value is based on the operating position of a motor or the like, the process for obtaining the differential value is simplified, which can contribute to cost reduction and the like.
The differential value does not necessarily have to be a differential operation in a strict sense, and may be, for example, a load difference value detected by the load detecting means. If the configuration is obtained as a difference value, the processing becomes simple, which is also advantageous from the viewpoint of cost reduction.
[0008]
In a more preferred aspect of the present invention, the control means controls the driving means at least when the opening / closing body is closed, so that the speed of the motor (or the speed of the opening / closing body) can be set to a predetermined target value. In this configuration, the target speed control value is set so as to increase continuously or stepwise from zero after the motor is started. In other words, the configuration is so-called soft start.
With this configuration, in addition to the above-described effect of suppressing the differential value due to the amplification factor, an effect of suppressing an increase in load immediately after the start of the motor by the soft start can be obtained, so that erroneous determination of pinching can be avoided with higher reliability. . In addition, since the length of the soft start period at this time can be remarkably shortened compared with the conventional one, the problem of the operation delay of the opening / closing body does not occur.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, as an embodiment of the present invention, an embodiment (first embodiment) in which the present invention is applied to a vehicle power window will be described with reference to the drawings. FIG. 1 is a diagram showing the configuration of the power window device of this example (mainly the configuration of the control unit). FIG. 2 is a functional block diagram mainly showing the configuration of the main part of the power window device of this example.
(Body structure of power window)
First, an outline of a power window main body configuration example will be described with reference to FIG.
As shown in FIG. 1, for example, a motor 2 is provided inside a vehicle door 1, and the rotation of the output shaft of the motor 2 supports a window glass 3 (opening / closing body) by transmission means (not shown). When the motor 2 operates in one direction, the window glass 3 closes (ie, operates in the upward direction) and the motor 2 operates in the other direction. For example, the glass 3 is configured to open (that is, operate in a descending direction).
Here, the motor 2 is a DC motor, and the supplied voltage and the rotation speed (rotation speed) are in a proportional relationship. Further, the motor 2 is provided with a pulse generator 4 for outputting a pulse signal at a cycle inversely proportional to its operating speed.
[0010]
(Configuration of switching control device)
Next, an example of the control unit 10 which is an open / close control device for controlling the power window will be described with reference to FIGS.
A. Hardware configuration
As shown in FIG. 1, the control unit 10 of this example includes a control circuit 11, a voltage detection circuit 12, a current detection circuit 13, a motor drive circuit 14, and the like.
Here, the control circuit 11 is a circuit including a microcomputer (hereinafter referred to as a microcomputer) that controls the window driving motor 2 in accordance with input signals from various sensors and operation switches. It corresponds to.
The control circuit 11 has a CPU (not shown), and includes a memory such as a ROM or RAM that stores or temporarily stores an operation program, various setting values, and the like.
[0011]
The voltage detection circuit 12 is a circuit for detecting the power supply voltage supplied from the vehicle battery 12a (shown in FIG. 2) to the motor drive circuit 14, and the control circuit 11 outputs the output of the voltage detection circuit 12. The applied voltage Vm to the motor 2 is detected by multiplying (the detected value V of the power supply voltage) by a duty ratio of PWM driving described later.
The current detection circuit 13 inputs a signal corresponding to the voltage drop of the shunt resistor 13a connected in series to the ground side energization line of the motor drive circuit 14 to the control circuit as a detected value of the motor current. This constitutes the current detection means of the present invention.
Needless to say, the current detection circuit 13 has a function of removing a ripple component. The output signals (analog signals) of the voltage detection circuit 12 and the current detection circuit 13 are sampled as digital signals by an A / D converter (not shown) in the control circuit 11.
[0012]
Next, the motor drive circuit 14 includes relays 15 and 16 for connecting each terminal of the motor 2 to the ground side or the high potential power source side (so-called + B potential power supply line), and coils 15a and 16a of the relays 15 and 16. Transistors 17 and 18 for driving, and a switching element 19 such as an FET (field effect transistor) for opening and closing a ground-side energization line (upstream of the shunt resistor 13a).
