JP4182945B2 - Open / close control device - Google Patents

Description

  The present invention relates to an opening / closing control device for controlling an opening / closing body such as a vehicle window, a vehicle door, a building window, a building door, and a building door.

  For example, in an open / close control device that opens and closes the window of an automobile, the motor rotates by operating a power window switch provided on the side of the seat, and the window open / close mechanism linked to the motor operates to open / close the window. Is done. In addition, when a foreign object is caught in the gap between the window glasses while the window is closed, a function is provided to detect this and stop the window closing operation and switch to the opening operation. When detecting pinching, for example, the rotational speed of the motor is read as needed, and the current rotational speed is compared with the previous rotational speed. It is determined that the object has been caught. That is, when a foreign object is caught, the load on the motor increases, the rotational speed decreases, and the speed fluctuation rate increases, so that the jamming can be detected by the above-described principle.

  By the way, when the vehicle travels on a rough road with many irregularities, the vehicle is vibrated. And since a gravitational acceleration is added to a window glass by this vibration, the load of the motor which drives a window glass will fluctuate | variate, and the rotational speed of a motor will fluctuate. For this reason, there is a case where pinching is erroneously detected even though no foreign object is pinched. In addition to the vibration caused by traveling on such a rough road, the vibration caused by the impact when the door of the vehicle is strongly closed, the vibration caused by the impact when a person jumps on and off the vehicle, There is a case where it is erroneously detected that a foreign object is caught due to vibration or the like when it collides with something.

  Therefore, even when there is vibration as described above, Patent Documents 1 to 4 below describe open / close control devices that operate normally without erroneously detecting the inclusion of foreign matter. In the apparatus of Patent Document 1, a long-term deviation and a short-term deviation of the rotation period of the motor are used to distinguish between foreign object pinching and rough road vibration. In the apparatus of Patent Document 2, when a large disturbance load is applied, erroneous detection is prevented by reducing the pinching detection sensitivity. In the apparatus of Patent Document 3, the reduction rate of the rotational speed of the motor is compared with a threshold value based on a speed reduction pattern during pinching and when driving on rough roads, thereby determining whether or not foreign objects are pinched. In the apparatus of Patent Document 4, the fluctuation rate of the rotational speed of the motor is integrated, the integrated value is compared with a threshold for determining pinching, and the presence / absence of a foreign object is determined according to the comparison result. . Patent Document 5 describes a vibration detection device that uses an equivalent rigid body model, proportional calculation means, a high-pass filter, and the like to detect vibration of a mechanism driven by a motor.

JP 2003-41856 A JP-A-10-169310 JP 2003-328641 A JP-A-8-260810 JP-A-9-56183

  The present invention realizes an open / close control device that does not erroneously detect the inclusion of a foreign object when traveling on a rough road by means different from the techniques of the above-mentioned documents, and can detect the occurrence of vibration quickly and reliably. An object of the present invention is to provide an open / close control device having a simple configuration.

An opening / closing control apparatus according to the present invention includes a speed detection unit that detects a rotation speed of a motor that opens and closes an opening / closing body, a high-frequency component extraction unit that extracts a high-frequency component of the rotation speed detected by the speed detection unit, The first comparison means for comparing the signal level of the high-frequency component extracted by the high-frequency component extraction means with the first threshold value for determining the presence or absence of vibration, and generation of vibration based on the comparison result of the first comparison means. Vibration detecting means to detect, fluctuation amount calculating means for calculating the fluctuation amount between the current rotational speed detected by the speed detecting means and the previous rotational speed, and the fluctuation amount calculated by the fluctuation amount calculating means and for determining whether to pinch A second comparison unit that compares the second threshold value with a second detection unit, and a pinch detection unit that detects that a foreign object is pinched in the opening / closing body based on a comparison result of the second comparison unit, and the vibration detection unit Shake If but not detected, entrapment detection means performs the detection process of entrapment based on the second threshold.

