JP4590710B2 - Opening and closing body control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for an opening / closing body that opens and closes an opening, and particularly relates to an opening / closing body control device that detects the rotation of a motor that drives the opening / closing body and identifies the position of the opening / closing body from the rotational state of the motor. .
[0002]
[Prior art]
In this type of vehicle, in a vehicle, an opening / closing window (opening / closing body) such as a sunroof or a window regulator is operated by a motor, the rotation state of the motor is detected, and a case where foreign matter is sandwiched from the rotation state of the motor is compared with a reference value If a pinch is detected at a specific position, the open / close body is immediately stopped from the safety aspect, or a pinch detection device that reversely drives the open / close body in the direction opposite to the moving direction of the open / close body Applied to the mechanism.
[0003]
In this way, the detection of foreign object pinching can be detected by detecting fluctuations in the motor torque, and the rotation detection sensor using a Hall element or the like detects the motor rotation state of the motor that drives the opening / closing body to detect rotation. A method of detecting pinching based on a pulse signal from a sensor is known.
[0004]
For example, in such a pinch detection device, when detecting the position of an opening / closing body, conventionally, a switch that operates at a specific position of the opening / closing body in addition to a pulse generator in order to specify a pinching detection region for pinching detection However, if a switch is provided, the cost increases.
[0005]
Therefore, a method of eliminating the position detection switch, setting the pinching range, and detecting pinching is disclosed in, for example, Japanese Patent Application Laid-Open No. 8-240071. In this publication, the pulse signal of the motor is based on information from a pair of rotation sensors that detect the rotation of the motor without using a switch or the like (the output waveform is the same, but the outputs are 90 degrees out of phase). The glass sandwiching range is determined using the closed position of the moving range of the window glass as a reference position. This method measures the motor voltage when the glass is in the closed position when learning and correcting the reference position, and based on the correlation between the motor voltage value stored in advance and the dead band from the reference position to the sandwiching range. Thus, a dead zone that does not detect pinching is set.
[0006]
[Problems to be solved by the present invention]
However, as described in the above publication, in an apparatus that detects pinching of the opening / closing body using only the output from the rotation sensor, it is necessary to know the exact position of the opening / closing body, and the position from the rotation sensor is simply counted. When the control is performed, it is necessary to perform position correction when a positional deviation occurs due to a change with time.
[0007]
Therefore, the present invention has been made in view of the above problems, and it is a technical problem to reliably perform position correction even when a positional deviation occurs without using a position switch for specifying the position of an opening / closing body. And
[0008]
[Means for Solving the Problems]
The technical means taken in order to solve the above problems is an opening / closing body that opens and closes an opening (1a) of a vehicle (AM). As sunroof (2) and The sunroof A motor (4) for driving the motor, rotation detection means (11, 12) for detecting the rotation of the motor, and a signal from the rotation detection means Sunroof Opening and closing provided with position detecting means (30) for detecting the moving direction and position of the motor, and control means (10) for detecting overload from the motor rotation state and stopping driving of the motor when the overload is detected In the body control device,
The control means is Sunroof Storage means (31) for storing the movable range (D0 to D12) of Sunroof Counting means (32) for counting the position of the counter based on the output from the rotation detecting means, comparing the value of the counting means with the position stored by the storage means, and the value of the counting means is the movable When an overload is detected in the end region of the range (S327, S331, S414, S426), the value of the counting means is set to the clear state (S328, S334). Sunroof Is forcibly driven to the reference position (S409, S410), and after reaching the reference position, the counting means Sunroof Locate The control means has a pinching detection function and stores a reference value (X1 to X6) proportional to the pinching load for each predetermined region within the movable range, and when the clear state is reached, the reference value is stored. Weight (X6) This is what I did.
[0009]
According to this, the control means compares the value of the counting means with the position stored by the storage means, and when the value of the counting means detects an overload in the end area of the movable range, the position deviation is detected in the end area. Since it may occur, the value of the counting means is not adopted for position control, and the value of the counting means is set to a clear state. When the clear state is reached, the opening / closing body is then forcibly driven to a reference position that is a reference for position control. The position of the prevented opening / closing body can be reliably identified. At this time, a position switch for detecting a specific position is not necessary.
[0010]
This In this case, it is possible to weight the pinching load in an area where the position is not fixed, and it is possible to prevent erroneous determination of pinching by this weighting. That is, the sunroof of the vehicle is not always driven with the same sliding resistance because of the structure, and there is a region where the sliding resistance becomes heavy. In this way, when the sunroof slides under a situation where the sliding resistance is not constant, the reference value for determining the pinch is more than when the overload is generated during the movement of the normal sunroof, even if misalignment occurs. Is greatly weighted, so that erroneous determination of pinching can be prevented.
[0011]
In this case, if the end region (slide section 3, tilt section 1) is set with reference to a region where the sunroof is closed by the vehicle (a fully closed region), more reliable position detection can be performed.
[0012]
still In the above, in order to facilitate understanding of the present invention, the corresponding numbers in the embodiments are given for reference.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0014]
In the present embodiment, the case where the opening / closing body control device shown in FIG. 1 is applied to a sunroof control device for a vehicle will be described below, but the present invention is not limited to this. For example, in a vehicle, the present invention can be applied to a power window regulator control device that moves a window up and down, a roof opening / closing control device that opens the entire roof or the entire room in a hooded state, and the like.
[0015]
FIG. 3 is an attachment diagram of the sunroof control device to the vehicle AM. A roof 1 of the vehicle AM is provided with an opening 1a having a rectangular shape, and a sun roof (also referred to as a roof glass) 2 that moves to open and close the opening 1a. The sunroof 2 is slid in the longitudinal direction of the vehicle by a known slide mechanism, and is tilted in the vertical direction of the vehicle by a known tilt mechanism.