When the coil 15a of the relay 15 is excited, the contact 15b of the relay 15 is switched from a state where one terminal of the motor 2 is connected to the ground side to a state where the terminal is connected to the high potential power source side, and the motor 2 is unidirectional. (In this case, the window glass 3 is closed). Further, when the coil 16a of the relay 16 is excited, the contact 16b of the relay 16 is switched from a state where the other terminal of the motor 2 is connected to the ground side to a state where it is connected to the high potential power source side, and the motor 2 is moved in the other direction. (In this case, the window glass 3 is opened).
Further, the switching element 19 is driven with a predetermined duty ratio by the PWM drive signal output from the control circuit 11 when the motor 2 is driven and controlled in any direction as described above. This is for adjusting the applied voltage by the PWM drive method.
[0013]
Further, the output signal of the pulse generator 4 is input to the control circuit 11 via the interface circuit 11a, whereby the rotation amount of the motor 2 (the operation amount of the window glass 3) and the operation speed can be determined. It is like that. As the output signal of the pulse generator 4, two pulse signals PLSA and PLSB having different phases are output, and the control circuit 11 can detect the rotation direction of the motor 2 from the phase relationship between these pulse signals. Yes. In addition, the function of the control circuit 11 that detects the magnitude and direction of the motor speed in this way is expressed as a speed detection unit 31 in FIG. The output signal of the pulse generator 4 is detected by a DI / O (digital output input) (not shown) in the control circuit 11.
The control circuit 11 receives operation signals from the up switch 21, the down switch 22, and the auto switch 23, which are operation switches, via the interface circuit 11b. In these operation switches, the contact is activated in response to an operation of an operation unit (not shown). In this case, when a so-called manual up operation is performed, only the up switch 21 is activated and a manual down operation is performed. Then, only the down switch 22 operates. Further, when a so-called auto up operation is performed, the up switch 21 and the auto switch 23 are operated, and when an auto down operation is performed, the down switch 22 and the auto switch 23 are operated.
[0014]
Then, when only the operation signal of the up switch 21 or the down switch 22 is input, the control circuit 11 operates the motor 2 in a predetermined direction by operating one of the transistors 17, 18, and the window glass 3. Open and close operation by manual operation. Further, when an operation signal for the auto switch 23 is input in addition to the operation signal, the control circuit 11 automatically operates the motor 2 in a predetermined direction until the window glass 3 is fully closed or fully opened. It has a processing function to realize down.
In this example, at least in this auto-up operation, speed control by PWM drive and a pinch prevention function by differential determination are realized. The processing contents of the control circuit 11 including this pinch prevention function will be described later.
[0015]
Although not shown, the sensors and switches connected to the control circuit may include an ignition switch and a limit switch. Among these, the ignition switch functions as a power-on switch for supplying power to the control unit 10 by its operation. The limit switch is a so-called fully-closed switch that detects that the window 3 has been operated close to the fully-closed position and operates the contact.
[0016]
B. Control processing contents
Next, the operation of the control unit 10 (open / close control device) of this example (mainly the control processing contents of the control circuit 11) will be described.
When power is supplied by operating the ignition switch, the control circuit 11 is activated and realizes manual operation by the following processing. That is, first, it is determined whether only the down switch 22 is operating, and if it is operating, the motor 2 is operated in the direction in which the window glass 3 is opened. Next, it is determined whether only the up switch 21 is operating, and if it is operating, the motor 2 is operated in the direction in which the window glass 3 is closed. In addition, after starting the opening or closing of the window glass 3 by this manual operation, the window glass 3 (motor 2) is stopped when the down switch 22 or the up switch 21 returns to a non-operation state. Further, the PWM drive signal (duty ratio) of the switching element 19 at the time of opening or closing by the manual operation may be maintained at a constant value (for example, 100%). For example, the operation speed is set to a predetermined target value. A mode of changing as needed (that is, a mode of executing speed control) may be used.
