JP4781129B2 - Electric motor control device - Google Patents

Description

  The present invention relates to an electric motor control device that controls an electric motor for driving an opening / closing body of a vehicle, for example.

  For example, an automobile is provided with an opening / closing body such as a door window, a sunroof, and a sliding door, an electric motor for driving the opening / closing body, and an electric motor control device for controlling the electric motor. Among the motor control devices, those that control the window opening / closing motor are called power window devices (or window opening / closing control devices). In general, a power window device opens and closes a window by moving a motor, which is an electric motor, forward or backward by operating a switch to raise and lower a window glass of a door.

  FIG. 1 is a block diagram showing an electrical configuration of the power window device. 1 is an operation switch for opening and closing the window, 2 is a motor drive circuit for driving the motor 3, 4 is a rotary encoder that outputs a pulse synchronized with the rotation of the motor 3, and 5 is a pulse output from the rotary encoder 4. 6 is a memory composed of a ROM, a RAM, etc., and 8 is a control unit composed of a CPU and a memory for controlling the opening / closing operation of the window.

  When the operation switch 1 is operated, a window opening / closing command is given to the control unit 8, and the motor 3 is rotated forward or backward by the motor drive circuit 2. By the rotation of the motor 3, the window opening / closing mechanism interlocked with the motor 3 is operated to open / close the window. The pulse detection circuit 5 detects a pulse output from the rotary encoder 4, and the control unit 8 calculates the opening / closing amount of the window and the rotation speed of the motor based on the detection result, and the motor 3 via the motor drive circuit 2. Control the rotation.

  FIG. 2 is a schematic configuration diagram illustrating an example of the operation switch 1. The operation switch 1 includes an operation knob 11 that can rotate in the ab direction around the axis Q, a rod 12 that is provided integrally with the operation knob 11, and a known slide switch 13. Reference numeral 14 denotes an actuator of the slide switch 13, and 20 denotes a cover of a switch unit in which the operation switch 1 is incorporated. The lower end of the rod 12 is engaged with the actuator 14 of the slide switch 13, and when the operation knob 11 rotates in the ab direction, the actuator 14 moves in the cd direction via the rod 12, and slides according to the moving position. A contact (not shown) of the switch 13 is switched.

  The operation knob 11 can be switched to each position of auto close AC, manual close MC, neutral N, manual open MO, and auto open AO. FIG. 2 shows a state in which the operation knob 11 is in the neutral N position. When the operation knob 11 is rotated by a certain amount in the direction a from this position to the manual closing MC position, a manual closing operation for closing the window is performed manually, and the operation knob 11 is further rotated in the direction a from this position. When the auto-close AC position is set, the auto-close operation is performed to close the window by the auto-operation. Further, when the operation knob 11 is rotated by a certain amount in the b direction from the neutral N position to the manual opening MO position, a manual opening operation is performed in which the window is opened manually, and the operation knob is further moved in the b direction from this position. When 11 is rotated to the auto-open AO position, an auto-open operation is performed in which the window is opened by auto operation. The operation knob 11 is provided with a spring (not shown), and when the hand is released from the rotated operation knob 11, the operation knob 11 returns to the neutral N position by the force of the spring.

  In the case of manual operation, the operation of closing or opening the window is performed only while the operation knob 11 is held by hand in the position of manual closing MC or manual opening MO, and the knob is neutral by releasing the hand from the operation knob 11. When returning to the N position, the window closing or opening operation stops. On the other hand, in the case of the automatic operation, once the operation knob 11 is rotated to the position of the auto-close AC or auto-open AO, after that, the hand is released from the operation knob 11 and the knob returns to the neutral N position. The window closing operation or opening operation is continuously performed.

  FIG. 3 is a view showing an example of a window opening / closing mechanism provided in each window of the vehicle. Reference numeral 100 denotes an automobile window, 101 denotes a window glass for opening and closing the window 100, and 102 denotes an X arm type window opening and 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. The 1st arm 104 and the 2nd arm 105 are connected via the axis | shaft in each intermediate part. 3 is the motor described above, and 4 is the rotary encoder described above. The rotary encoder 4 is connected to the rotating shaft of the motor 3 and outputs a number of pulses proportional to the amount of rotation of the motor 3. The rotational speed of the motor 3 can be detected by counting the pulses output from the rotary encoder 4 within a predetermined time. Further, the amount of rotation of the motor 3 (the amount of movement of the window glass 101) can be calculated from the output of the rotary encoder 4.

  Reference numeral 109 denotes a pinion that is rotationally driven by the motor 3, 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 3 can rotate in the 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. .

  In the power window device as described above, when the operation knob 11 is at the automatic closing AC position in FIG. 2 and the automatic closing operation is performed, or when the manual closing operation is performed at the manual closing MC position, the object It has a function to detect pinching. That is, as shown in FIG. 4, when the object Z is sandwiched in the gap between the window glass 101 while the window 100 is closed, this is detected and the closing operation of the window 100 is stopped or switched to the opening operation. It is supposed to be. In particular, since the window 100 automatically closes during the automatic closing operation, it is necessary to prevent the human body from being harmed by prohibiting the closing operation when a hand or neck is accidentally pinched. A pinch detection function is provided. In detecting pinching, for example, the control unit 8 reads the rotational speed of the motor 3 that is the output of the pulse detection circuit 5 as needed, compares the current rotational speed with the previous rotational speed, and based on the comparison result. The presence or absence of rotation abnormality of the motor 3 is determined, and the presence or absence of pinching is determined from the determination result. Specifically, when the object Z is caught in the window 100, an abnormality occurs in which the load of the motor 3 increases suddenly and the rotational speed decreases, so that the amount of change in the rotational speed increases, and this amount of change is predetermined. When the threshold value is exceeded, it is determined that the object Z is sandwiched. The predetermined threshold value is stored in the memory 6 in advance. In addition, it has been conventionally performed to change the predetermined threshold according to a change in the rotation speed of the motor 3, the position of the window glass 101, or the like so as not to erroneously determine the presence or absence of pinching (for example, the following) Patent Documents 1 to 3).

JP 2005-120635 A JP-A-11-324481 JP 2003-3744 A

  FIG. 19 is a diagram illustrating an example of a change state of the rotation speed of the motor 3 during the closing operation of the window 100 and the amount of change thereof. The vertical axis indicates the motor rotation speed, that is, the frequency of pulses output from the rotary encoder 4 of FIG. The horizontal axis indicates the amount of movement of the window glass 101, that is, the timing of the edge of the output pulse from the rotary encoder 4. F indicated by a filled circle is the raw rotational speed of the motor 3. ΔF1 indicated by a filled square is a change amount of the rotation speed f (hereinafter referred to as “a one-time change amount”). ΔF2 indicated by a filled triangle is a change amount of the change amount ΔF1 of the rotational speed f (hereinafter referred to as “amount of change twice”). In this example, the one-time change amount ΔF1 is calculated by subtracting the current rotational speed f from the past rotational speed f detected four times before the present. The twice-change amount ΔF2 is calculated by subtracting the past once-change amount ΔF1 calculated two times before from the current once-change amount ΔF1. By calculating in this way, any amount of change ΔF1, ΔF2 increases (moves toward the “−” side) during acceleration of the rotational speed f, and any amount of change ΔF1, ΔF2 during deceleration of the rotational speed f. Also decreases (moves to the “+” side). S indicated by a bold line is a threshold value for detecting the presence or absence of abnormal rotation of the motor 3 due to the object Z being caught in the window 100. X indicated by a one-dot chain line is a threshold for detecting that the amount of change ΔF1 once tends to increase to some extent. Y indicated by a two-dot chain line is a threshold value for detecting that the twice-change amount ΔF2 tends to increase to some extent. The threshold values S, X, and Y are set in advance and stored in a predetermined area of the memory 6.