  When the vehicle travels on a rough road, a large high-frequency component appears in the signal waveform of the rotational speed of the motor due to the generated vibration. However, when a foreign object is caught, no large high-frequency component appears in the signal waveform of the rotational speed. Therefore, by comparing the signal level of the high-frequency component extracted by the high-frequency component extracting means with a threshold value and determining that the vibration is caused by a rough road when the signal level exceeds the threshold value, the occurrence of vibration is detected quickly and reliably. In addition, erroneous detection of foreign object pinching can be avoided. Further, it can be realized by a simple means of extracting a high frequency component and comparing it with a threshold value.

In the present invention, further, when the vibration is detected by vibration detecting means may be provided with inhibiting means for inhibiting the detection process by the entrapment detection means. According to this, since detection processing for foreign object pinching is not performed when vibration occurs, erroneous pinching detection due to vibration can be reliably avoided. Here, “inhibiting detection processing” not only prohibits the pinching detection operation itself, but also detects pinching but does not output a detection signal, or even if a detection signal is output. This includes control that ignores this.

  In the present invention, instead of the prohibiting means, a threshold value changing means for increasing the second threshold value when vibration occurs may be provided. According to this, even if the fluctuation amount of the rotational speed of the motor increases when the vibration occurs, the threshold value for whether or not the pinch is caught increases, so there is no possibility that pinching detection is performed when the fluctuation amount of the rotation speed exceeds the threshold value. False detection of foreign object pinching can be avoided more reliably. Even if vibration and foreign object pinching occur at the same time, if the fluctuation amount of the motor rotational speed exceeds the pinching determination threshold after the change, the pinching detection means operates, so that the foreign object pinching can be reliably detected. Can do.

  In this invention, it can replace with a speed detection means and can provide the period detection means which detects the rotation period of a motor. Further, instead of the speed detecting means, a current value detecting means for detecting the current value of the motor may be provided.

  In the present invention, an upper limit value for determining the presence / absence of acceleration vibration and a lower limit value for determining the presence / absence of deceleration vibration may be used as the threshold value for determining the presence / absence of vibration. According to this, for example, by determining that vibration has occurred when both acceleration vibration and deceleration vibration are applied within a certain time, it is possible to eliminate the effects of instantaneous transient noise vibration, Vibration can be detected more reliably.

  In the present invention, the high-frequency component extraction means calculates a difference between a low-pass filter that outputs a low-frequency component of the rotational speed detected by the speed detection means and a difference between the rotational speed detected by the speed detection means and the output of the low-pass filter. Means. Alternatively, the high-frequency component extracting means can be constituted by a high-pass filter that outputs a high-frequency component of the rotational speed detected by the speed detecting means.

According to the present invention, it is possible to realize the generation of vibration can quickly and reliably detect a pinching of a foreign object detection errors can Ru switching controller avoiding with a simple configuration.

  FIG. 1 is a control block diagram showing a first embodiment when the present invention is applied to a vehicle window opening and closing control device. In the figure, 1 is a power window switch provided on the side of a vehicle seat, 2 is a motor for opening and closing the window, 3 is a rotary encoder for detecting the rotational speed of the motor 2, and 4 is for controlling the motor 2. It is a controller. Reference numeral 5 denotes a memory as storage means for storing the rotational speed detected by the rotary encoder 3 as needed. Reference numeral 6 denotes a fluctuation amount between the current rotational speed and the previous rotational speed based on the rotational speed stored in the memory 5. It is a fluctuation amount calculation unit. Reference numeral 7 denotes a memory serving as a storage unit that stores a threshold for determining whether or not a foreign object is caught (hereinafter referred to as a “squeezing determination threshold”). Reference numeral 8 denotes a fluctuation amount of the rotational speed calculated by the fluctuation amount calculation unit 6. And a sandwiching determination threshold value β in the memory 7. Reference numeral 9 denotes a pinch detection unit that detects that a foreign object has been pinched in the window glass that is an opening / closing body based on the comparison result in the comparator 8. The output of the pinch detection unit 9 is given to the controller 4.