[0017]
Further, the control circuit 11 repeatedly executes, for example, a series of processes shown in FIG. 3 at a predetermined timing separately from the process for the manual operation, and performs an auto up or auto down operation. A function to prevent pinching is realized.
First, in step S1, it is determined whether or not the auto switch 23 is turned on. If it is turned on, the process proceeds to step S2, and if it is not turned on, a series of processing is terminated. When the series of processing is completed, the processing is repeated from this step S1 at the next timing (the same applies hereinafter).
[0018]
Next, in step S2, it is determined whether auto up or auto down is commanded (that is, which of the up switch 21 or the down switch 22 is on), and in the next step S3, this command is set. A control signal for operating the motor 2 in the corresponding direction is output. That is, in step S3, a signal for driving one of the transistors 17 and 18 and the switching element 19 is output. At this time, at least in the case of auto-up (when the transistor 17 is driven), the switching element 19 is PWM-driven with a predetermined duty ratio to execute speed control for maintaining the motor operating speed at the target speed.
Note that the duty ratio of the speed control is, for example, a predetermined difference (deviation) between the actual operating speed data (feedback value) of the motor 2 detected by the pulse generator 4 and the target speed (command value). Based on the result of multiplying the coefficient (gain), it is obtained at any time. However, this speed control is not limited to feedback control based on such a proportional operation, and it goes without saying that, for example, an integral operation or a differential operation may be combined with a proportional operation.
Further, the target speed in this speed control is gradually increased (continuously or stepwise) after the motor is started, and reaches the maximum speed (steady speed) when a predetermined soft start period has elapsed. . However, this soft start period is set much shorter than before (for example, about 150 msec).
In addition, as described above, the function of the control circuit 11 that controls the relays 15 and 16 via the transistors 17 and 18 is indicated by the motor drive unit 32 in FIG. 2, and the duty ratio is generated as described above. The function of the control circuit 11 that executes the speed control of the motor 2 via the switching element 19 is expressed as a speed control unit 33 and a PWM generation unit 34 in FIG.
[0019]
Thereafter, in step S5, the control circuit 11 reads various detection signals necessary for subsequent processing (steps S8 and S10) and stores them as time-series data. In this case, the output signal (motor current I) of the current detection circuit 13, the count value and period T of the pulse signal detected from the output of the pulse generator 4, and the latest value of the motor applied voltage Vm detected by the voltage detection circuit 12. Are read and the current I or period T and voltage Vm are stored as time-series data.
Next, the control circuit 11 executes the branch process of step S6, and proceeds to step S7 if auto-up and proceeds to step S8 if auto-down.
In step S7, it is determined whether or not the above-described limit switch (fully closed switch) is on. If it is on, the process proceeds to step S8, and if not, the process proceeds to step S10.
[0020]
In step S8, it is determined whether or not the latest value of the period T read from the output signal of the pulse generator 4 has exceeded a threshold value for determining stop by full closing or full opening. If it has exceeded, the process proceeds to step S9. If not, the process returns to step S5 to repeat the process.
Next, in step S9, the drive output of the motor 2 is stopped, the drive (opening or closing) of the window glass 3 is stopped, and a series of processes is completed.
[0021]
In the next step S10, a determination target value (that is, a differential value of the motor load) for pinching determination is calculated. In this case, the differential value ΔI of the motor current after voltage correction changes from 0 to 1 after starting the motor in order to perform differential determination in consideration of fluctuations in the voltage Vm applied to the motor and a sudden increase in load immediately after starting. Obtained by amplification at the amplification factor. A specific calculation method will be described later.
In step S10, as will be described later, in the process of obtaining the difference value ΔI of the motor current, the voltage correction value Ih of the motor current I is obtained and stored in time series, but the current and the current values stored in step S10 are stored. Of the plurality of past currents Ih, the latest one is referred to as current Ih (0), and the current calculated and stored at the previous time point by the count value N of the pulse signal of the pulse generator 4 is the current Ih ( N). That is, the current Ih (1) is calculated at a time point one pulse signal before the count value, and the current Ih (2) is expressed as the current Ih (2).