  When the vehicle travels on a rough road or the door is strongly closed during the closing operation of the window 100 and an impact is generated and input as a disturbance, as shown in the center of FIG. 3 is weakly accelerated (increased), then decelerated (decreased), and fluctuated like a wave. Along with this, the first variation ΔF1 and the second variation ΔF2 weakly increased to the “−” side, then decreased to the “+” side, increased again to the “−” side, and seemed to wave. Fluctuates. At this time, the one-time change amount ΔF1 swings to the “+” side and reaches the threshold value S, and the rotation of the motor 3 due to the object Z being caught in the window 100 does not actually occur. It may be erroneously detected that an abnormality has occurred. Therefore, in order to prevent erroneous determination of abnormal rotation of the motor 3 due to the influence of disturbance, as shown on the right side of FIG. 19, at least one change amount ΔF1, ΔF2 reaches the threshold values X, Y and tends to increase to some extent. It is conceivable that the threshold value S is increased by a predetermined amount and changed so that it is difficult to reach the one-time variation ΔF1 when it is determined that a disturbance has been input. However, since the threshold values X and Y in FIG. 19 are set to values that are somewhat apart from “0”, the amount of change ΔF1 when the rotational speed f of the motor 3 shows a deceleration tendency after a weak acceleration tendency due to disturbance. , ΔF2 cannot be detected as a weak increasing tendency, and disturbance input cannot be detected. For this reason, the threshold value S is not changed, and erroneous determination of abnormal rotation of the motor 3 due to the influence of disturbance cannot be prevented. On the other hand, it is conceivable to set the threshold values X and Y closer to “0”. However, if this is done, the threshold values X and Y are reached immediately after the change amounts ΔF1 and ΔF2 move from “0” to “−” due to slight disturbance, and the threshold value S is changed. When the rotation speed f of the motor 3 decreases due to the pinching, the one-time variation ΔF1 hardly reaches the threshold value S, and it is difficult to detect the rotation abnormality of the motor 3 due to the pinching of the object Z into the window 100.

  Therefore, an object of the present invention is to provide an electric motor control device that can accurately detect an abnormal rotation of the electric motor even when disturbance is input.

  In order to solve the above-described problem, in the motor control device according to the first aspect of the present invention, detection means for detecting the rotation speed of the motor, first storage means for sequentially storing the rotation speed detected by the detection means, and detection means A first calculation unit that calculates a change amount of the rotation speed as a one-time change amount from the current rotation speed output from the past rotation speed stored in the first storage unit, and a first calculation unit; A second storage means for sequentially storing the calculated one-time change amount; a current one-time change amount calculated by the first calculation means; and a past one-time change amount stored in the second storage means; Second calculating means for calculating the amount of change in rotational speed as a change amount twice, changing means for changing a preset threshold value, comparing means for comparing the threshold value with the one-time change amount, Based on the comparison result of the comparison means, the presence or absence of abnormal rotation of the motor is determined. Determining means, and a control means for controlling the electric motor according to the determination result of the determining means, and when the change amount once shows an increasing tendency and the twice change amount shows a decreasing tendency, the changing means The threshold value is changed, and the comparison means compares the changed threshold value with the amount of change once.

  In this way, when a disturbance is input and the motor speed is weak and the motor is decelerated and then decelerated, the amount of change once and the amount of change twice show an increasing trend, but then decrease. While the amount of change once shows an increasing trend, the amount of change changes twice earlier. Therefore, it is possible to reliably detect the input of a disturbance at the time of conversion and change the threshold value in response to the disturbance. it can. For this reason, by comparing the changed threshold value with the amount of change once, the presence or absence of an abnormal rotation of the motor due to the influence of disturbance is not erroneously determined, and the abnormal rotation of the electric motor can be accurately detected. Further, when there is a rotation abnormality such as a decrease in the rotation speed of the motor in the absence of disturbance input, the one-time change amount and the two-time change amount show an increasing tendency, for example, indicating only a decreasing tendency. Therefore, it is possible to prevent the threshold value from being changed unnecessarily without erroneously detecting that a disturbance has been input. For this reason, by comparing the unchanged threshold value with the one-time change amount, it is not erroneously determined whether or not there is an abnormality in the rotation of the motor that is not affected by the disturbance, and the rotation abnormality in the motor can be accurately detected.

  In the motor control device according to the second aspect of the present invention, the detection means for detecting the rotation speed of the motor, the first storage means for sequentially storing the rotation speed detected by the detection means, and the current output from the detection means First calculation means for calculating a change amount of the rotation speed as a one-time change amount from the rotation speed of the first storage means and the past rotation speed stored in the first storage means, and one time calculated by the first calculation means. Rotational speed change based on second storage means for sequentially storing the change amount, the current one-time change amount calculated by the first calculation means, and the past one-time change amount stored in the second storage means A second calculation means for calculating the amount of change of the amount as a change amount twice, a change means for changing a preset threshold value, a comparison means for comparing the threshold value with the one-time change amount, and a comparison result of the comparison means Determination means for determining whether there is an abnormality in the rotation of the motor based on Control means for controlling the electric motor according to the determination result of the means, and the change means when the twice change amount shows a decreasing tendency and the once change amount shows a weaker tendency than the twice change amount, The threshold value is changed, and the comparison means compares the changed threshold value with the amount of change once.

  In this way, when a disturbance is input and the motor speed is weak and the motor is decelerated and then decelerated, the amount of change once and the amount of change twice show an increasing trend, but then decrease. Since the amount of change twice turns to a decreasing trend first, the amount of change once changes to a tendency to decrease weaker than the amount of change twice, so that the input of disturbance is reliably detected at the time of conversion to cope with the disturbance. The threshold can be changed. For this reason, by comparing the changed threshold value with the amount of change once, the presence or absence of an abnormal rotation of the motor due to the influence of disturbance is not erroneously determined, and the abnormal rotation of the electric motor can be accurately detected. In addition, when there is a rotation abnormality such as a decrease in the rotation speed of the motor in the absence of disturbance input, the amount of change once and twice shows a strong tendency to decrease at a stretch, so disturbance is input. It is possible to prevent the threshold from being changed unnecessarily. For this reason, by comparing the unchanged threshold value with the one-time change amount, it is not erroneously determined whether or not there is an abnormality in the rotation of the motor that is not affected by the disturbance, and the rotation abnormality in the motor can be accurately detected.