[0016]
The drive unit 3 for driving the sunroof 2 is provided in a state of being embedded in the roof in front of the opening 1a, and the drive unit 3 includes a motor 4 and a gear unit 5 integrated. Structurally, the output shaft of the gear unit 5 is linked with the slide mechanism and the tilt mechanism, and when the motor 4 is driven and controlled by the control device 10 shown in FIG. 1, the sunroof 2 performs a series of operations of slide operation and tilt operation. To do in.
[0017]
As shown in FIG. 3 (b), the roof 1 is equipped with a wind deflector 6 at the inner front portion of the opening 1a, and is urged upward by a spring from the opening 1a with two left and right arms 7, 7. It is supported. When the wind deflector 6 sunroof 2 is opened, the spring 7 is automatically pushed upward by the biasing force of the spring, and when the sunroof 2 is closed, the arms 7 and 7 are pushed by the sunroof 2 and stored below the roof.
[0018]
FIG. 1 shows a system configuration diagram. The drive unit 3 that drives the sunroof 2 includes a control device 10 that drives the motor 4. The control device 10 includes a pair of Hall ICs 11 and 12 serving as a rotational speed sensor, a microcomputer 13, a relay drive circuit 14, relays 15 and 16, various input interface circuits 17, 18 and 18, a power supply circuit 20, and the like.
[0019]
The microcomputer 13 and the Hall ICs 11 and 12 are supplied with a predetermined power (for example, 5V) stabilized by the power supply circuit 20 from the battery 21 of 12V. The microcomputer 13 receives an IG signal from the ignition switch 22. The operation switch 23 is manually operated when the sunroof 2 is opened and closed, and has an SW function that opens / down or closes / ups on according to the operation direction, and turns off both in the neutral position where the switch is not operated. Have. Further, when the operation switch 23 is continuously pressed in any direction for a predetermined time, the sunroof 2 automatically moves to the end point in the opening direction or the closing direction. A signal from the operation switch 23 is input to the microcomputer 13 via the input interface circuit 17, and the microcomputer 13 drives the relays 15 and 16 in response to this signal to drive the motor 4 forward or backward.
[0020]
A magnet 25 is attached to the rotating shaft of the motor 4 serving as a drive source of the sunroof 2, and the Hall elements 11 and 12 are provided facing the magnet 25 while maintaining a predetermined interval. When the motor 4 rotates, the magnet 25 rotates, and the rotation state of the motor can be detected by changing the magnetic flux crossing the Hall ICs 11 and 12, and the output is input to the microcomputer 13. Hall ICs 11 and 12 are arranged so as to obtain the output shown in FIG. 4, and the microcomputer 13 detects the position of the sunroof 2 based on a pulse signal generated by switching between the rising edge and the falling edge. This device has a pinching detection function. When pinching in an overload state is detected based on pulse signals from the Hall ICs 11 and 12, the sunroof 2 is opened by a predetermined amount (for example, 200 mm) in the opening direction (opening direction). Move to.
[0021]
The microcomputer 13 provided in the control device has a CPU 30 and a memory 31, and a program and control data are stored in the memory 31. Based on the stored program, the CPU 30 performs control for detecting the position of the sunroof 2 and preventing pinching. The CPU 30 includes a position counter 32 and timers 33 and 34. The position counter 32 counts pulse signals from the Hall ICs 11 and 12 in order to detect the position of the sunroof 2, and is applied to pinching control. The elapsed time after the motor stops is counted.
[0022]
FIG. 2 shows an example of setting the control position of the sunroof 2 and the threshold value for pinching determination (pinching load). The sunroof 2 in the present embodiment has a tilt mechanical lock position (a position where the sunroof 2 is mechanically fully tilted and locked by a stopper (not shown) at the operating end) and a slide mechanical lock position (a sunroof 2 is stopped by a stopper (not shown) at the operating end). The position that can be opened and closed is the position between the mechanically fully-sliding locked position. Specifically, the position where the motor 4 has pulled the drive rod (not shown) most (maximum reverse rotation position) is the tilt mechanical lock position, and the position where the motor 4 has pushed the drive rod (not shown) most (maximum). The forward rotation position) is the slide mechanical lock position.
[0023]
The operation position (roof position) of the sunroof 2 is indicated by a position within the operation range of D0 to D12 as shown in FIG. From the tilt mechanical lock position D0 to the slide mechanical lock position D12, D0 to D12 are set as control positions that appear in order in the forward rotation direction (open direction) of the motor. D0 is a tilt mechanical lock position, D12 is a slide mechanical lock position, a tilt area is D0 to D3, and a slide area is D5 to D12. In addition, a tilt-up stop position D1, a fully-closed stop position D4, and a fully-open stop position D11 are set as target values for the control of the stop position. D2 is placed between the tilt section 1 and the tilt section 2 on both sides of the fully closed section. D3 between D3, D5, D6 between slide sections 4 and 1, D7 between slide sections 1 and 2, D8 between slide sections 2 and 1, D9 at the approximate center of slide section 1, between slide sections 1 and 3 D10 is set in advance and stored in the memory 31.
[0024]
When fully closed, if the fully closed stop position D4 is the target stop position for control and is within the fully closed sections D3 to D5, it is regarded as the fully closed stop position with a predetermined range. Each area is divided into eight sections (see FIG. 2) of tilt sections 1 and 2, fully closed sections and slide sections 1 to 4, and each roof position D 0 to D 12 is set to a value corresponding to the count number of the position counter 32. ing. The position counter 32 is incremented (+1) when the motor rotates forward (when the sunroof 2 moves in the opening direction), and decremented (-1) when the motor rotates in the reverse direction (when the sunroof 2 moves in the closing direction). In the present embodiment, a section from D4 to D11 is a pinching detection area.