  Reference numeral 10 denotes a low-pass filter that outputs a low-frequency component of the rotational speed stored in the memory 5, and 11 is an arithmetic unit that calculates the difference between the rotational speed stored in the memory 5 and the output of the low-pass filter 10. The low-pass filter 10 is a digital filter. Reference numeral 12 denotes a memory serving as storage means for storing a threshold value for determining the presence or absence of vibration (hereinafter referred to as “vibration determination threshold value”). Reference numeral 13 denotes an output from the computing unit 11 and the vibration determination threshold value α in the memory 12. It is a comparator. Reference numeral 14 denotes a vibration detection unit that detects the occurrence of vibration based on the comparison result in the comparator 13. The output of the vibration detection unit 14 is given to the pinching detection unit 9.

  In the above configuration, the rotary encoder 3 constitutes the speed detection means in the present invention, the fluctuation amount calculation unit 6 constitutes the fluctuation amount calculation means, the low-pass filter 10 and the calculator 11 constitute the high frequency component extraction means, and the calculation The comparator 11 constitutes a difference calculation means, the comparator 13 constitutes a first comparison means, the comparator 8 constitutes a second comparison means, the pinch detection unit 9 constitutes a pinch detection means, and vibration The detection unit 14 constitutes vibration detection means and prohibition means. In FIG. 1, each of the blocks 4 to 14 can be realized by a microcomputer.

  FIG. 2 is a view showing an example of a window opening / closing mechanism provided for each window of the vehicle. Reference numeral 100 denotes an automobile window, 101 denotes a window glass as an opening / closing body for opening / closing the window 100, and 102 denotes a window opening / closing mechanism. The window glass 101 moves up and down by the operation of the window opening / closing mechanism 102, the window 100 is closed when the window glass 101 is raised, and the window 100 is opened when the window glass 101 is lowered. In the window opening / closing mechanism 102, 103 is a support member attached to the lower end of the window glass 101. 104 is a first arm whose one end is engaged with the support member 103, and the other end is rotatably supported by the bracket 106. 105 is one end engaged with the support member 103, and the other end is engaged with the guide member 107. Second arm.

  2 is the motor described above, and 3 is the rotary encoder described above. The rotary encoder 3 is connected to the rotating shaft of the motor 2 and outputs a number of pulses proportional to the amount of rotation of the motor 2. The rotation speed of the motor 2 can be detected by counting the pulses output from the rotary encoder 3 within a predetermined time. Further, the opening amount of the window 100 can be calculated from the output of the rotary encoder 3.

  Reference numeral 109 denotes a pinion that is rotationally driven by the motor 2, and 110 denotes a fan-shaped gear that meshes with the pinion 109 and rotates. The gear 110 is fixed to the first arm 104. The motor 2 can rotate in forward and reverse directions, and rotates the pinion 109 and the gear 110 by rotating in the forward and reverse directions to rotate the first arm 104 in the forward and reverse directions. Following this, the other end of the second arm 105 slides laterally along the groove of the guide member 107, and the support member 103 moves up and down to raise and lower the window glass 101, thereby opening and closing the window 100. .

  Next, the operation of the window opening / closing control device of FIG. 1 will be described according to the flowcharts of FIGS. 3A and 3B. In FIG. 3A, in step S11, the controller 4 monitors whether or not the window closing switch included in the power window switch 1 is turned on. When the window closing switch is turned on (step S11: YES), the controller 4 outputs a drive signal to the motor 2, and the motor 2 starts driving (step S12). When the motor 2 rotates, the window opening / closing mechanism 102 shown in FIG. 2 operates, and the window glass 101 rises to close the window 100. The controller 4 determines whether or not the window 100 is completely closed based on the output of the rotary encoder 3 (step S13). If the window 100 is completely closed (step S13: YES), the motor 2 is driven. The operation is stopped (step S14) and the operation is terminated. If the window 100 is not closed (step S13: NO), the procedure proceeds to the procedure of FIG. 3B.