  Furthermore, in the electric motor control device according to the third aspect of the invention, a detection means for detecting the rotation speed of the electric motor, a first storage means for sequentially storing the rotation speed detected by the detection means, and a current output from the detection means First calculation means for calculating a change amount of the rotation speed as a one-time change amount from the rotation speed of the first storage means and the past rotation speed stored in the first storage means, and one time calculated by the first calculation means. Rotational speed change based on second storage means for sequentially storing the change amount, the current one-time change amount calculated by the first calculation means, and the past one-time change amount stored in the second storage means A second calculating means for calculating a change amount of the amount as a change amount twice, a third calculating means for calculating an integral value of the one-time change amount, a changing means for changing a preset threshold value; Comparing means for comparing the amount of change once, and based on the comparison result of the comparing means A determination unit configured to determine whether there is an abnormality in rotation of the electric motor; and a control unit configured to control the electric motor in accordance with a determination result of the determination unit, and is calculated by the first calculation unit in a predetermined section and stored in the second storage unit When the plurality of one-time change amounts indicate an increasing tendency and a decreasing tendency, the third calculating means calculates an integral value of the one-time change amount in the predetermined section, and the integrated value indicates an increasing tendency. When the twice change amount shows a decreasing tendency, the changing unit changes the threshold value, and the comparing unit compares the changed threshold value with the one-time change amount.

  In this way, when a disturbance is input and the motor speed is weak and the motor is decelerated and then decelerated, the amount of change once and the amount of change twice show an increasing trend, but then decrease. When the integrated value of the one-time change amount shows an increasing tendency while the one-time change amount shows an increasing tendency and a decreasing tendency in a predetermined section, that is, immediately after the one-time change amount in the predetermined section changes from an increasing tendency to a decreasing tendency. As a whole, when the trend is still increasing, the amount of change twice has already started to decrease. At this time, the input of the disturbance is reliably detected, and the threshold value is changed to correspond to the disturbance. be able to. For this reason, by comparing the changed threshold value with the amount of change once, the presence or absence of an abnormal rotation of the motor due to the influence of disturbance is not erroneously determined, and the abnormal rotation of the electric motor can be accurately detected. In addition, when there is a rotation abnormality such as a decrease in the rotation speed of the motor in the absence of disturbance input, the amount of change once and the amount of change twice do not show both an increasing tendency and a decreasing tendency. It is possible to prevent the threshold from being changed unnecessarily without erroneously detecting that a disturbance has been input. For this reason, by comparing the unchanged threshold value with the one-time change amount, it is not erroneously determined whether or not there is an abnormality in the rotation of the motor that is not affected by the disturbance, and the rotation abnormality in the motor can be accurately detected.

  According to the present invention, the input of disturbance is detected from the increasing / decreasing tendency of the one-time change amount and the two-time change amount of the rotation speed of the motor, and the threshold value is changed. The rotation abnormality of the electric motor can be accurately detected from the comparison result of the change amount.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, FIGS. 1 to 4 described in the background art section are cited as embodiments of the present invention. FIG. 1 is a block diagram showing an electrical configuration of a power window device according to an embodiment of the present invention. The power window device is an open / close control device that controls opening / closing of a vehicle window, and constitutes an embodiment of an electric motor control device according to the present invention. The motor 3 constitutes one embodiment of the electric motor in the present invention, and the control unit 8 constitutes one embodiment of the control means in the present invention. FIG. 2 is a schematic configuration diagram illustrating an example of the operation switch. FIG. 3 is a view showing an example of a window opening / closing mechanism provided in each window of the vehicle. FIG. 4 is a diagram showing a state in which an object is sandwiched in the window in FIG. Since each of these figures has already been described, redundant description is omitted here.

  FIG. 5 is a diagram showing a rotation abnormality detection block in the first embodiment of the present invention. This rotation abnormality detection block is provided in the control unit 8. Here, for convenience, the circuit is illustrated as a hardware circuit, but in reality, the function of each circuit is realized by software. Of course, the rotation abnormality detection block may be configured by a hardware circuit. The same applies to other embodiments described later.

  In FIG. 5, the rotation speed detector 81 detects the rotation speed of the motor 3 at a predetermined cycle by counting the number of pulses output from the pulse detection circuit 5 of FIG. 1. The rotation speed storage unit 82 sequentially stores the rotation speeds detected by the rotation speed detection unit 81. In other words, the rotation speed storage unit 82 sequentially stores a plurality of rotation speeds detected at a predetermined cycle. The one-time change amount calculation unit 83 sets the change amount of the rotation speed as a one-time change amount from the current rotation speed output from the rotation speed detection unit 81 and the past rotation speed stored in the rotation speed storage unit 82. calculate. The one-time change amount storage unit 84 sequentially stores the one-time change amounts calculated by the one-time change amount calculation unit 83. That is, the one-time change amount storage unit 84 sequentially stores a plurality of one-time change amounts calculated at a predetermined cycle. The two-time change amount calculation unit 85 calculates the rotation speed from the current one-time change amount output from the one-time change amount calculation unit 83 and the past one-time change amount stored in the one-time change amount storage unit 84. The amount of change is calculated as the amount of change twice. The threshold value changing unit 86 sets a predetermined threshold value that is set in advance and stored in a predetermined area of the memory 6 as a current one-time change amount output from the one-time change amount calculation unit 83 and a two-time change amount calculation unit 85. Is changed based on the current two-time change amount output from. The change amount / threshold value comparison unit 87 compares the one-time change amount output from the one-time change amount calculation unit 83 with the unchanged or changed threshold value output from the threshold value changing unit 86. The rotation abnormality determination unit 88 determines whether or not there is a rotation abnormality of the motor 3 that occurs when the object Z is sandwiched in the window 100 as shown in FIG. 4 based on the comparison result of the variation / threshold comparison unit 87. Then, a control signal corresponding to the determination result is output to the motor drive circuit 2 in FIG.

  The rotation speed detector 81 constitutes an embodiment of the detection means in the present invention. The rotational speed storage unit 82 constitutes an embodiment of the first storage means in the present invention. The one-time change amount calculation unit 83 constitutes an embodiment of the first calculation means in the present invention. The one-time change amount storage unit 84 constitutes an embodiment of the second storage means in the present invention. The twice change amount calculation unit 85 constitutes an embodiment of the second calculation means in the present invention. The threshold value changing unit 86 constitutes an embodiment of changing means in the present invention. The change amount / threshold value comparison unit 87 constitutes an embodiment of the comparison means in the present invention. The rotation abnormality determination unit 88 constitutes an embodiment of the determination means in the present invention.

  FIG. 6 is a flowchart showing the basic operation of the power window device. If the operation switch 1 of FIG. 2 is in the manual closing MC position in step S1, manual closing operation processing is performed (step S2). If the operation switch 1 is in the auto closing AC position in step S3, If the operation switch 1 is in the manual opening MO position in step S5, the manual opening operation is performed (step S6). In step S7, the operation switch 1 is operated. Is at the position of auto-open AO, an auto-open operation is performed (step S8). If the operation switch 1 is not in the auto-open AO position in step S7, the operation switch 1 is in the neutral N position and no processing is performed. Details of steps S2, S4, S6, and S8 will be described below in order.