[0025]
FIG. 4 is a timing chart of pulse signals output from the two Hall ICs 11 and 12. As shown in FIG. 4A, the pulse signals output from the Hall ICs 11 and 12 have the same period and the phase is shifted by ¼ period. Further, as shown in FIG. 4B, the level and edge of two pulse signals output from the Hall ICs 11 and 12 depending on whether the position of the sunroof 2 is the closing direction (closing direction) or the opening direction (opening direction). Therefore, the motor rotation direction is determined from the relationship between the level of two pulse signals and the edge. In FIG. 4B, “↑” indicates a rising edge and “↓” indicates a falling edge.
[0026]
In this apparatus, when the operation switch 23 is operated and the sunroof 2 is automatically driven, a drive signal is output to the motor 4, and the roof glass 2 operates in accordance with this drive signal. In this process, when an object (for example, a hand or an object) is sandwiched between the sunroof 2 and the opening 1a of the vehicle AM, the rotation of the motor 2 is suppressed. In view of safety, a pinch detection mechanism that detects the pinching by utilizing the decrease in the number of rotations of the motor and immediately stops the closing operation of the roof glass 2 when the pinching occurs and reverses the operation to the opening operation. It has been added.
[0027]
Therefore, in such pinching detection, a reference value for determining overload detection (pinching detection) due to foreign object pinching or the like is set for each section with respect to the roof position. This is because when the sunroof 2 slides in the roof, there is a section in which the sliding resistance when the sunroof 2 moves is not uniform and the sliding resistance increases. For this reason, if the reference value for the pinching determination is made uniform, erroneous determination occurs. Specifically, when the sunroof 2 is driven in a region where the sliding resistance increases, the rotational force of the motor is suppressed and the reference value is set to a low value when moving. For this reason, if the reference value for the pinching determination is not increased in an area where the sliding resistance is large, an overload is erroneously detected even though there is no reduction in motor rotation due to pinching. Therefore, in the apparatus having such a structure, it is necessary to set a high reference value so as not to erroneously detect only a predetermined section. In this embodiment, for example, X6> X3 = X4 = X5 >> X2 > X1, and X1 to X6 are normally set in each operation state shown in FIG. However, since a large load that cannot be closed by the determination based on the reference value is necessary for tilt down, in this embodiment, the determination based on the reference value is not performed (no setting or X7 is set), and the motor lock Only overload detection by means of shall be performed.
[0028]
Next, a flowchart for determining the position of the sunroof control shown in FIG. 6 will be described. Since the microcomputer 30 does not have accurate position information when the control device 10 is turned on, the position information is indefinite, and the process until the position is determined will be described with reference to FIG. In the following description, steps at each stage of the process are omitted and referred to as “S”.
[0029]
First, in S101, information on overload detection (overload detection stop flag) is cleared. In the next S102, it is determined whether the position determination has been completed by looking at the position determination process end flag. When the position information of the sunroof 2 is indefinite, the position determination process has not been completed, and thus the process proceeds to S103, and it is determined whether the sensor failure state is determined in S103. Next, in S104, it is determined whether or not there is an operation request in the closing direction. In this embodiment, the origin for determining the position is the end point D0 in the closing direction, and therefore there is an operation request in the opening direction other than the closing direction. If it does, the position determination process is not performed. Here, the description of the position indefinite time process is omitted.
[0030]
When the operation request is in the closing direction, the position determination process shown in FIG. 7 is performed.
[0031]
In S201, the motor 4 is output so that the sunroof 2 moves in the closing direction. In S202, it is determined whether an edge of the sensor signal is input. If the sensor edge is not input, the process proceeds to S203, where it is determined whether T2 time has elapsed. If there is no sensor edge until the time T2 elapses, it is determined that the motor 4 is locked. After the motor is stopped in S204, a lock determination stop flag is set in S205. Here, unless a foreign object or the like is intentionally inserted, it is the reference origin D0 that the motor locks and stops. At this time, the current position of the sunroof 2 is set to D0 in S206. Here, D0 = 0.
[0032]
Next, S202 will be described when a sensor edge is input. In S207, the rotation direction is determined from the output pattern shown in FIG. 4B from the sensor edges of the two pulse signals having different phases input. In S208, the motor rotation speed is calculated from the time between sensor edges, and the fluctuation of the motor rotation speed is always obtained. In S209, it is determined whether the rotation speed obtained in S208 is lower than the reference value of the rotation speed. It is determined whether or not the reference value exceeds a reference value set in advance through experiments or the like. Here, when the decrease in the rotational speed exceeds the reference value, it is determined that an overload has occurred. The reference value at this time is set as the highest reference value X6 because the position is uncertain and it is not known where it is.
[0033]
When the sunroof 2 reaches the origin D0, it mechanically hits a stopper (not shown) and an overload occurs. Therefore, the reference value is set to a value that can reduce the load on the mechanism as much as possible even if it continuously hits the stopper. When it is determined that an overload has occurred, the motor output is stopped in S210. In S211, it is determined whether T1 time has elapsed since the motor stopped. The time T1 is set to a time with a little margin in the time required for the motor rotation to completely stop after the motor output is stopped. When the time T1 elapses, the process proceeds to S212, where the current position D0 of the sunroof 2 is set. Here again, D0 = 0.