[0022]
Next, in step S11, it is determined whether the data of the determination target value obtained in step S10 (in this case, a difference value ΔI described later) has exceeded a preset differential determination threshold value S. If it has exceeded, it is determined that pinching has occurred, and the process proceeds to step S12. If not, the process returns to step S5. Here, the threshold value S is set to a minimum value within a range where no erroneous detection occurs based on experiments or the like.
In step S12, a control operation for preventing pinching is executed. That is, first, the operation of the motor 2 in the closing direction is forcibly stopped, a control signal that reversely rotates the motor 2 (opens the window glass 3) is output for a certain period of time, then the drive output of the motor 2 is stopped, and the window glass is stopped. 3 is reversed (opened) by a fixed distance and stopped, and a series of processing is completed.
[0023]
In addition, in FIG. 2, the function (function which calculates a determination object value based on a motor load, and performs a pinch | judgement determination) mainly achieved by the process of the above steps S10-S12 is shown in FIG. The subtraction unit 36, the variable buffer 37, the subtraction unit 38, and the pinch determination unit 39 are shown. Here, the pinch determination unit 39 is a functional element that realizes the processes of steps S11 and S12. The voltage correction value calculator 35, the subtractor 36, the variable buffer 37, and the subtractor 38 are functional elements that realize the process of step S10 (determination target value calculation process), details of which will be described later.
[0024]
C. Calculation of judgment target value
Next, the calculation process of the determination target value in step S10 described above will be described. Specifically, as motor load data, data such as motor operating speed (for example, pulse period T), motor current, motor torque, and the like can be used. However, it is preferable that the detected value of the data is corrected and used in consideration of the fluctuation of the applied voltage Vm to the motor. In addition, there is a method of using the absolute value of the above data for use as an index for pinching determination (that is, a determination target value), but in this example, in order to ensure high responsiveness, a differential value of motor current (specifically, Is used for differential determination. Further, in order to avoid erroneous determination immediately after starting the motor, the difference value is calculated so as to be a value amplified by a variable amplification factor. Details will be described below.
[0025]
In order to obtain the difference value ΔI of the motor current I subjected to voltage correction, first, a current correction value Ie based on the applied voltage is obtained from the motor applied voltage Vm. Specifically, a motor model calculation is performed on a given value of the applied voltage Vm, an estimated current value based on the applied voltage at that time is obtained, and this is stored as a current correction value Ie. In FIG. 2, the voltage correction value calculator 35 calculates the current correction value Ie.
Next, the motor current value I is subjected to voltage correction by subtracting the corresponding current correction value Ie from the actual measured motor current value I read from the current detection circuit 13, and the value obtained as a result of this correction calculation ( I-Ie) is stored in time series as the motor current value Ih after voltage correction (for example, the above calculation is performed and stored each time the above-described steps S5 and S10 are repeated). In FIG. 2, the subtraction unit 36 performs the correction calculation of the current correction value I. Moreover, the obtained motor current value Ih after voltage correction is a current value due to disturbance torque.
[0026]
Next, based on the latest count value N read from the output of the pulse generator 4, data of the motor current value Ih used for obtaining the difference value is specified. That is, it is determined how many previous data are subtracted from the latest motor current value data Ih (0) to obtain the difference value ΔI.
In this case, for example, when the count value N is less than 1 (that is, in a period before the first pulse is input from the time of starting the motor), the latest data Ih (0) is set as the data to be subtracted. When the count value N is 1 or more and 16 or less (that is, during the period from when the first pulse is input to when the 16th pulse is input), for example, data Ih before N / 2 counts as data to be subtracted When (N / 2) is set and the count value N exceeds 16 (that is, in a period after the 16th pulse is input), for example, data Ih (8 before 8 counts) is subtracted as data to be subtracted. ) Is set. The processing function for storing the current Ih data after voltage correction in time series and appropriately setting the data to be subtracted based on the count value N in this way is expressed as a variable buffer 37 in FIG. When N is an odd number, the value of N / 2 may be converted to an integer by rounding up or down.