  3B, in step S21, the rotational speed of the motor 2 is detected based on the output of the rotary encoder 3, and the detected rotational speed is stored in the memory 5 as needed. Next, the motor rotational speed stored in the memory 5 is read out and output to the low-pass filter 10, and the low-frequency component of the motor rotational speed is extracted by passing through the low-pass filter 10 (step S22). Further, the fluctuation amount calculation unit 6 calculates the fluctuation amount between the current rotation speed and the previous rotation speed from the motor rotation speed stored in the memory 5 (step S23). On the other hand, the computing unit 11 subtracts the rotational speed after passing through the low-pass filter 10 from the motor rotational speed read from the memory 5 to extract a high frequency component (step S24).

  When the vehicle is traveling on a rough road, the motor rotation speed X varies greatly due to vibration as shown in FIG. Further, the motor rotation speed Y after passing through the low-pass filter 10, that is, the low-frequency component extracted by the filter processing has a waveform with a small amplitude as shown in the figure. Therefore, when these differences XY are obtained in the computing unit 11, the low frequency components are eliminated, and the high frequency components as indicated by the dotted lines in FIG. 4 are extracted. In step S25, the comparator 13 compares the subtraction result (high frequency component) in the calculator 11 with the vibration determination threshold value α stored in advance in the memory 12. The comparison result of the comparator 13 is sent to the vibration detector 14. The vibration detection unit 14 determines that vibration has occurred if the signal level of the high frequency component exceeds the vibration determination threshold α, and determines that vibration has not occurred if the signal level of the high frequency component does not exceed the vibration determination threshold α (step S26). ).

  As shown in FIG. 4, when the signal level of the high frequency component exceeds the vibration determination threshold value α at a certain time, the vibration detection unit 14 determines that vibration has occurred at that time (step S26: YES), and pinched A prohibition command is output to the detection unit 9 so as not to perform the detection process. As a result, the process returns to step S13 without executing steps S27 to S29, and the above-described operation is repeated. On the other hand, if the vibration detection unit 14 does not detect vibration (step S26: NO), the prohibit command is not output and the process proceeds to step S27.

  In step S <b> 27, the comparator 8 compares the fluctuation amount of the motor rotation speed calculated by the fluctuation amount calculation unit 6 with the pinching determination threshold value β stored in advance in the memory 7. The comparison result of the comparator 8 is sent to the pinch detection unit 9. The pinch detection unit 9 determines that pinching has occurred if the fluctuation amount of the rotational speed exceeds the pinching determination threshold value β, and determines that pinching has not occurred if it does not exceed the pinching determination threshold value β. (Step S28). When the pinch detection unit 9 detects the pinching of a foreign substance (step S28: YES), a motor stop / reverse command is sent from the pinch detection unit 9 to the controller 4. In response to this command, the controller 4 once stops driving the motor 2 and then reverses the rotation direction of the motor 2 to open the window 100 (step S29). Thus, the foreign object is released. On the other hand, if the pinch detection unit 9 does not detect the pinching of the foreign matter (step S28: NO), the process returns to step S13 and the above-described operation is repeated.

  FIG. 5 shows waveforms of the motor rotation speed X, the rotation speed Y after passing through the low-pass filter (low-frequency component), and the high-frequency component that is the difference between them when pinching is detected in the absence of vibration. Is shown. If there is no vibration, the fluctuation of the motor rotation speed X is small, so the high frequency component obtained by XY is also small and does not exceed the vibration determination threshold value α. When pinching occurs, the load on the motor increases and the rotational speed rapidly decreases. However, since there is no large vibration, the extracted high-frequency component remains at a low level.

As described above, in the first embodiment, the difference between the rotational speed X of the motor 2 and the motor rotational speed Y after passing through the low-pass filter 10 is calculated, and the high-frequency component of the rotational speed is extracted. The presence / absence of vibration is determined by comparing with the vibration determination threshold value α. When vibration is detected, the pinching detection process is prohibited. For this reason, the occurrence of vibration can be detected quickly and reliably by extracting the high frequency component, and erroneous detection of foreign object pinching due to vibration when traveling on a rough road can be prevented. Further, it can be realized by a simple means of extracting a high frequency component and comparing it with a threshold value. In FIG. 1, the prohibition command from the vibration detection unit 14 is given to the sandwiching detection unit 9. This prohibition command is given to the controller 4, and the controller 4 outputs a command output from the sandwiching detection unit 9. May be ignored.