[0034]
In a state where D0 is set, the range in which the sunroof 2 can operate is determined as shown in FIG. When the sunroof 2 is stopped at the origin D0, a load is continuously applied to the mechanism. In order to leave the sunroof 2 for a long time in this state, it is necessary to ensure the durability of the mechanism. It is disadvantageous. For this reason, in S213 and after shown in FIG. 8, the sunroof 2 is controlled to be tilted down to the tilt full up position, which is the end point of the movable range. Here, the case where D0 is set in S212 will be described first with reference to FIG.
[0035]
In S213, after the control at the closing time, in order to tilt down the sunroof 2, an output for driving the motor 4 in the open direction opposite to the movement so far is performed. In S214, it is determined whether a sensor edge has been input. If no sensor edge is input, the process proceeds to S225, where it is determined whether T2 time has elapsed. Here, when the T2 time sensor edge is not input, since the motor 4 is considered to be in a locked state as in the processing performed in S202 to S203, the process proceeds to S226 and the motor 4 is stopped. Since this state is a state in which the roof cannot be operated to the tilt full-up position, there is a possibility that some abnormality may occur. Therefore, in S227, after the already set position information D0 = 0 is cleared, the process ends. In S102, it is determined whether or not the position determination process has been completed. At this time, since the position determination process end flag is not set, the position determination process is performed again.
[0036]
If a sensor edge is input in S214, the process proceeds to S215, and a pulse count process is performed. Here, the rotation direction is judged from the input sensor edges having different phases, and if the rotation is in the open direction, the position information (value of the position counter 32) is incremented (+1) and the rotation is in the close direction. If so, the position information is decremented (−1), and the process proceeds to S216. In S216, the same processing as in S208 is performed, and in S217, as in S209, it is determined whether or not the rotational speed reduction exceeds the reference value, and it is determined whether or not an overload has occurred due to foreign object pinching. If the decrease in the rotational speed exceeds the reference value in S217, the process proceeds to S220. In this case, it is assumed that pinching has occurred, and immediately after the motor 4 is stopped, the process proceeds to S221. After confirming that the position determination process has not ended in S221, the process proceeds to S227 and the position information is cleared. Since there is a possibility that some abnormality has occurred as in the case of S225 to S227, the process returns to the beginning and continues the position determination process again.
[0037]
If the reference value is not exceeded in S217, the process proceeds to S218, and it is determined whether or not the roof position has reached the tilt full up stop position D1. If D1 is reached, the process proceeds to S219, a position determination process end flag is set, and the motor is stopped in S220. Thereafter, the process proceeds to S221. In this process, since the position determination process is completed, the process proceeds to S222.
[0038]
In S222, after the motor 4 stops, it is determined whether the time required for the motor 4 to completely stop has reached T1 time with a little margin, and the process proceeds to S223 until T1 time elapses. Whether or not an edge has been input is determined. If it has been input, the rotation direction is determined based on the pulse output pattern in S224, and the position information is updated according to the rotation direction (the position count counter is updated) as in S215. . That is, in the processing from S222 to S224, after the motor 4 is stopped, the position counting is continued until the state in which the motor 4 is rotated by the inertia force is surely stopped. Is tilted down from the origin D0 to the tilt full-up position D1, and the motor 4 is completely stopped.
[0039]
Next, a process different from the case where the position information is set to D0 = 0 in S206 shown in FIG. 7 and the case where the position information is set to D0 = 0 in S212 will be described.
[0040]
After setting the position information in S206, the process proceeds to S213, the motor 4 is output in the open direction, and the process proceeds to S214. If there is no sensor edge when moving in the open direction in S214, the process proceeds to S225. If there is no sensor edge even after a lapse of T2, the motor is locked in the close direction in S203, and then it is determined that the motor is locked again in the open direction. become. Although the motor is stopped in S226, the sensor edge has never been input in the process so far. For this reason, there is a possibility that the sensor signal is not input due to some abnormality, that is, the sensor is broken. Since the lock determination stop flag remains set, it is determined whether or not the lock determination stop flag is cleared in S229. If it is set, it is determined that the sensor has failed, and the process proceeds to S230 to clear the position information. S231 Then, the sensor failure flag is set and this process is terminated.
[0041]
On the other hand, if it is determined in S214 that the sensor edge has been input even once, it can be determined that the sensor is not in a malfunctioning state, but the previous operation has been stopped due to overload due to pinching. To clear the lock judgment stop flag. Thereafter, in FIG. 9, the same processing as S215 to S224 shown in FIG. 8 is performed.
[0042]
Even if the sensor edge disappears again in S214, and T2 time elapses in S225, it can be determined that an overload has occurred due to foreign object pinching before reaching the tilt full-up position, so the process proceeds from S229 to S227 to clear the position information. Similarly to the above description, the process is finished in a state where the position determination process is not finished.
[0043]
Next, the normal position process will be described with reference to FIG. This process is performed when the position determination process is completed. This process is a position determination process, and is performed in a state where the position determination process has been completed normally and the operable range of the sunroof 2 has been determined. In the normal position process, first, in S301 to S304, it is determined whether there is an activation request for each operation. If there is a close request in S301, output (close) in the close direction in S305, if there is a down request in S302, output (down) the motor 4 in the open direction in S306, and up in S303 If there is a request, it is first determined in S307 whether the current position information of the sunroof 2 is D1 or less. It is determined whether this is a movable range area. If it is a movable range, the process proceeds to S308, and if not, the process proceeds to S332. In S308, the motor 4 is output (up) in the closing direction, and if there is an open request in S304, the motor is output (opened) in the opening direction in S309. Each operation request determines which operation is requested from the operated operation switch 23 and the current position of the roof 1. Since there are two rotation directions, slide open and tilt down are open directions. Slide close and tilt up are close directions.