[0027]
Then, the difference value ΔI is obtained by performing subtraction with the data thus set. In this case, when the count value N is less than 1, the count value N exceeds 16 according to the following formula (1), and when the count value N is 1 or more and 16 or less, the following formula (2). Sometimes, the difference value ΔI of the motor current is obtained as a determination target value for the pinching determination by the following equation (3).
ΔI = Ih (0) −Ih (0) (1)
ΔI = Ih (0) −Ih (N / 2) (2)
ΔI = Ih (0) −Ih (8) (3)
In the case of equation (1), since the difference interval (the difference in the corresponding count value between the subtracted data) is zero and the same data is subtracted, ΔI = 0 naturally. Further, in the case of the expression (2), the difference interval increases stepwise from 0 or 1 to 8 (= 16/2) according to the value of the counter value N. In the case of equation (3), regardless of the value of the counter value N, the difference interval is 8 (that is, a constant steady value). That is, even if the actual fluctuation rate (differential value) of the motor current is constant, the transient period in which the expressions (1) and (2) are applied is compared with the steady period in which the expression (3) is applied. The difference value ΔI becomes a relatively small value, and the ratio increases as the counter value N of the pulse signal decreases. When the counter value N is zero, the difference value ΔI is zero. In other words, the difference value ΔI obtained in this way can be said to be a differential value of the motor current amplified by the variable amplification factor K that increases from 0 to 1 according to the value of the counter value N. Since the difference value ΔI is obtained based on the count value of the pulse signal output from the pulse generator according to the rotation amount of the motor 2 as described above, the differential value based on the operating position of the motor 2 is obtained. Data (current position differential value) (that is, not a differential value by time differentiation).
[0028]
According to the above control operation, normal operations of auto up and auto down are realized, and at the time of auto up, speed control is executed in step S3, and further, the processing after step S7 is executed. In a region where the limit switch is OFF, a low load pinching prevention function without erroneous determination is realized.
That is, during the period until the limit switch is turned on at the time of closing, the process proceeds to step S10 and subsequent steps in the branch process of step S7, and thus the above-described determination target value is calculated in step S10, which exceeds the threshold value. If so, it is determined that pinching has occurred, and the pinching prevention operation control (step S12) is executed.
The determination target value obtained in step S10 is the above-described difference value ΔI corresponding to the position differential value of the motor current amplified by the variable amplification factor that increases from 0 to 1 according to the value of the counter value N. In addition, since the soft start period is provided, the current increase itself immediately after the start of the motor is slightly suppressed. For this reason, it is possible to reliably avoid the erroneous determination of the pinching due to the influence of the current increase immediately after the start of the motor by relatively easy processing.
[0029]
Incidentally, if the difference interval in the above-described calculation process of the difference value ΔI is a constant value (for example, 8) from the beginning, the amplification factor is 1 from the beginning, and the influence of the current increase immediately after starting the motor is the difference. Appears as an increase in value, resulting in misjudgment. For this reason, conventionally, for a relatively long time after activation, the pinching determination is invalidated and the soft start period is set to be very long.
However, in the present embodiment, the pinching misjudgment immediately after the motor startup is avoided by the above-described variable amplification factor, so there is no need to invalidate the pinch judgment itself, and even if a soft start period is provided just in case. As you can see, a very short time is sufficient. For this reason, the pinching prevention function becomes effective immediately after the motor is started, and the motor accelerates quickly.
Therefore, according to the apparatus of the present embodiment, the erroneous pinching determination immediately after the start of the motor is avoided, the pinch detection immediately after the start is delayed, the pinching load increases, and the operation delay of the window glass 3 as the opening / closing body is reduced. The problem can be solved.
[0030]
FIG. 4 is an example of data demonstrating the above-described effects.