  FIG. 6 is a control block diagram showing a second embodiment of the present invention. In FIG. 6, the same parts as those in FIG. In FIG. 1, a pinching detection prohibition command is given from the vibration detection unit 14 to the pinching detection unit 9, but in FIG. 6, a threshold value change command is given from the vibration detection unit 14 to the memory 7. Yes. In this case, the vibration detection unit 14 constitutes vibration detection means and threshold value changing means. In FIG. 1, a single sandwiching threshold value β is stored in the memory 7, but in FIG. 6, two sandwiching threshold values β1 and β2 are stored in the memory 7. Except for the above points, the configuration of FIG. 6 is the same as that of FIG. Further, since the window opening / closing mechanism driven by the motor 2 is the same as that shown in FIG. 2, a detailed description thereof will be omitted.

  Next, the operation of the window opening / closing control device of FIG. 6 will be described according to the flowcharts of FIGS. 7A and 7B. 7A, in step S31, the controller 4 monitors whether or not the window closing switch provided in the power window switch 1 is turned on. When the window closing switch is turned on (step S31: YES), the controller 4 outputs a drive signal to the motor 2, and the motor 2 starts driving (step S32). When the motor 2 rotates, the window opening / closing mechanism 102 shown in FIG. 2 operates, and the window glass 101 rises to close the window 100. The controller 4 determines whether or not the window 100 is completely closed based on the output of the rotary encoder 3 (step S33). If the window 100 is completely closed (step S33: YES), the motor 2 is driven. Stop (step S34), the operation is terminated. If the window 100 is not closed (step S33: NO), the procedure proceeds to the procedure of FIG. 7B. The procedure of steps S31 to S34 described above is exactly the same as the procedure of steps S11 to S14 in FIG. 3A.

  7B, in step S41, the rotational speed of the motor 2 is detected based on the output of the rotary encoder 3, and the detected rotational speed is stored in the memory 5 as needed. Next, the motor rotation speed stored in the memory 5 is read out and output to the low-pass filter 10, and the low-frequency component of the motor rotation speed is extracted by passing through the low-pass filter 10 (step S42). Further, the fluctuation amount calculation unit 6 calculates the fluctuation amount between the current rotation speed and the previous rotation speed from the motor rotation speed stored in the memory 5 (step S43). On the other hand, the computing unit 11 subtracts the rotational speed after passing through the low-pass filter 10 from the motor rotational speed read from the memory 5 to extract a high frequency component (step S44).

  When the vehicle is traveling on a rough road, the motor rotation speed X varies greatly due to vibration, as shown in FIG. Further, the motor rotation speed Y after passing through the low-pass filter 10, that is, the low-frequency component extracted by the filter processing has a waveform with a small amplitude as shown in the figure. Therefore, when these differences XY are obtained in the computing unit 11, the low frequency components are eliminated, and the high frequency components as indicated by the dotted lines in FIG. 8 are extracted. In step S45, the comparator 13 compares the subtraction result (high frequency component) in the calculator 11 with the vibration determination threshold value α stored in advance in the memory 12. The comparison result of the comparator 13 is sent to the vibration detector 14. The vibration detection unit 14 determines that vibration has occurred if the signal level of the high frequency component exceeds the vibration determination threshold value α, and determines that vibration has not occurred if the signal level does not exceed the vibration determination threshold value α (step S46). ). The procedure of steps S41 to S46 is exactly the same as the procedure of steps S21 to S26 in FIG. 3B.