  FIG. 7 is a flowchart showing a detailed procedure of the manual closing operation in step S2 of FIG. 6, step S58 of FIG. 9 described later, and step S65 of FIG. Each procedure is executed by the CPU constituting the control unit 8. The same applies to flowcharts described later. First, it is determined based on the output of the rotary encoder 4 whether the window 100 is completely closed by the manual closing operation (step S11). If the window 100 is completely closed (step S11: YES), the process is terminated. If the window 100 is not completely closed (step S11: NO), a normal rotation signal is output from the motor drive circuit 2 to cause the motor 3 to rotate forward. The window 100 is closed (step S12). Subsequently, it is determined whether or not the window 100 is completely closed (step S13). If the window 100 is completely closed (step S13: YES), the process is terminated. On the other hand, if the window 100 is not completely closed (step S13: NO), a rotation abnormality detection process for the motor 3 is performed (step S14). Details of this processing will be described later.

  As a result of the processing in step S14, if there is a rotation abnormality of the motor 3 (step S15: YES), it is determined that the object Z has been caught in the window 100 as shown in FIG. 4 (step S16). . Then, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3 and open the window 100 (step S17). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S18). If the window 100 is completely opened (step S18: YES), the process is terminated. If not completely opened (step S18: NO), the process proceeds to step S17. Return to continue the reverse rotation of the motor 3.

  On the other hand, if there is no abnormal rotation of the motor 3 as a result of the process in step S14 (step S15: NO), the object Z is not caught in the window 100, so the operation switch 1 is manually closed in step S19. It is determined whether or not the MC is located. If the operation switch 1 is at the position of the manual closing MC (step S19: YES), the process returns to step S12 to continue the forward rotation of the motor 3. On the other hand, if the operation switch 1 is not in the manual closing MC position (step S19: NO), it is determined whether or not it is in the automatic closing AC position (step S20). If the operation switch 1 is in the auto-closed AC position (step S20: YES), the process proceeds to an auto-close process described later (step S21). If it is not in the auto-closed AC position (step S20: NO), the manual opening MO It is determined whether or not it is in a position (step S22). If the operation switch 1 is in the manual opening MO position (step S22: YES), the process proceeds to the manual opening process described later (step S23). If the operating switch 1 is not in the manual opening MO position (step S22: NO), the automatic opening AO is performed. It is determined whether or not it is in the position (step S24). If the operation switch 1 is at the auto-open AO position (step S24: YES), the process proceeds to an auto-open process described later (step S25). If the operation switch 1 is not at the auto-open AO position (step S24: NO), Exit without doing anything.

  FIG. 8 is a flowchart showing a detailed procedure of the automatic closing operation in step S4 of FIG. 6, step S21 of FIG. 7, step S60 of FIG. 9 described later, and step S67 of FIG. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely closed by the automatic closing operation (step S31). If the window 100 is completely closed (step S31: YES), the process is terminated. If the window 100 is not completely closed (step S31: NO), a normal rotation signal is output to the motor drive circuit 2 to cause the motor 3 to perform normal rotation. The window 100 is closed (step S32). Subsequently, it is determined whether or not the window 100 is completely closed (step S33). If the window 100 is completely closed (step S33: YES), the process is terminated. On the other hand, if the window 100 is not completely closed (step S33: NO), a rotation abnormality detection process for the motor 3 is performed (step S34). Details of this processing will also be described later.

  As a result of the process in step S34, if there is a rotation abnormality of the motor 3 (step S35: YES), it is determined that the object Z has been caught in the window 100 (step S36). Then, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3 and open the window 100 (step S37). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S38). If the window 100 is completely opened (step S38: YES), the process is terminated. If not completely opened (step S38: NO), the process proceeds to step S37. Return to continue the reverse rotation of the motor 3.

  On the other hand, if no abnormal rotation of the motor 3 occurs as a result of the process of step S34 (step S35: NO), the object Z is not caught in the window 100, so that the operation switch 1 is manually opened in step S39. It is determined whether or not it is at the position of MO. If the operation switch 1 is in the manual opening MO position (step S39: YES), the process proceeds to the manual opening process described later (step S40). If the operating switch 1 is not in the manual opening MO position (step S39: NO), the automatic opening AO is performed. It is determined whether or not it is in a position (step S41). If the operation switch 1 is in the auto-open AO position (step S41: YES), the process proceeds to an auto-open process described later (step S42). If the operation switch 1 is not in the auto-open AO position (step S41: NO), Returning to step S32, the forward rotation of the motor 3 is continued.

  FIG. 9 is a flowchart showing a detailed procedure of the manual opening process in step S6 of FIG. 6, step S23 of FIG. 7, and step S40 of FIG. Although this figure is not a feature of the present invention, it will be described below. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely opened by the manual opening operation (step S51). If the window 100 is completely opened (step S51: YES), the process is terminated. If the window 100 is not completely opened (step S51: NO), a reverse signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 Is opened (step S52). Subsequently, it is determined whether or not the window 100 is completely opened (step S53). If the window 100 is completely opened (step S53: YES), the processing is terminated. If the window 100 is not completely opened (step S53: NO), the operation switch It is determined whether 1 is in the position of manual opening MO (step S54). If the operation switch 1 is in the manual opening MO position (step S54: YES), the process returns to step S52 to continue the reverse rotation of the motor 3, and if it is not in the manual opening MO position (step S54: NO), the automatic opening AO It is determined whether it is in the position (step S55). If the operation switch 1 is at the auto-open AO position (step S55: YES), the process proceeds to the auto-open process described later (step S56). If it is not at the auto-open AO position (step S55: NO), the manual close MC is It is determined whether or not it is in the position (step S57). If the operation switch 1 is in the manual closing MC position (step S57: YES), the process proceeds to the manual closing process described above (step S58). If it is not in the manual closing MC position (step S57: NO), the automatic closing AC is turned on. It is determined whether or not it is in the position (step S59). If the operation switch 1 is in the auto-close AC position (step S59: YES), the process proceeds to the above-described auto-close process (step S60). If the operation switch 1 is not in the auto-close AC position (step S59: NO), Exit without doing anything.

  FIG. 10 is a flowchart showing a detailed procedure of the automatic opening process in step S8 of FIG. 6, step S25 of FIG. 7, step S42 of FIG. 8, and step S56 of FIG. This figure is not a feature of the present invention, but will be described below. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely opened by the automatic opening operation (step S61). If the window 100 is completely opened (step S61: YES), the process is terminated. If the window 100 is not completely opened (step S61: NO), a reverse signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 Is opened (step S62). Subsequently, it is determined whether or not the window 100 is completely opened (step S63). If the window 100 is completely opened (step S63: YES), the process is terminated. If the window 100 is not completely opened (step S63: NO), the operation switch It is determined whether 1 is in the position of the manual closing MC (step S64). If the operation switch 1 is in the position of the manual closing MC (step S64: YES), the process proceeds to the above-described manual closing process (step S65), and if it is not in the position of the manual closing MC (step S64: NO), the automatic closing AC is set. It is determined whether or not it is in a position (step S66). If the operation switch 1 is in the auto-close AC position (step S66: YES), the process proceeds to the above-described auto-close process (step S67). If the operation switch 1 is not in the auto-close AC position (step S66: NO), Returning to step S62, the reverse rotation of the motor 3 is continued.

