JP4064529B2 - Method for controlling pinching of an automatic sliding door for a vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pinching control method for an automatic sliding door for a vehicle.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there is a slide door provided in, for example, an automobile as a vehicle, which can be automatically opened and closed by sliding with a motor. Further, there is a type in which duty control is performed in which the driving force of the motor is proportional to the speed deviation so that the actual slide speed matches the target slide speed.
[0003]
In addition, it is necessary to prevent pinching when the sliding door is closed. For example, a period is calculated every time a motor rotation pulse is detected, and if the period exceeds a pinch determination value (for example, a value obtained by multiplying the previous detection cycle by one or more coefficients), for example, three times There can be.
[0004]
[Problems to be solved by the invention]
In such an automatic sliding door, a relatively large rear seat door is slid in the longitudinal direction of the vehicle, and when the vehicle is stopped on a slope where the sliding direction is downward, gravity due to the weight of the door Since acceleration is applied, the slide speed cannot be sufficiently suppressed only by controlling to increase or decrease the driving force of the motor. Therefore, as shown in FIG. 7, active braking (current braking or the like) is performed. In FIG. 7, when the speed deviation is 0 (target speed = actual speed), the duty is set to 0. When the actual speed is larger (speed deviation> 0), the braking duty is set. When the actual speed is smaller (speed deviation <0), the drive duty is set.
[0005]
Further, in the speed control by the motor, for example, when calculating the pinching judgment value (T + ΔT) obtained by adding the allowable deviation (ΔT) to the previous actual cycle (T), the allowable deviation (ΔT) is calculated from the previous actual period (T). It may be obtained by multiplying the cycle by a coefficient (K · T). However, in the drive control, the slide speed is controlled to be fast, whereas in the braking state, the slide speed is controlled to be slow. For this reason, in braking control, the cycle becomes longer at each determination timing (for example, when a rotation pulse is detected). Therefore, if the coefficient (K) adjusted during drive control is also used during braking control, the actual cycle is greater than the pinching determination value. There is a problem that there is a possibility that the case is longer and an erroneous determination of pinching may occur.
[0006]
[Means for Solving the Problems]
In order to solve such a problem and realize prevention of erroneous determination of pinching when braking control is performed against gravitational acceleration due to the weight of the sliding door when the vehicle stops on a slope, in the present invention, When the sliding door provided on the vehicle is slidable and automatically performs at least the door closing operation by driving the motor, the judgment value obtained from the sliding speed at the previous pinching judgment and the slide at the current pinching judgment A method for controlling pinching of an automatic sliding door for a vehicle, in which pinching determination is performed based on a large decrease in sliding speed by comparing with speed, and a target speed and an actual speed for sliding the sliding door at a predetermined speed When the target speed is greater than the actual speed, drive control is performed to increase or decrease the driving force of the motor, It performs braking control to increase or decrease the braking force of the motor when the larger the actual speed than standard speed, when performing the brake control, a large determination than before the determination value at the time asked turning control It is assumed that the pinch judgment is performed according to the value . In particular, the allowable value of the pinching determination value is calculated by multiplying the slide speed at the time of pinching determination by a coefficient, and when performing the braking control, a predetermined set value as a coefficient at the time of drive control is set to 1. The determination value may be obtained using a coefficient multiplied by a larger value, and further, the rotation of the motor is detected by a pulse, and the pulse is detected based on the cycle of the motor obtained from the detected pulse for each pulse. It is good to calculate a judgment value.
[0007]
By doing so, when the vehicle is tilted so as to lower the closing direction of the sliding door, gravitational acceleration is applied to the sliding door due to its own weight. Although the speed is lowered, the pinching determination value at that time is made lower than that at the time of drive control, and therefore pinching determination can be reliably performed when the cycle becomes longer due to braking control.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail based on specific examples shown in the accompanying drawings.
[0009]
FIG. 1 is an overall view showing a schematic configuration of a slide control device for a vehicle sliding door to which the present invention is applied. In FIG. 1, a slide door 1 is provided that is slidable in the vehicle front-rear direction for getting on and off a rear seat of a vehicle (not shown). The sliding door 1 is guided and supported by a rail provided on a door sash (not shown) at a part of its upper and lower ends, and is slidably supported on a guide rail 2 provided so as to extend in the vehicle longitudinal direction. A part of the vehicle rear side is supported through the slider 3. The slider 3 is coupled to a wire 5 wound between both pulleys 4 disposed near both ends of the guide rail 2.