[0044]
In S310, it is determined whether there is a sensor edge input. If there is an edge, the process proceeds to S311. In S <b> 311, the rotation direction is determined from the input sensor edges having different phases, and the roof position information is constantly updated by counting by the position counter 32. In S312, the rotation speed of the motor is calculated from the sensor edge, and the fluctuation of the motor rotation speed is always obtained. In S313, if the rotation speed obtained in S312 has decreased, it is determined whether or not a reference value set in advance from an experiment has been exceeded. If the reference value is not exceeded, the process proceeds to S314, where it is determined whether the position information is the roof stop position. The stop position is determined by stop positions such as a fully open stop position D11, a fully closed stop position D4, and a tilt-up stop position D1 to be stopped depending on the moving direction and the current position of the sunroof 2. The stop position differs depending on each operation. .
[0045]
When the sunroof 2 reaches the stop position in S314, the process proceeds to S315, and the motor 4 is stopped because the sunroof 2 has moved to the predetermined stop position. The process proceeds to S316, and the motor 4 stops rotating after the motor 4 stops. It is determined whether or not the T1 time has been reached with some allowance for the time required to completely stop. Until the time T1 elapses, the process proceeds to S317, where it is determined whether a sensor edge has been input. If it has been input, the rotation direction is determined in S318, and the position information is updated according to the rotation direction as in S311. . If the time T1 elapses in S316, the process proceeds to the process shown in FIG.
[0046]
On the other hand, if there is no input of the edge of the sensor signal in S310, the process proceeds to S319 to determine whether T2 time has elapsed. If there is no sensor edge until the time T2 elapses, it is determined that the motor is locked, a lock determination stop flag is set in S320, and an overload detection stop flag is set in S321. Next, in S322 and S323, it is determined whether the current operation is a slide close or a tilt down. If so, the process proceeds to a reverse operation process. If the operation is other than that, the motor is stopped in S324, and the process proceeds to FIG.
[0047]
If there is a sensor edge in S310, the pulse count process is performed in S311 as described above, the rotation speed is calculated in S312, and if the rotation speed drop exceeds the reference value in S313, an overload occurs. In step S336, the overload detection stop flag is set. In steps S337 and S338, it is determined whether the current operation is a slide close or a tilt down. . If so, the process proceeds to the reverse operation process. If the operation is other than that, the process proceeds to S315.
[0048]
In S325 shown in FIG. 11, it is determined whether the operation before the stop is a tilt-up operation or a slide-open operation. If it is not the up operation, it is a slide open operation, so the process proceeds to S326, and it is determined whether or not the overload detection is stopped. If it is not overload detection, it is terminated due to a stop condition other than the overload detection, and the process ends. If overload is detected in S326 (pinch occurrence), the process proceeds to S327. If the current position information is D11-P1 or more, the process proceeds to S328, the position information is deleted, and the position determination process end flag is set in S329. After clearing, this process is terminated. In the roof operable region in FIG. 2, the sunroof 2 cannot normally detect overload in the open direction. If an overload is detected in the open direction in S326, the relationship between the position information stored in advance in the control unit (ECU) 10 and the position information from the actual position counter 32 is shifted due to some factor. Since there is a possibility of the failure, the position information is regarded as abnormal, the position information held by the micro control unit is once cleared, and the position determination process is not performed again so that normal processing cannot be performed. However, if this determination is made in all regions, position information is forgotten every time an overload is detected, even though the position is not shifted, which is inconvenient. One position shift amount does not affect the entire system, that is, the one position shift amount is within a range that can be permitted as a correct stop position of the sunroof 2 even if the control device 10 stops at the recognition position. This is a possible mechanism, and if it is set to a mechanism that is outside the above-mentioned allowable range only after positional deviation accumulates, an area where overload detection occurs within the operable range of the roof when a position error occurs Is limited to a certain range from the previous stop position. Accordingly, when a position shift as shown in FIG. 17 occurs at the time of slide opening, the position abnormality determination may be performed only when an overload is detected in a range of D11-P1 or more as shown in FIG. It should be noted that P1 can be set in a range where the position of the sunroof 2 does not leak with respect to the roof 1 even if a positional deviation occurs. That is, P1 is set within a range in which a part of the fully closed section at the recognition position on the ECU side at least overlaps (overlaps) the fully closed section at the mechanical position even if a positional deviation occurs. On the contrary, on the tilt-up side, when a position shift as shown in FIG. 19 occurs, the position abnormality determination may be performed only when an overload is detected in a range smaller than D1 + P2 as shown in FIG. In S331, P2 is set to a value in a range in which the fully closed sections overlap at least even if the positional deviation accumulates with time as in P1.
[0049]
Next, the case where the tilt up operation is performed in S325 will be described. As in S326, it is first determined whether or not the operation has been stopped due to overload detection in S330. If it is not overload detection, the process is terminated. If overload is detected, the process proceeds to S331, and the position information is D1 + P2 or less. If the position information is equal to or less than D1 + P2, it is determined that the position is abnormal, the position information is cleared in S328 to S329, the position determination process end flag is cleared, and this process ends.