As shown in FIG. 4, when the motor voltage Vm or the motor current I at the time of starting the motor changes, the current position differential value (difference value ΔI) obtained by the above-described calculation is zero immediately after the starting, and the rotation of the motor Immediately after being detected, the pinching determination threshold value S is not exceeded. This is because the differential amplification factor K is maintained at substantially zero immediately after startup, and the amplification factor K gradually increases from 0 to 1 in the transient region of the amplification factor K starting from the time when the rotation of the motor is detected. This is because a rapid increase in the current position differential value (difference value ΔI) is suppressed.
On the other hand, when the amplification factor K is not set, that is, when the current differential value is obtained with the amplification factor 1 immediately after startup, the current position differential value (no amplification factor) increases rapidly as shown by the dotted line in FIG. However, the threshold value S may be exceeded instantaneously.
The data of the current position differential value (difference value ΔI) in FIG. 4 is obtained by conducting an experiment in which a foreign object is actually sandwiched in the power window device immediately after startup, and the physical quantities (motor voltage Vm, motor current I, etc.) obtained in this experiment are obtained. ) Was obtained by simulation based on the data.
According to the data example of FIG. 4, the current position differential value (difference value ΔI) rapidly increases at the timing immediately after the foreign object is caught and greatly exceeds the threshold value S, and the jamming actually occurs immediately after the motor is started. In this case, it is understood that the pinching is properly detected with high responsiveness. The data example of FIG. 4 is a case where the pinching occurs at the timing after the differential amplification factor K reaches 1, but the pinching is not performed in the gain transient region where the differential gain K has not reached 1. Even if it occurs, the pinching determination is effective, and pinching is properly detected unless the differential amplification factor K is zero or in the vicinity thereof.
[0031]
(Second embodiment)
Next, a second embodiment which is another embodiment of the present invention will be described with reference to FIG. FIG. 5 is a functional block diagram mainly showing a main configuration of the power window device of the present example. Note that the same components as those in the first embodiment described above are denoted by the same reference numerals and redundant description is omitted.
The apparatus of the second embodiment is different from the configuration of the first embodiment shown in FIG. 2 in that a differential operation unit 41 and a variable amplification unit 42 are provided instead of the variable buffer 37 and the subtraction unit 38. . The differential calculation unit 41 is a functional element that obtains a differential value dIh / dt of the motor current Ih by time-differentiating the current value Ih after voltage correction output from the subtraction unit 36. The variable amplification unit 42 is a functional element that multiplies the differential value dIh / dt obtained by the differential calculation unit 41 by the variable amplification factor K2, and outputs the result as a determination target value to the sandwiching determination unit 39. .
[0032]
That is, in the device of the second embodiment, the current value Ih after voltage correction is time-differentiated in the calculation process of the determination target value (step S10 described above), and further, for example, By multiplying the variable amplification factor K2 that increases from 0 to 1 with the passage of time after startup, the determination target value for the pinching determination is obtained. Preferably, in the calculation for differentiating the current value Ih with respect to time, for example, a primary low-pass filter calculation is performed to remove calculation noise.
The same effect as the first embodiment can be obtained by the apparatus of the second embodiment.
FIG. 6 is an example of data demonstrating the function and effect of the apparatus of the second embodiment, and is obtained from the same experiment as the data of FIG. 4 described above. Also in this data example, it can be seen that erroneous pinching determination immediately after motor startup is avoided, the pinching prevention function is effective immediately after motor startup, and that the motor is rapidly accelerating.
[0033]
In addition, this invention is not restricted to the aspect of the said embodiment.
For example, the motor load data for pinching determination is not limited to the motor current, and motor load torque and motor operating speed detection data (for example, the aforementioned pulse period T) can be used. In any case, according to the present invention, as shown in FIG. 7, erroneous determination due to a sudden increase in the detection signal immediately after startup is avoided by suppressing the differential signal based on the differential amplification factor immediately after motor startup.
Further, the present invention is not limited to an embodiment in which the value of the differential value of the motor load (the sandwiching determination target value) is directly adjusted by the variable amplification factor, as in the above-described embodiments. The differential value of the motor load is substantially adjusted in the relative relationship with the threshold value (determination value) to be compared with it, and is included in the idea of the present invention as long as it gradually increases from zero when the motor is started. It is. For example, the threshold value to be compared with the differential value of the motor load is not set to a constant value, and this threshold value decreases from, for example, infinity (or a large value that can be regarded as infinity) when the motor is started. A mode may be adopted in which the steady value is reached and the amplification factor of the differential value of the motor load itself is constant immediately after startup.