[0010]
Both ends of the wire 5 are wound around a drive drum 6a provided in the casing of the drive unit 6 in opposite directions, and the drive drum 6a is driven to rotate by a motor 7 also provided in the casing of the drive unit 6. Since the drive drum 6a also rotates forward and backward according to the forward and backward rotation of the motor 7, the wire 5 reciprocates. As a result, the slider 3 reciprocates in the vehicle front-rear direction (left and right in the figure) while being guided by the guide rail 2, and the sliding door 1 can perform an opening / closing operation by sliding.
[0011]
Further, a motor control device 8 for controlling the driving of the motor 7 is provided. The motor control device 8 receives a rotation pulse signal P of the motor 7, and the motor control device 8 forwards or reverses the motor 7. A drive signal D is output. The motor control device 8 drives the motor 7 at a constant speed by duty control.
[0012]
FIG. 1 shows the fully open state of the slide door 1, and when the door closing operation is performed from this state, the slide door 1 is moved in the direction indicated by the arrow A in FIG. The control based on the invention is shown below.
[0013]
First, in the sliding control of the vehicle sliding door to which the present invention is applied, as shown in FIG. 2, it is moved at a relatively high speed VH (for example, 240 mm / sec) from the fully open position, and is predetermined before fully closed. Are moved at a relatively low speed VL (for example, 100 mm / sec) from the position, and each constant speed control is performed by PWM control. Note that the switching position from the high speed VH control to the low speed VL control can be determined by the count number of the rotation pulse signal P, and is about 100 mm before the fully closed position in the actual vehicle, and the ratio of the section between the high speed control and the low speed control in the figure is It is different from the actual one.
[0014]
In FIG. 2, the change in the control speed of the slide door 1 due to the drive signal D of the motor 7 is indicated by a solid line, and the change in the actual slide speed due to the control value is indicated by a wavy line. As indicated by the wavy line in the figure, the actual slide speed changes to some extent due to the frictional resistance of the sliding contact portion of the slide door 1.
[0015]
Next, pinching determination in this slide control will be described below with reference to FIG. The timing at the time of pinching determination in this control is when the rotation pulse signal of the motor 7 is detected (for example, when the pulse falls). For example, the period required for one rotation (for example, 20 pulses) of the motor 7 is calculated for each pulse input, and the change in the period is monitored. In the present embodiment, the period required for one rotation of the motor 7 is calculated as the reference period Td, which is the period for the previous two pulses at the time of determination, and the reference period Td is multiplied by 10 to obtain one rotation period of the motor 7. Corresponding 20 pulses are calculated and set as a converted one rotation period T as a reference for determination.
[0016]
The allowable deviation ΔT is added to the converted one rotation period T obtained as described above at the time of the current pinching determination to obtain a determination value Tj (= T + ΔT), and one rotation (20 pulses) obtained at the time of the current pinching determination Compared with the actual period Tr, if Tr> Tj, a pinch determination is made. If the pinch determination continues three times, it is determined that the pinch is actually pinched. The permissible deviation ΔT is not determined in advance, but is calculated for each determination calculation based on the converted one rotation period T.
[0017]
FIG. 4 shows a motor drive circuit to which the present invention is applied. In this apparatus, as shown in FIG. 4, the motor 7 is controlled to be forward / reversely controlled by a bridge circuit constituted by four FETs (Q1 to Q4). For example, when Q1 and Q3 are turned on when performing forward rotation in the drive control, Q2 and Q4 may be turned on when performing reverse rotation. In the braking control, Q1 and Q2 are turned on. Note that the speed control is performed by changing the duty in each to generate a necessary driving force (braking force).
[0018]
Next, the pinching control method at the time of closing the door based on the present invention will be described below with reference to the flowchart of FIG. In the first step ST1, it is determined whether the current speed control is drive control or braking control. This can be determined by the control output (combination of each on / off state) for each of the FETs (Q1 to Q4).
[0019]
If it is determined in the first step ST1 that the driving control is performed, the process proceeds to the second step ST2. In the second step ST2, a coefficient K for determining the allowable deviation ΔT is set. In this control, the allowable deviation ΔT (= K · T) is obtained by multiplying the period T at the time of the previous pinching determination by the coefficient K, and is stored in advance to be substituted for the coefficient K in the drive control. The magnitude of the set value A may be 1>A> 0. Then, a determination value Tj (= T + K · T) is calculated in a third step ST3. If the coefficient K is expressed by an allowable deviation ΔT, it is the same as the determination value Tj (= T + ΔT) shown in FIG.