[0050]
On the other hand, if the position information is larger than D1 + P2 in S331, the process proceeds to S332, and it is determined whether the on (pressed) state of the operation switch 23 from the start of the up operation is continued. If the on-state by the operation switch 23 is not continued, this process is terminated. If the on-state of the operation switch 23 is continued, the process proceeds to S333, and whether or not T4 time has elapsed since the overload was detected. to decide. If T4 has not elapsed, the process returns to S332 and waits until T4 time elapses. When T4 elapses, the position information is deleted in S334, the position determination process end flag is cleared in S335, and the position information clear operation process is performed. In step S334, the position information is cleared. In step S335, the position determination process end flag is cleared, and the process proceeds to the position information clear operation process. That is, when an overload is detected in the tilt-up operation, the relationship between the control device 10 and the roof position is narrow even if the slide is opened, and even if it is fully closed by the slide-close, In the case where a positional deviation that causes closing and closing occurs, that is, the fully closed recognition position stored in the memory of the control device 10 is in the middle of the tilt-up of the sunroof 2 (see FIG. 21). Since it is outside the range in which the position abnormality determination (S330 to S331) can be performed, there is a possibility that there is no means for deleting the position information. Therefore, in order to solve this problem, it is necessary to delete the position information by intentional operation of the operator. FIG. From the position indicated by the black star, it is determined whether or not the operation switch 23 is continuously turned on in S332 to S333 (whether it is operated intentionally by the driver). The T4 time may be set to a sufficiently long time so that it can be understood as a driver's intentional operation. In addition, as shown in FIG. Open direction In the case where the position shift occurs, if the position is indicated by the black star in FIG. 17, it is possible to move to the position information clear operation process by performing the same process in the flow from S307 shown in FIG.
[0051]
Next, the reverse operation process will be described with reference to FIG. The reverse operation process is performed when overload detection is performed in the normal position process shown in FIG. 10 and the current operation state of the sunroof 2 is in the close operation or the tilt up operation. First, the motor 4 is immediately stopped because an overload is detected in S401. In S402, the overload detection flag is cleared, and the process proceeds to S403. In S403, it is determined whether the operation state before the motor stop is tilt-down operation or slide close. If the slide is closed, an output for driving the motor 4 in the open direction is output, and the motor reverse operation is performed in S404.
[0052]
In S405, it is determined whether or not there is an input edge of the sensor signal. If there is an input of the sensor edge, the sunroof 2 is in a movable state, so the lock determination flag is cleared in S406. In S407 and S408, as in S207 and S208, the rotation direction of the motor 4 is determined and position information is updated, and the motor rotation speed is obtained based on the time between edges. In S409, it is determined whether or not T4 time has elapsed since detection of overload. If T4 time has elapsed, in S410, it is determined whether or not the operation switch 23 has been turned on since the slide close operation is started. to decide. If it continues, the motor 4 is stopped in S411, and the position information is cleared and the position determination process end flag is set in the same manner as in the case where overload is detected in the middle of tilting up in S334 to S335 shown in FIG. Clear and move to the position information clear operation process. In this case, in the slide close operation, when an overload is detected, the relationship between the control device 10 and the roof position causes an overload before it is fully closed, and cannot be fully closed in order to detect overload every time. There is a possibility that such a positional deviation has occurred and there is no means for erasing the positional information.
[0053]
In the state where the position shift as shown in FIG. 22 occurs, if the slide is closed in the closing direction from the position indicated by the black star in FIG. 22, the control device 10 performs the slide section 2 of the mechanism (the reference value of the pinching determination is X2). The recognition (recognition position of the ECU) is the slide section 1 (reference value X1). Since the size of the reference value for the pinching determination is X2> X1, there is a possibility that the reference value X1 will be exceeded and the image may be reversed even though no foreign object is pinched.
[0054]
Therefore, in order to solve this problem, it is necessary to delete the position information by an intentional operation by the operator. In S409 and S410, it is determined whether the operation switch 23 is intentionally turned on and the on-state is continued. Deciding. If T4 time has not passed in S409, it progresses to S412 and it is judged whether the rotational speed fall exceeded the reference value. If the rotation speed drop exceeds the reference value, it is determined that overload is detected, so the motor is stopped in S413, and it is determined in S414 whether the position information is D11-P1 or more. This process is the same as S327 to S329 for determining whether to delete the position information. If it is not necessary to delete the position information in S414, the motor 4 is stopped in S417.
[0055]
If overload is not detected in S412, the process proceeds to S415, and it is determined whether or not the roof position has reached the fully open stop position D11. If it has reached D11, the roof position is the fully open stop position, so the process proceeds to S417. On the other hand, if the fully open stop position D11 has not been reached, it is determined in S416 whether or not the reverse operation amount is P3 or more. This P3 is set to a value that is the number of edges of the sensor signal from the pulse generator corresponding to the reverse movement amount of the sunroof 2 of about 200 mm. Therefore, when P3 or more, the process proceeds to S417 and the motor is stopped. S418 to S420 are counted if there is a time sensor edge until the motor completely stops, and in S421 to S422, the same determination as in S409 to S410 is performed. The difference is whether the process proceeds to the position information clear operation process during the reversing operation (S409 to S410) or whether the process proceeds to the position information clear operation process after the reversing operation ends (S421 to S422).
[0056]
Next, the case where a sensor edge is not input in S405 will be described. In step S423, it is determined whether the time T2 has elapsed. If not, the process returns to step S405. If it has elapsed, it is determined that the motor is locked, and the motor is stopped in step S424. In S425, it is determined whether or not the overload detection of the operation before detecting the overload, that is, before starting the reverse operation, is a lock determination. If it is a lock determination, as in S229 to S231, it is determined that the sensor has failed, the sensor failure flag is set in S429, and the processing of steps S328 and S329 for clearing the position information at the time of the slide open shown in FIG. Move. In S328 and S329, the position information is deleted, the position determination process end flag is cleared, and the process ends.
[0057]
If the lock determination is cleared in S425, the process proceeds to S426 to determine whether the position information is abnormal as in S414. If the position information is not abnormal, in S427 to S428, it is determined whether or not to proceed to the position information clear operation process as in S409 to S410.