  FIGS. 11 and 12 are flowcharts showing the detailed procedure of the rotation abnormality detection processing of the motor 3 in step S14 of FIG. 7 and step S34 of FIG. 8 in the first embodiment. FIG. 12 is a flowchart subsequent to FIG. In FIG. 11, first, the current rotational speed f (0) of the motor 3 is acquired by the rotational speed detecting unit 81 of FIG. 5, and stored in the rotational speed storage unit 82 (step S71). Next, the past rotational speed f (x) detected a predetermined number of times before the current rotational speed f (0) is read from the rotational speed storage unit 82 (step S72). “X” is a past arbitrary timing (pulse edge). Next, the difference between the current rotation speed f (0) and the past rotation speed f (x) is calculated as a one-time change amount ΔF1 (0) by the one-time change amount calculation unit 83 (ΔF1 (0) = f (X) -f (0)) is stored in the one-time change amount storage unit 84 (step S73). Next, the past one-time change amount ΔF1 (y) calculated a predetermined number of times before the current one-time change amount ΔF1 (0) is read from the one-time change amount storage unit 84 (step S74). “Y” is an arbitrary timing (pulse edge) in the past. “Y” and “x” may be at the same timing, but preferably at different timings. Then, the difference between the current one-time change amount ΔF1 (0) and the past one-time change amount ΔF1 (y) is calculated as a two-time change amount ΔF2 (0) by the two-time change amount calculation unit 85 (ΔF2 (0)). = ΔF1 (0) −ΔF1 (y)) (step S75).

  FIG. 13 is a diagram illustrating a change state of the rotation speed, the one-time change amount, and the two-time change amount of the motor 3 during the closing operation of the window 100 in the first embodiment. The vertical axis indicates the motor rotation speed, that is, the frequency of pulses output from the rotary encoder 4 of FIG. The horizontal axis indicates the amount of movement of the window glass 101, that is, the timing of the edge of the pulse. F indicated by a filled circle is the raw rotational speed of the motor 3. ΔF1 indicated by a filled square is a one-time change amount (change amount of the rotation speed f). ΔF2 indicated by a filled triangle is a change amount twice (a change amount of the one-time change amount ΔF1). In this example, the one-time change amount ΔF1 is calculated by subtracting the current rotational speed f from the past rotational speed f detected four times before the present. The twice-change amount ΔF2 is calculated by subtracting the past once-change amount ΔF1 calculated two times before from the current once-change amount ΔF1. The reason why the change amounts ΔF1 and ΔF2 are calculated in this way is to make it easy to grasp the change state of the rotation speed f by using the same increase / decrease tendency of the change amounts ΔF1 and ΔF2 with respect to the rotation speed f. As a result, while the rotational speed f is constant, any of the variations ΔF1 and ΔF2 show “0”, and when the rotational speed f accelerates (rises), any of the variations ΔF1 and ΔF2 increase (“−”). When the rotational speed f is decelerated (decreased), both the change amounts ΔF1 and ΔF2 are decreased (moved to the “+” side). For this reason, the acceleration / deceleration tendency of the rotational speed f can be detected by detecting the increasing / decreasing tendency of the change amounts ΔF1, ΔF2.

  S indicated by a bold line is a threshold value for detecting the presence or absence of abnormal rotation of the motor 3 due to the object Z being caught in the window 100. A indicated by a two-dot chain line is a threshold value for detecting that the amount of change ΔF2 twice tends to decrease to some extent. Each threshold S, A is preset and stored in a predetermined area of the memory 6. In this example, the threshold value S is set to a value that is relatively far from “0” on the “+” side (for example, the initial value S (0) is 8 Hz). The threshold A is set to a relatively close value (2 Hz) on the “+” side from “0”. The increasing / decreasing tendency of the change amounts ΔF1 and ΔF2 is also detected based on whether the change amounts ΔF1 and ΔF2 are values on the “+” side or “−” side.

  FIG. 13 shows a state in which an impact is generated and input as a disturbance due to a vehicle traveling on a rough road or a door being strongly closed during the closing operation of the window 100. The same applies to FIGS. 15 and 18 described later. Since the above disturbance was input during the closing operation of the window 100, as shown in the center of FIG. 13, the rotational speed f of the motor 3 was weakly accelerated (increased), then decelerated (decreased), and seemed to wave. It has fluctuated. Along with this, the first variation ΔF1 and the second variation ΔF2 weakly increase from “0” to the “−” side, decrease to the “+” side, and increase to the “−” side again. It fluctuates like a wave.

  After the end of step S75 in FIG. 11, the current single change amount ΔF1 (0) tends to increase below “0” and the current double change amount ΔF2 (0) is the threshold value A in step S76 in FIG. As described above, it is determined whether or not there is a certain downward trend. As shown on the left side of the center of FIG. 13, when the rotational speed f of the motor 3 is constant, or when the rotational speed f of the motor 3 is weakly accelerated due to the influence of disturbance, the current one-time change amount ΔF1 (0 ) Is equal to or less than “0”, but the current double change amount ΔF2 (0) is less than the threshold A and does not show a certain decrease tendency (step S76 in FIG. 12: NO). In this case, the acceleration tendency of the rotation speed f of the motor 3 can be detected, but the deceleration tendency cannot be detected yet. Therefore, the input of disturbance cannot be detected yet, and the threshold value changing unit 86 does not change the threshold value S (the initial value S ( 0) is left (step S80).

  Next, the change / threshold comparison unit 87 compares the current single change ΔF1 (0) with the threshold S (0), and the single change ΔF1 (0) is equal to or greater than the threshold S (0). It is determined whether or not there is (step S81). Here, if the current single change ΔF1 (0) is equal to or greater than the threshold value S (0) (step S81: YES), the rotation abnormality determination unit 88 determines that the rotation abnormality of the motor 3 has occurred (step S81). S79). Then, the rotation abnormality detection process is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, since there has been a rotation abnormality of the motor 3 (step S15: YES or step S35: YES), it is determined that the object Z has been caught in the window 100 (step S16 or step S36). Then, the motor 3 is reversely rotated to open the window 100 (step S17 or step S37), and the subsequent processing is executed as described above.

  On the other hand, if the current one-time variation ΔF1 (0) is less than the threshold value S (0) in step S81 in FIG. 12 (step S81: NO), the rotation abnormality determination unit 88 determines whether the rotation abnormality of the motor 3 has occurred. It is determined that there is no occurrence (step S82). Then, the rotation abnormality detection process is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, since there was no rotation abnormality of the motor 3 (step S15: NO or step S35: NO), the object Z is not caught in the window 100, and the motor 3 continues normal rotation. Then, it is determined whether or not the operation switch 1 is in the manual closing MC position (step S19 or step S39), and the subsequent processing is executed as described above.