As shown in FIG. 8, when the signal level of the high frequency component exceeds the vibration determination threshold value α at a certain time, the vibration detection unit 14 determines that vibration has occurred at that time (step S46: YES), and the memory 7 is commanded to change the pinching determination threshold value, and the threshold value is changed based on this command (step S47). That is, two sandwiching threshold values β1 and β2 (β1 <β2) are stored in the memory 7, and normally the threshold value β1 is used. However, when the vibration detection unit 14 detects the occurrence of vibration, FIG. As described above, the sandwiching determination threshold is switched from β1 to β2, and the threshold level is increased by the correction value in the figure. When vibration is generated on a rough road, the fluctuation amount of the motor rotation speed output from the fluctuation amount calculation unit 6 increases as shown in FIG. 8, and if the pinching determination threshold value remains β1, the fluctuation amount becomes the threshold value. Although there is a possibility of erroneously detecting that the vibration due to the bad road exceeds β1, it is possible to eliminate erroneous detection of the trapping by raising the threshold value to β2 when the vibration occurs as described above. After executing Step S47, the process proceeds to Step S48. If the vibration detection unit 14 does not detect vibration in step S46 (step S46: NO), the process proceeds to step S48 without executing step S47.

  In step S48, the comparator 8 compares the fluctuation amount of the motor rotation speed calculated by the fluctuation amount calculator 6 with the pinching determination threshold value β1 or β2 stored in the memory 7 in advance. When step S47 is executed, the pinching determination threshold value β2 is used, and when step S47 is not executed, the pinching determination threshold value β1 is used (hereinafter, β1 and β2 are collectively referred to as β). . The comparison result of the comparator 8 is sent to the pinch detection unit 9. The pinch detection unit 9 determines that pinching has occurred if the fluctuation amount of the rotational speed exceeds the pinching determination threshold value β, and determines that pinching has not occurred if it does not exceed the pinching determination threshold value β. (Step S49). When the pinch detection unit 9 detects a foreign object pinching (step S49: YES), a motor stop / reverse command is sent from the pinch detection unit 9 to the controller 4. In response to this command, the controller 4 once stops driving the motor 2 and then reverses the rotation direction of the motor 2 to open the window 100 (step S50). Thus, the foreign object is released. On the other hand, if the pinch detection unit 9 does not detect the pinching of the foreign matter (step S49: NO), the process returns to step S33 and the above-described operation is repeated. The procedure of steps S48 to S50 is exactly the same as the procedure of steps S27 to S29 in FIG. 3B.

  FIG. 9 shows the motor rotation speed X, the rotation speed Y after passing through the low-pass filter (low-frequency component), the high-frequency component that is the difference between the two, and the motor rotation when pinching is detected in a state where no vibration is generated. Each waveform of the speed variation is shown. If there is no vibration, the fluctuation of the motor rotation speed X is small, so the high frequency component obtained by XY is also small and does not exceed the vibration determination threshold value α. When pinching occurs, the load on the motor increases and the rotational speed rapidly decreases. However, since there is no large vibration, the extracted high-frequency component remains at a low level. On the other hand, the fluctuation amount of the motor rotation speed does not show a great change in a state where neither vibration nor pinching occurs, but when pinching occurs, it rapidly increases as the motor rotation speed decreases. Then, when the fluctuation amount exceeds the pinching determination threshold β1, it is determined that pinching has occurred.

  As described above, in the second embodiment, the difference between the rotational speed X of the motor 2 and the motor rotational speed Y after passing through the low-pass filter 10 is calculated, and a high-frequency component of the rotational speed is extracted. The presence or absence of vibration is determined compared with the vibration determination threshold value α. When vibration is detected, the pinching determination threshold value is switched from β1 to β2 to increase the threshold value. For this reason, even if the fluctuation amount of the motor rotation speed is increased due to vibration during traveling on a rough road, it is possible to prevent erroneous detection of foreign object pinching. Even when vibration and foreign object pinching occur at the same time, if the fluctuation amount of the motor rotation speed exceeds the pinching determination threshold β2, the pinching detection unit 9 operates, so that it is possible to reliably detect the foreign object pinching. it can. Further, it can be realized by a simple means of extracting a high frequency component and comparing it with a threshold value.