[0058]
Next, the case where the operation before stopping in S403 is a down operation will be described with reference to FIG. In S430, the motor 4 is output in the closing direction (up operation), and the reverse operation is performed. In S431, it is determined whether or not there is a sensor edge. In S432 to S436, it is determined whether or not the rotation direction and edge count are updated, the rotation speed is calculated, whether overload is detected, and the roof position information has reached the stop position (S406 to S406). Same as S409, S412, and S415). Thereafter, in S436, it is determined whether or not the roof position has reached the tilt full up stop position D1, and if D1 has not been reached, the process returns to S431. If D1 has been reached, the process proceeds to S437, and the motor is stopped in S437. While the motor 4 is rotating due to the inertial force, the sensor edge is counted for the T1 time until the motor is completely stopped in S440 to S442.
[0059]
On the other hand, if it is determined in S435 that overload has been detected, the motor 4 is stopped in S438, and it is determined in S439 whether or not the position information is abnormal by comparison with D0 + P2. P2 is set in a range in which the fully closed section that is the recognition position of the control device 10 overlaps the fully closed section of the mechanical position so that the sunroof 2 does not leak even if a positional shift occurs.
[0060]
Next, when there is no sensor edge in S431, it is determined whether or not T2 time has elapsed in S443. If not, the process returns to S431, and if it has elapsed, the motor is determined to be locked and the motor is stopped in S444. In S445, it is determined whether or not the overload detection of the operation before detecting the overload, that is, before starting the reverse operation, is a lock determination. If it is a lock determination, it is determined that the sensor has failed as in S229 to S231, and a sensor failure flag is set in S447. On the other hand, if the lock determination is not made in S445, the process proceeds to S446, where the position information is compared with D1 + P2, and it is determined whether the position information is abnormal as in S439. If it is determined that there is an abnormality in S446, the process proceeds to S328, the position information is deleted in S328 to S329, the position determination process end flag is cleared, and the process ends.
[0061]
Next, the position information clear operation process will be described with reference to FIG. In S501, the motor 4 is output in the closing direction. In S502, it is determined whether or not there is an edge input of the sensor signal. If there is an edge input, in S503 to S506, the motor rotation direction is determined from the pulse output state shown in FIG. It is calculated, and it is determined whether or not the rotation speed reduction exceeds the reference value, and it is determined whether or not the operation switch 23 is turned off. In the course of this process, if the rotation speed drop exceeds the reference value in S505, the process proceeds to S508, where it is determined that an overload has occurred, and after setting the overload detection stop flag, the process proceeds to S507. . If the operation switch 23 is OFF in S506, the process proceeds to S507, and after the motor 4 is stopped, the process proceeds to S510 after waiting for the time T1 that the motor is completely stopped in S509. In S510, it is determined whether or not the motor stop in S507 was an overload detection. If the overload is not detected, the process is terminated as it is, and therefore the process proceeds to the position determination process in the control from S101.
[0062]
If the overload detection stop flag is set in S510, the current position information is set to D0 = 0 in S511, and the position determination process end flag is set in S512. In this case, unlike the processes after S212 and S206, the operation of tilting down to D1 is not performed after D0 is set.
[0063]
This is a process necessary to solve the following problem. If the position information clear process is performed when the sensor is in a failure state and no sensor signal is input, since there is no sensor signal input, a lock determination is made after the elapse of T1, and D0 is set again. At this time, if there is a control after S212 and S206 to return to D1, there is no sensor signal input before the operation to D1, so a lock determination is made after T1 elapses. During this time, the roof returns to the position where the position information clearing process starts, so that the position of the roof cannot be operated to the close side. However, only when an overload is detected in the position information clear process, if the process is completed without the control to return to D1, the position information clear process is performed again, so that it is possible to operate gradually in the closing direction. If there is no sensor edge in S502, it is determined whether or not T2 time has elapsed in S513. If not, the process returns to S502. If T2 time has elapsed, the process proceeds to S514, the motor is stopped, and the position information is D0 in S515. In step S516, the position determination process end flag is set, and the process ends.
[0064]
Next, the sensor failure operation process will be described with reference to FIG.
[0065]
In S601, it is determined whether or not there is a request for activation in the closing direction. The activation request is a request to activate the sunroof 2 by operating the operation switch 23 by the operator. Therefore, if there is an activation request, the motor is output in the closing direction in S604, and if there is no activation request, it is determined in S602 whether there is an activation request for operation in the open direction. If there is no activation request, the process proceeds to S605, and if there is an activation request, the motor 4 is output so as to drive the sunroof 2 in the open direction in S603. In the present embodiment, processing in which position information is not fixed (other than normal processing) is not operated when the vehicle ignition key (IG switch) is off, and sensor failure is also recognized by the IG switch. It clears every time it turns off.
[0066]
In S605, IG switch Is off, the motor 4 is stopped at S610, and the sensor failure flag is cleared at S611. If the IG switch is on, it is determined in S606 whether or not the motor 4 is stopped. If the motor 4 is stopped, the process returns to S601. On the other hand, if the motor is operating, it is determined in S607 whether the operation switch 23 is off (not operated), and if it is off, the motor is stopped in S609. However, if the operation switch 23 is ON, it is determined whether or not T2 time has elapsed in S608, and if T2 time has not elapsed, the process returns to S605. If the time T2 elapses, the motor 4 is stopped in S609.
[0067]
The time T2 is the same as the time when the motor lock is determined, and the operation at the time of the sensor failure is always in a state where it can be operated only for the same time as the motor lock determination unless other stop conditions are satisfied.