  Thereafter, as shown in the center of FIG. 13, when the rotational speed f of the motor 3 is weakly accelerated by the influence of disturbance and then decelerated, the current one-time change amount ΔF1 (0) is equal to or less than “0” as surrounded by a broken line. And the current two-time change amount ΔF2 (0) is equal to or greater than the threshold value A (step S76 in FIG. 12: YES). In this case, since the change from the acceleration tendency of the rotation speed f of the motor 3 to the deceleration tendency can be detected, the input of disturbance can be detected, and the threshold value changing unit 86 sets the threshold value S to the initial value S (0) so as to correspond to the disturbance. ) To a value S (m) increased by a predetermined amount (step S77). In FIG. 13, the threshold value S (m) after the change is increased by 6 Hz from the initial value S (0) to 14 Hz. As a result, a false detection margin (difference between the threshold value S and the one-time change amount ΔF1) for preventing erroneous detection of rotation abnormality of the motor 3 increases, and the one-time change amount ΔF1 hardly reaches the threshold value S.

  Next, the change / threshold comparison unit 87 compares the current one-time change amount ΔF1 (0) with the changed threshold value S (m), and the one-time change amount ΔF1 (0) becomes the threshold value S (m It is determined whether or not the above is true (step S78). Here, if the current one-time variation ΔF1 (0) is equal to or greater than the threshold value S (m) (step S78: YES), the rotation abnormality determination unit 88 determines that the rotation abnormality of the motor 3 has occurred (step). S79). Then, the rotation abnormality detection process is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, since there has been a rotation abnormality of the motor 3 (step S15: YES or step S35: YES), it is determined that the object Z has been caught in the window 100 (step S16 or step S36). Then, the motor 3 is reversely rotated to open the window 100 (step S17 or step S37), and the subsequent processing is executed as described above.

  On the other hand, if the current single change ΔF1 (0) is less than the threshold value S (m) in step S78 of FIG. 12 (step S78: NO), the rotation abnormality determination unit 88 determines whether the rotation abnormality of the motor 3 has occurred. It is determined that there is no occurrence (step S82). Then, the rotation abnormality detection process is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, since there was no rotation abnormality of the motor 3 (step S15: NO or step S35: NO), it is determined whether or not the operation switch 1 is in the manual closing MC position (step S19 or step S39). As described above, the subsequent processing is executed. After completion of the manual closing process of FIG. 7 or the automatic closing process of FIG. 8, the threshold value S is returned to the initial value S (0).

  According to the first embodiment described above, when a disturbance due to running on a rough road, strong closing of a door, or the like is input during the closing operation of the window 100, the rotational speed f of the motor 3 is weakly accelerated and then decelerated. The one-time variation ΔF1 and the two-time variation ΔF2 show an increasing tendency and then a decreasing tendency. At that time, since the twice-change amount ΔF2 first turns to a decreasing trend while the once-change amount ΔF1 shows an increasing tendency, the input of the disturbance is surely detected at the time of the change, and the motor is adapted to deal with the disturbance. The threshold value S for detecting the rotation abnormality 3 can be changed. For this reason, by comparing the changed threshold value S (m) with the one-time change amount ΔF1, it is not erroneously determined whether there is a rotation abnormality of the motor 3 due to the influence of disturbance, and the rotation abnormality of the motor 3 is accurately detected. It becomes possible. In addition, when there is a rotation abnormality in which the rotation speed of the motor 3 decreases due to the object Z being caught in the window 100 without any disturbance input, the one-time variation ΔF1 and the two-time variation ΔF2 tend to decrease. Thus, it is possible to prevent the threshold value S from being changed unnecessarily without erroneously detecting that a disturbance has been input. For this reason, by comparing the unchanged threshold value S (0) with the one-time change amount ΔF1, it is not erroneously determined whether there is a rotation abnormality of the motor 3 that is not affected by the disturbance, and the rotation abnormality of the motor 3 is accurately determined. Can be detected.

  FIG. 14 is a flowchart showing a detailed procedure of a part of the rotation abnormality detection process of the motor 3 in the second embodiment of the present invention. This flowchart is executed as a continuation of the flowchart of FIG. 11 described above, instead of the flowchart of FIG. 12 described above. Therefore, FIG. 11 is cited as the second embodiment. The flowcharts of FIGS. 7 and 8 are also cited as the second embodiment. Furthermore, since the rotation abnormality detection block of the second embodiment is the same as that of FIG. 5, FIG. 5 is also cited as the second embodiment. In FIG. 14, the same processes as those in FIG. 12 are denoted by the same reference numerals. In FIG. 11, steps S71 to S75 are executed as described above, and the current rotational speed f (0) of the motor 3, the current single change ΔF1 (0), and the current double change ΔF2 (0 ) Respectively.

  FIG. 15 is a diagram illustrating a change state of the rotation speed, the one-time change amount, and the two-time change amount of the motor 3 during the closing operation of the window 100 in the second embodiment. The display mode, detection / calculation method, and change state of the rotation speed f, the first change amount ΔF1, and the second change amount ΔF2 of the motor 3 are the same as those in FIG. The display form and set value of the threshold value S are the same as in FIG. C indicated by a two-dot chain line is a threshold value for detecting that the twice-change amount ΔF2 tends to decrease to some extent. B indicated by an alternate long and short dash line is a threshold value for detecting that the once-change amount ΔF1 tends to decrease more than the twice-change amount ΔF2. The threshold values B and C are set in advance and stored in a predetermined area of the memory 6. In this example, the threshold value B is set to a relatively close value (3 Hz) on the “+” side from “0”. Further, the threshold C is set to a value (5 Hz) that is smaller than the threshold S and larger than the threshold B on the “+” side from “0”.

  After the end of step S75 in FIG. 11, the current double change amount ΔF2 (0) tends to decrease to some extent at or above the threshold C in step S90 in FIG. 14, and the current single change amount ΔF1 (0) is the threshold value. It is determined whether it is less than B and tends to be weaker than the twice-change amount ΔF2 (0) (that is, is not tending to be stronger than the twice-change amount ΔF2 (0)). As shown on the left side of the center of FIG. 15, when the rotational speed f of the motor 3 is constant, or for a while after the rotational speed f of the motor 3 is weakly accelerated due to the influence of disturbance, the current change is once. Although the amount ΔF1 (0) is less than the threshold value B, the current twice-change amount ΔF2 (0) is less than the threshold value C and does not show a certain decrease tendency (NO in step S90 in FIG. 14). In this case, the acceleration tendency of the rotation speed f of the motor 3 can be detected, but the deceleration tendency cannot be detected yet. Therefore, the disturbance input cannot be detected yet, and the initial value S (0) is left unchanged without changing the threshold value S. (Step S80). Then, the current one-time change amount ΔF1 (0) is compared with the threshold value S (0) to determine whether or not the one-time change amount ΔF1 (0) is greater than or equal to the threshold value S (0) (step S81). ), The subsequent processing is executed as described above according to the determination result.