Further, the present invention is not limited to a mode in which the value of the differential amplification factor starts from zero in a strict sense immediately after the motor is started. Needless to say, the differential amplification factor may start from a value larger than zero within a range in which erroneous determination due to a sudden increase in the detection signal immediately after startup can be sufficiently avoided.
It is also possible to adopt a configuration in which the pinching prevention function works even when the opening / closing body is closed by manual operation. Moreover, in the said form example, although the motor applied voltage is calculated | required from the output value of the voltage detection circuit 12 which detects a power supply voltage, you may provide the circuit which detects a motor applied voltage (voltage between motor terminals) directly.
[0034]
【The invention's effect】
According to the present invention, immediately after the start of the motor, the magnitude of the differential value of the motor load, which is an index for pinching determination, is suppressed to zero or near zero, so that erroneous pinching determination immediately after starting the motor is avoided. be able to. In addition, since the magnitude of the amplification factor that suppresses the magnitude of the differential value increases after the motor is started, the pinching prevention function becomes effective immediately. Further, since it is not necessary to provide a long soft start period, the motor can be accelerated quickly.
Therefore, it is possible to avoid erroneous determination of pinching immediately after the start of the motor, and to solve the problem that the pinch detection increases immediately after the start and the pinching load increases and the problem of operation delay of the opening / closing body can be solved. It is done. .
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a power window device.
FIG. 2 is a block diagram showing a configuration (first embodiment) of a power window device.
FIG. 3 is a flowchart showing control processing of the power window device.
FIG. 4 is an example of data explaining the operational effect of the first embodiment.
FIG. 5 is a block diagram showing a configuration (second embodiment) of the power window device.
FIG. 6 is an example of data explaining the operational effect of the second embodiment.
FIG. 7 is a diagram for explaining the effect of the present invention.
[Explanation of symbols]
2 Motor
3 Window glass (opening and closing body)
4 Pulse generator (operation detection means)
10 Control unit (open / close control device)
11 Control circuit (calculation means, control means)
12 Voltage detection circuit (load detection means)
13 Current detection circuit (load detection means)
14 Drive circuit (drive means)

Claims (5)

Controls the opening / closing operation of the opening / closing body by controlling the motor that drives the opening / closing body, and if it is determined that foreign matter is caught in the closing opening / closing body, at least the opening / closing body is forced to close An opening / closing control device that performs a pinching prevention operation to stop
Drive means for controlling the energization state and energization direction of the motor;
Load detecting means for detecting a load applied to the motor;
Calculation means for amplifying the differential value of the load detected by the load detection means with a predetermined amplification factor;
Control of the motor via the driving means, and when the opening / closing body is closed, if the differential value obtained by the calculating means exceeds a threshold value, it is determined that the pinching has occurred and the pinching prevention operation Control means for executing the control of
An opening / closing control device characterized in that an amplification factor of the arithmetic means is set to zero immediately after starting the motor and increases continuously or stepwise after starting the motor. An operation detection means for detecting the operation of the motor is provided, and the amplification factor of the calculation means is configured to increase continuously or stepwise from the time when the operation of the motor is detected by the operation detection means. The opening / closing control device according to claim 1. The opening / closing control device according to claim 1, wherein the differential value obtained by the calculating means is a differential value based on an operating position of the motor. The opening / closing control device according to claim 1, wherein the differential value obtained by the calculating means is a difference value of a load detected by the load detecting means. The control means is configured to execute speed control for controlling the driving means to control the speed of the motor to a predetermined target value at least when the opening / closing body is closed.
The opening / closing control device according to any one of claims 1 to 4, wherein a target value of the speed control is set to increase continuously or stepwise from zero after the motor is started.

Images