  In the first and second embodiments described above, the high-frequency component is extracted using the rotation speed of the motor 2, but as another embodiment, the high-frequency component is also extracted using the rotation period of the motor 2. Vibrations can be detected based on the same principle as in the case of rotational speed. As the cycle detection means for detecting the rotation cycle, the rotary encoder 3 shown in each embodiment can be used, and the motor rotation cycle can be detected from the interval of pulses output from the rotary encoder 3. FIG. 10 shows waveforms of the rotation period T when vibration is occurring, the rotation period U (low frequency component) after passing through the low-pass filter, and the high frequency component that is the difference between the two. FIG. 11 shows respective waveforms of the rotation period T, the rotation period U (low frequency component) after passing through the low-pass filter, and the high frequency component that is the difference between the two when the pinching is detected in a state where no vibration is generated. Show.

  As another embodiment, vibration can be detected based on the same principle as in the case of the rotational speed by extracting a high-frequency component using the current value of the motor 2. In this case, a current detection circuit for detecting a current flowing through the motor 2 is provided as a current value detection means. FIG. 12 shows waveforms of the motor current I when vibration is generated, the motor current J (low frequency component) after passing through the low-pass filter, and the high frequency component that is the difference between the two. FIG. 13 shows each waveform of the motor current I, the motor current J (low frequency component) after passing through the low-pass filter, and the high frequency component that is the difference between the two when the pinching is detected in a state where no vibration is generated. Show.

  Further, as another embodiment, two vibration determination threshold values can be provided. For example, when the rotation speed of the motor 2 is used, as shown in FIG. 14, the vibration determination threshold value is an upper limit value α1 for determining the presence or absence of acceleration vibration and a lower limit value α2 for determining the presence or absence of deceleration vibration. And provide. Then, it is monitored whether or not the high frequency component of the motor rotation speed exceeds both α1 and α2 within a certain time, and if it exceeds only one of them, it is not determined that vibration has occurred, and both are exceeded. It is determined that vibration has occurred. Thereby, it is possible to eliminate the influence of instantaneous transient noise vibration, and it is possible to more reliably detect the vibration. FIG. 15 shows the rotational speed X when pinching is detected in a state where no vibration is generated in this embodiment, the rotational speed Y after passing through the low-pass filter (low frequency component), and the high frequency component that is the difference between the two. Each waveform is shown. If there is no vibration, the fluctuation of the motor rotation speed X is small, so the high frequency component obtained by XY is small and does not exceed any vibration determination threshold value α1, α2. When pinching occurs, the load on the motor increases and the rotational speed rapidly decreases. However, since there is no large vibration, the extracted high-frequency component remains at a low level.

  FIG. 16 is a control block diagram showing another embodiment of the present invention. In FIG. 1 and FIG. 6, the high-frequency component extraction means is composed of the low-pass filter 10 and the computing unit 11, but in FIG. 16, the high-pass filter 15 constitutes the high-frequency component extraction means. The high pass filter 15 is also a digital filter. Since other configurations are the same as those in FIGS. 1 and 6, the same parts as those in FIGS. 1 and 6 are denoted by the same reference numerals, and detailed description of each block is omitted. In FIG. 16, when a rotational speed (which may be a rotation period or a motor current) is given from the memory 5 to the high-pass filter 15, a high-frequency component is directly output from the high-pass filter 15 by the filtering process. The subsequent processing is the same as in the case of FIG. 1 and FIG.

  In the above description, the example in which the present invention is applied to an opening / closing control device for opening / closing a vehicle window has been described. However, the present invention is not limited to a vehicle but is also applied to an opening / closing control device for opening / closing a window of a building or the like. can do. Further, the present invention can be applied not only to opening / closing windows, but also to an opening / closing control device for opening / closing, for example, a vehicle door or a building door / door.