  Thereafter, as shown in the center of FIG. 15, when the rotational speed f of the motor 3 accelerates weakly due to the influence of the disturbance and then decelerates, the current double change ΔF2 (0) is greater than or equal to the threshold value C as surrounded by a broken line. It shows a certain downward trend, and the current one-time variation ΔF1 (0) is less than the threshold value B and is weaker than the two-time variation ΔF2 (0) (step S90 in FIG. 14: YES). In this case, since the change from the acceleration tendency of the rotation speed f of the motor 3 to the deceleration tendency can be detected, the input of the disturbance can be detected, and the threshold value S is increased by a predetermined amount from the initial value S (0) so as to correspond to the disturbance. The value S (m) is changed (step S77). In FIG. 15, similarly to FIG. 13, the changed threshold value S (m) is set to 14 Hz by increasing 6 Hz from the initial value S (0). Then, the current one-time change amount ΔF1 (0) is compared with the changed threshold value S (m) to determine whether or not the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (m). (Step S78), the subsequent processing is executed as described above according to the determination result.

  According to the second embodiment described above, when a disturbance is input during the closing operation of the window 100 and the rotational speed f of the motor 3 is weakly accelerated and then decelerated, the first variation ΔF1 and the second variation ΔF2 are performed. Shows an increasing trend, followed by a decreasing trend. At that time, since the twice-change amount ΔF2 first turns to a decreasing tendency, the once-change amount ΔF1 turns to a decreasing tendency weaker than the twice-change amount ΔF2, so that the disturbance input is reliably detected at the time of the conversion, The threshold value S can be changed to deal with disturbance. For this reason, by comparing the changed threshold value S (m) with the one-time change amount ΔF1, it is not erroneously determined whether there is a rotation abnormality of the motor 3 due to the influence of disturbance, and the rotation abnormality of the motor 3 is accurately detected. It becomes possible. In addition, when there is a rotation abnormality in which the rotation speed of the motor 3 decreases due to the object Z being caught in the window 100 without any disturbance input, the one-time variation ΔF1 and the two-time variation ΔF2 are strong at a stretch. Since it shows a decreasing tendency, it is possible to prevent the threshold value S from being changed unnecessarily without erroneously detecting that a disturbance has been input. For this reason, by comparing the unchanged threshold value S (0) with the one-time change amount ΔF1, it is not erroneously determined whether there is a rotation abnormality of the motor 3 that is not affected by the disturbance, and the rotation abnormality of the motor 3 is accurately determined. Can be detected.

  FIG. 16 is a diagram showing a rotation abnormality detection block in the third embodiment of the present invention. In the figure, the same or corresponding parts as in FIG. In FIG. 16, in addition to the configuration shown in FIG. 5, an integral value calculation unit 90 is provided. Further, a threshold value changing unit 91 is provided instead of the threshold value changing unit 86 shown in FIG. The integral value calculation unit 90 calculates an integral value of a plurality of single change amounts calculated by the single change amount calculation unit 83 and stored in the single change amount storage unit 84 in a predetermined section. The threshold value changing unit 91 sets a predetermined threshold value set in advance and stored in a predetermined area of the memory 6 from the integral value of the one-time change amount output from the integral value calculating unit 90 and the two-time change amount calculating unit 85. It changes based on the current amount of change twice. The integral value calculation unit 90 constitutes an embodiment of the third calculation means in the present invention. The threshold value changing unit 91 constitutes an embodiment of changing means in the present invention.

  FIG. 17 is a flowchart showing a detailed procedure of a part of the rotation abnormality detection process of the motor 3 in the third embodiment. This flowchart is executed as a continuation of the flowchart of FIG. 11 described above, instead of the flowchart of FIG. 12 described above. Therefore, FIG. 11 is cited as the third embodiment. The flowcharts of FIGS. 7 and 8 are also cited as the third embodiment. In FIG. 17, the same processes as those in FIG. In FIG. 11, steps S71 to S75 are executed as described above, and the current rotational speed f (0) of the motor 3, the current single change ΔF1 (0), and the current double change ΔF2 (0 ) Respectively.

  FIG. 18 is a diagram illustrating a change state of the rotation speed, the one-time change amount, and the two-time change amount during the closing operation of the window 100 according to the third embodiment. The display mode, detection / calculation method, and change state of the rotation speed f, the first change amount ΔF1, and the second change amount ΔF2 of the motor 3 are the same as those in FIG. The display forms and set values of the threshold values S and A are the same as those in FIG. D indicated by being filled in the center of FIG. 18 is an integral value of the one-time variation ΔF1 in a predetermined section.

  After the end of step S75 in FIG. 11, in step S91 in FIG. 17, the single change amount ΔF1 (0) to ΔF1 (z) in the continuous section from the present to the predetermined number of times is read from the single change amount storage unit 84. It is determined whether the one-time variation ΔF1 (0) to ΔF1 (z) has a value equal to or less than “0” and greater than “0”, and an increasing tendency and a decreasing tendency are present. The current single change amount ΔF1 (0) may be acquired from the single change amount calculation unit 83. “Z” is the timing (pulse edge) of an arbitrary past change ΔF1. In FIG. 18, whether or not there is an increasing tendency and a decreasing tendency in the one-time variation ΔF1 in three consecutive sections from the present to the previous two times has values of “0” or less and greater than “0”. Detected. As shown on the left side of the center of FIG. 18, when the rotational speed f of the motor 3 is constant, or when the rotational speed f of the motor 3 is weakly accelerated by the influence of disturbance, it is performed once from the present to a predetermined number of times before. The change amounts ΔF1 (0) to ΔF1 (z) are all “0” or less and show only an increasing tendency and no decreasing tendency (step S91 in FIG. 17: NO). In this case, the acceleration tendency of the rotation speed f of the motor 3 can be detected, but the deceleration tendency cannot be detected yet, so the input of disturbance cannot be detected yet, and the threshold value changing unit 91 does not change the threshold value S (the initial value S ( 0) is left (step S80). Then, the current one-time change amount ΔF1 (0) is compared with the threshold value S (0) to determine whether or not the one-time change amount ΔF1 (0) is greater than or equal to the threshold value S (0) (step S81). ), The subsequent processing is executed as described above according to the determination result.

  Thereafter, as shown in the center of FIG. 18, when the rotational speed f of the motor 3 is weakly accelerated due to the influence of the disturbance and then decelerates, the single change amount ΔF1 (0) from the present to the predetermined number of times as shown by the broken line. ~ ΔF1 (z) has a value less than “0” and a value greater than “0”, and there is an increasing tendency and a decreasing tendency (step S91 in FIG. 17: YES). When this occurs, the integral value calculation unit 90 calculates the integral value D of the single change ΔF1 (0) to ΔF1 (z) (step S92). In FIG. 18, each scale of the horizontal axis and the vertical axis is “1”, and the area of the portion shown by painting from the “0” side to the “−” side within the broken line is “−3.5”, and “+” Since the area of the portion shown by being filled in on the side is “+0.5”, these values are summed, and the integrated value D becomes “−3”.