[0020]
The trapping determination in the drive control is performed based on the determination value Tj thus obtained. For example, the upper part of FIG. 5 shows a case where the actual cycle Tr <the determination value Tj. In this case, it is not determined that the object is caught.
[0021]
When it is determined in the first step ST1 that the braking control is performed, the process proceeds to a fourth step ST4. In the fourth step ST4, a value obtained by multiplying the set value A by n (> 1) is substituted for the coefficient K, and the process proceeds to the third step ST3. Here, the upper limit value of n may be about 2, for example, 2.
[0022]
When the fourth step ST4 is thus performed, the determination value Tj is larger (longer cycle) than the determination value Tj (= T + A · T) at the time of drive control, as shown in the lower part of FIG. The value Tj (= T + n · A · T) is obtained. As shown in the lower part of FIG. 6, when the determination value Tj (= T + A · T) obtained from the coefficient K (= A) at the time of drive control is used as it is, the actual period Tr becomes longer and is sandwiched. On the other hand, by using the judgment value Tj for braking control (= T + n · A · T), the judgment value Tj becomes looser than that for driving control. The period Tr can fall within the determination value Tj, and it is not erroneously determined that it is sandwiched.
[0023]
Even in this way, the slide speed is suddenly reduced at the time of actual pinching, so there is no problem in pinching determination at the time of braking control.
[0024]
【The invention's effect】
As described above, according to the present invention, when the slide door is automatically slid, speed control is performed by the drive motor, and particularly when the vehicle is stopped with the door closing direction facing downward, gravitational acceleration due to its own weight is applied to the slide door. In the control in which the speed increase in the case is prevented by the braking control of the motor, the pinching determination value is made looser than that at the time of drive control at the time of braking control, so that erroneous pinching determination due to a decrease in the slide speed is prevented in the braking control. Can do.
[Brief description of the drawings]
FIG. 1 is an overall view showing a schematic configuration of a slide control device for a vehicle sliding door to which the present invention is applied.
FIG. 2 is a velocity diagram showing the point of speed control of a sliding door to which the present invention is applied.
FIG. 3 is a time chart showing a procedure for pinching determination to which the present invention is applied.
FIG. 4 is a diagram showing a main part of a motor drive circuit to which the present invention is applied.
FIG. 5 is a control flow diagram according to the present invention.
FIG. 6 is a time chart showing control based on the present invention.
FIG. 7 is a diagram for obtaining a motor control duty with respect to a speed deviation.
[Explanation of symbols]
1 Slide Door 2 Guide Rail 3 Slider 4 Pulley 5 Wire 6 Drive Unit, 6a Drive Drum 7 Motor 8 Motor Control Device

Claims (3)

When at least the door closing operation of the slide door provided slidably on the vehicle is automatically performed by driving with a motor, the determination value obtained from the slide speed at the previous pinch determination and the slide speed at the current pinch determination Is a pinching control method for an automatic sliding door for a vehicle that performs pinching determination based on a large decrease in slide speed,
The target speed for sliding the sliding door at a predetermined speed is compared with the actual speed, and when the target speed is larger than the actual speed, drive control is performed to increase or decrease the driving force of the motor, When the actual speed is larger than the target speed, the brake control for increasing or decreasing the braking force of the motor is performed,
The brake control when performing the a, automatic slide control method pinching vehicle door, characterized in that for determining entrapment by prior asked turning control when the judgment value larger determination value than. In the sandwiching control method of the automatic sliding door for vehicles according to claim 1,
The allowable value of the pinching determination value is calculated by multiplying the slide speed at the time of pinching determination by a coefficient,
When performing the braking control, the vehicle automatic sliding door is characterized in that the determination value is obtained by using a coefficient obtained by multiplying a predetermined set value by a value larger than 1 as a coefficient for the drive control. Pinching control method. In the pinching control method of the automatic sliding door for vehicles according to any one of claims 1 or 2,
Detecting the rotation of the motor with a pulse;
A method for controlling pinching of an automatic sliding door for a vehicle, wherein the determination value is calculated for each pulse based on a cycle of the motor obtained from a detected pulse.

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