[0068]
According to the above description, when the position information is not fixed, the roof operating range can be determined and the position information can be determined by operating the operation switch 23 to the mechanical lock position on the tilt side. The load on the mechanism can be reduced by returning the roof to the end point (D1) of the operating range.
[0069]
Also, if there is a misalignment between the roof position and the position stored in the control device 10 for some reason, overload is detected on either the slide open side or the tilt up side, and it is within the range where it can be determined that the position is abnormal. Can be determined to be a position error, and even if it is out of the range where it can be determined to be a position error, switch If 23 is held for a certain T4 time, the position information can be erased.
[0070]
Furthermore, even if the sunroof 2 is erroneously reversed every time as a result of the position shift, the position information can be erased if the operation switch 23 is intentionally held for a certain period of time. In this case, the position can be erased by the same operation even if the load is not temporarily shifted, for example, when sand or the like is caught in a drive mechanism for driving the sunroof 2 or when it is temporarily overloaded. Since the reference value becomes high (X6), the sunroof 2 can be closed completely, and if the position is determined again, the sunroof 2 can be stopped at the fully closed position.
[0071]
Furthermore, even if the sensor signal is not input due to the failure of the pulse generation unit, it can be determined that the sensor has failed, so that the subsequent operation can be recognized as abnormal.
[0072]
【effect】
According to the present invention, the control means compares the value of the counting means with the position stored by the storage means, and if the value of the counting means detects an overload in the end area of the movable range, the control means Since the position shift may occur, the value of the counting means is not adopted for position control, and the value of the counting means is set to a clear state. The position of the opening / closing body is prevented from being misaligned by reliably determining the position of the opening / closing body by the counting means when the reference position is reached. At this time, a position detection switch for specifying the position is not necessary.
[0073]
In this case, the opening / closing body is a sunroof of the vehicle, and the control means has a pinching detection function and stores a reference value proportional to the pinching load for each predetermined region within the movable range. Is weighted, it is possible to weight the pinching load in an area where the position is not fixed, and this weighting can prevent erroneous pinching.
[0074]
Further, if the end region is set with reference to the region where the sunroof is in the closed position in the vehicle, more reliable position detection can be performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration when an opening / closing body control device according to an embodiment of the present invention is applied to a sunroof control device for a vehicle.
FIG. 2 is an explanatory diagram showing a setting example of a sunroof control position and pinching control;
FIGS. 3A and 3B are perspective views of the sunroof, in which FIG. 3A shows a state in which the sunroof is chilled up, and FIG. 3B shows a state in which the sunroof is stopped at the fully open position.
4 is a timing chart for explaining the relationship between the closing direction and the opening direction of two pulse signals output from the Hall element shown in FIG. 1; FIG.
FIG. 5 is an explanatory diagram showing the relationship between the roof position of the sunroof and the pinching reference value (pinching load) in the sunroof state.
6 is a flowchart showing a routine in a pinching process of the control device shown in FIG. 1;
FIG. 7 is a flowchart of the position determination process shown in FIG.
FIG. 8 is a flowchart following A shown in FIG.
FIG. 9 is a flowchart following B shown in FIG.
FIG. 10 is a flowchart of normal position processing shown in FIG. 6;
FIG. 11 is a flowchart following C shown in FIG.
12 is a flowchart of the reversing operation process shown in FIG.
FIG. 13 is a flowchart following F shown in FIG. 12;
FIG. 14 is a flowchart following D shown in FIG.
15 is a flowchart of the position information clear operation process shown in FIG. 6. FIG.
16 is a flowchart of a sensor failure operation process shown in FIG. 6. FIG.
FIG. 17 is an explanatory diagram showing a positional deviation state in the open direction of the sunroof position.
FIG. 18 is an explanatory diagram showing an abnormality determination region when an overload is detected in the open direction.
FIG. 19 is an explanatory diagram showing a positional deviation state in the closing direction of the sunroof position.
FIG. 20 is an explanatory diagram showing an abnormality determination region when an overload is detected in the closing direction.
FIG. 21 is an explanatory diagram showing a range that can be detected by abnormality determination when an overload is detected in the closing direction.
FIG. 22 is an explanatory diagram showing a range that can be detected by abnormality determination when an overload is detected in the closing direction.
[Explanation of symbols]
1 roof
1a opening
2 Sunroof (opening / closing body)
4 Motor
10 Control device (control means)
11, 12 Hall IC (position detection means)
13 Memory (memory means)
30 CPU (position detection means)
32 Position counter (counting means)
AM vehicle

Claims (2)

A sunroof as an opening / closing body that opens and closes an opening of a vehicle, a motor that drives the sunroof , a rotation detection unit that detects rotation of the motor, and a movement direction and position of the sunroof are detected by signals from the rotation detection unit In an opening / closing body control device comprising position detecting means for detecting overload from a motor rotation state, and control means for stopping driving of the motor when the overload is detected,
The control means includes storage means for storing a movable range of movement of the sunroof and counting means for counting the position of the sunroof based on an output from a rotation detection means. The value of the counting means and the storage means are stored. When the overload is detected in the end region of the movable range, the value of the counting means is cleared, and when the clearing state is reached, the sunroof is compared. Is forced to the reference position, and after reaching the reference position, the position of the sunroof is specified by the counting means,
The control means has a pinching detection function, stores a reference value proportional to the pinching load for each predetermined region in the movable range, and weights the reference value when the clear state is achieved. Opening / closing body control device. The opening / closing body control device according to claim 2, wherein the end region is set with reference to a region where the sunroof is in a closed position in a vehicle .

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