It is a control block diagram which shows 1st Embodiment of this invention. It is the figure which showed an example of the window opening / closing mechanism. It is a flowchart which shows operation | movement of an opening / closing control apparatus. It is a flowchart which shows operation | movement of an opening / closing control apparatus. It is a wave form diagram, such as a motor rotational speed at the time of vibration generation. It is a wave form diagram, such as a motor rotational speed at the time of vibration non-occurrence | production. It is a control block diagram which shows 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of an opening / closing control apparatus. It is a flowchart which shows operation | movement of an opening / closing control apparatus. It is a wave form diagram, such as a motor rotational speed at the time of vibration generation. It is a wave form diagram, such as a motor rotational speed at the time of vibration non-occurrence | production. It is waveform diagrams, such as a motor rotation period at the time of the vibration generation in other embodiment. It is waveform diagrams, such as a motor rotation period at the time of the vibration non-occurrence | production in other embodiment. It is waveform diagrams, such as a motor current at the time of the vibration generation in other embodiment. It is a wave form diagram of motor current etc. at the time of vibration non-occurrence in other embodiments. It is waveform diagrams, such as a motor rotational speed at the time of the vibration generation in other embodiment. It is waveform diagrams, such as a motor rotational speed at the time of the vibration non-occurrence | production in other embodiment. It is a control block diagram which shows other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Power window switch 2 Motor 3 Rotary encoder 4 Controller 5 Memory 6 Fluctuation amount calculation part 7 Memory 8 Comparator 9 Entrapment detection part 10 Low pass filter 11 Calculator 12 Memory 13 Comparator 14 Vibration detection part 15 High pass filter 100 Window 101 Window glass α, α1, α2 Vibration determination threshold β, β1, β2

Claims (8)

Speed detecting means for detecting the rotational speed of a motor that opens and closes the opening and closing body;
High-frequency component extraction means for extracting a high-frequency component of the rotational speed detected by the speed detection means;
First comparison means for comparing the signal level of the high-frequency component extracted by the high-frequency component extraction means and a first threshold value for determining the presence or absence of vibration;
Vibration detecting means for detecting occurrence of vibration based on a comparison result of the first comparing means;
A fluctuation amount calculating means for calculating a fluctuation amount between the current rotation speed detected by the speed detection means and the previous rotation speed;
Second comparison means for comparing the fluctuation amount calculated by the fluctuation amount calculation means with a second threshold value for determining whether to pinch or not,
A pinching detection means for detecting that a foreign object has been pinched in the opening / closing body based on the comparison result of the second comparison means,
The opening / closing control apparatus according to claim 1, wherein when the vibration is not detected by the vibration detection unit, the pinch detection unit performs a pinch detection process based on the second threshold value . The opening / closing control device according to claim 1, further comprising:
Switching controller, wherein when the vibration is detected by vibration detecting means, characterized by comprising a prohibiting means for prohibiting the detecting process by the entrapment detection means. The opening / closing control device according to claim 1, further comprising:
An opening / closing control apparatus comprising: a threshold value changing means for increasing the second threshold value when vibration is detected by the vibration detecting means. The opening / closing control device according to any one of claims 1 to 3,
An opening / closing control apparatus comprising a period detecting means for detecting a rotation period of the motor instead of the speed detecting means. The opening / closing control device according to any one of claims 1 to 3,
An opening / closing control device comprising a current value detecting means for detecting a current value of the motor instead of the speed detecting means. The opening / closing control apparatus according to any one of claims 1 to 5,
An opening / closing control device using an upper limit value for determining presence / absence of acceleration vibration and a lower limit value for determining presence / absence of deceleration vibration as the first threshold value. The opening / closing control apparatus according to any one of claims 1 to 6,
The high-frequency component extraction means includes
A low-pass filter that outputs a low-frequency component of the rotational speed detected by the speed detection means;
Difference calculating means for calculating a difference between the rotational speed detected by the speed detecting means and the output of the low-pass filter;
An opening / closing control device comprising: The opening / closing control apparatus according to any one of claims 1 to 6,
The open / close control device, wherein the high-frequency component extracting means is composed of a high-pass filter that outputs a high-frequency component of the rotational speed detected by the speed detecting means.

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