  Next, in step S93 in FIG. 17, the integrated value D of the single variation ΔF1 (0) to ΔF1 (z) shows an increasing tendency when it is equal to or less than “0” (that is, the single variation ΔF1 (0) to ΔF1 ( z) indicates an increasing tendency as a whole), and it is determined whether or not the current double variation ΔF2 (0) is equal to or greater than the threshold A and indicates a certain decreasing tendency. In the broken line in FIG. 18, as described above, the integral value D becomes “−3”, shows an increasing tendency when it is “0” or less, and the current twice-change amount ΔF2 (0) is a certain level above the threshold A. It shows a decreasing tendency (step S93 in FIG. 17: YES). In this case, since the change from the acceleration tendency of the rotation speed f of the motor 3 to the deceleration tendency can be detected, the input of the disturbance can be detected, and the threshold value changing unit 91 sets the threshold value S to the initial value S (0) so as to correspond to the disturbance. ) To a value S (m) increased by a predetermined amount (step S77). In FIG. 18, similarly to FIG. 13, the changed threshold value S (m) is set to 14 Hz by increasing 6 Hz from the initial value S (0). Then, the current one-time change amount ΔF1 (0) is compared with the changed threshold value S (m) to determine whether or not the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (m). (Step S78), the subsequent processing is executed as described above according to the determination result. On the other hand, if the integral value D is larger than “0” in step S93 or the twice variation ΔF2 (0) is less than the threshold value A (step S93: NO), the threshold value S is not changed and the initial value is changed. S (0) is left as it is (step S80), and the subsequent processing is executed as described above.

  According to the third embodiment described above, when a disturbance is input during the closing operation of the window 100 and the motor 3 rotates at a low rotational speed f and then decelerates, the first variation ΔF1 and the second variation ΔF2 occur. Shows an increasing trend, followed by a decreasing trend. At this time, when the integrated value D of the single change amount ΔF1 shows an increasing tendency while the single change amount ΔF1 shows an increasing tendency and a decreasing tendency in the predetermined section, that is, the single change amount ΔF1 of the predetermined section tends to increase. Immediately after turning to a decreasing trend, when the overall change still shows an increasing trend, the twice-change amount ΔF2 has already started to decrease. The threshold value S can be changed to correspond. For this reason, by comparing the changed threshold value S (m) with the one-time change amount ΔF1, it is not erroneously determined whether there is a rotation abnormality of the motor 3 due to the influence of disturbance, and the rotation abnormality of the motor 3 is accurately detected. It becomes possible. In addition, when there is a rotation abnormality in which the rotation speed of the motor 3 decreases due to the object Z being caught in the window 100 without any disturbance input, the one-time variation ΔF1 and the two-time variation ΔF2 tend to increase. Therefore, it is possible to prevent the threshold value S from being changed unnecessarily without erroneously detecting that a disturbance has been input. For this reason, by comparing the unchanged threshold value S (0) with the one-time change amount ΔF1, it is not erroneously determined whether there is a rotation abnormality of the motor 3 that is not affected by the disturbance, and the rotation abnormality of the motor 3 is accurately determined. Can be detected.

  In the embodiment described above, the case where the present invention is applied to an apparatus for controlling opening / closing of a door window of a vehicle is taken as an example, but the present invention is not limited to this, the sun roof on the ceiling of the vehicle, the rear door of the vehicle, The present invention can be applied to a device that controls opening and closing of various opening and closing bodies such as building windows and building doors and doors.

It is the block diagram which showed the electric constitution of the power window apparatus which is embodiment of this invention. It is the schematic block diagram which showed an example of the operation switch. It is the figure which showed an example of the window opening / closing mechanism. It is the figure which showed the state by which the object was pinched | interposed into the window. It is the figure which showed the rotation abnormality detection block in 1st Embodiment of this invention. It is the flowchart which showed the basic operation | movement of the power window apparatus. It is the flowchart which showed the detailed procedure of the manual closing process. It is the flowchart which showed the detailed procedure of the automatic closing process. It is the flowchart which showed the detailed procedure of the manual opening process. It is the flowchart which showed the detailed procedure of the automatic opening process. It is the flowchart which showed the one part detailed procedure of the rotation abnormality detection process of the motor in 1st Embodiment of this invention. It is the flowchart which showed the one part detailed procedure of the rotation abnormality detection process of the motor in 1st Embodiment of this invention. It is the figure which showed the rotational state of the motor in 1st Embodiment of this invention, the change state of 1 time change amount, and 2 time change amount. It is the flowchart which showed a part of detailed procedure of the rotation abnormality detection process of the motor in 2nd Embodiment of this invention. It is the figure which showed the rotational state of the motor in 2nd Embodiment of this invention, the change amount of 1 time variation | change_quantity, and 2 time variation | change_quantity. It is the figure which showed the rotation abnormality detection block in 3rd Embodiment of this invention. It is the flowchart which showed a part of detailed procedure of the rotation abnormality detection process of the motor in 3rd Embodiment of this invention. It is the figure which showed the rotational state of the motor in 3rd Embodiment of this invention, the change state of 1 time change amount, and 2 time change amount. It is a figure for demonstrating the conventional problem.

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Motor 4 Rotary encoder 5 Pulse detection circuit 6 Memory 8 Control part 81 Rotational speed detection part 82 Rotational speed memory | storage part 83 1 time variation calculation part 84 1 time variation storage part 85 2 time variation calculation part 86 Threshold change part 87 Change amount / threshold comparison unit 88 Rotation abnormality determination unit 90 Integral value calculation unit 91 Threshold change unit f Motor rotation speed ΔF1 One-time change amount (change amount of motor rotation speed)
ΔF2 twice change amount (change amount of motor rotation speed change amount)
S threshold

Claims (3)

Detection means for detecting the rotational speed of the electric motor;
First storage means for sequentially storing rotational speeds detected by the detection means;
First calculation means for calculating a change amount of the rotation speed as a one-time change amount from a current rotation speed output from the detection means and a past rotation speed stored in the first storage means;
Second storage means for sequentially storing the amount of one-time change calculated by the first calculation means;
The change amount of the rotational speed change amount is calculated as the twice change amount from the current one change amount calculated by the first calculation means and the past one change amount stored in the second storage means. Second calculating means for
Changing means for changing a preset threshold value;
A comparison means for comparing the threshold value with the one-time change amount;
Determination means for determining presence or absence of rotation abnormality of the electric motor based on a comparison result of the comparison means;
Control means for controlling the electric motor according to the determination result of the determination means,
When the one-time change amount shows an increasing tendency and the two-time change amount shows a decreasing tendency, the changing means changes the threshold value, and the comparing means changes the threshold value after the change and the one-time change value. A motor control device characterized by comparing the quantity. Detection means for detecting the rotational speed of the electric motor;
First storage means for sequentially storing rotational speeds detected by the detection means;
First calculation means for calculating a change amount of the rotation speed as a one-time change amount from a current rotation speed output from the detection means and a past rotation speed stored in the first storage means;
Second storage means for sequentially storing the amount of one-time change calculated by the first calculation means;
The change amount of the rotational speed change amount is calculated as the twice change amount from the current one change amount calculated by the first calculation means and the past one change amount stored in the second storage means. Second calculating means for
Changing means for changing a preset threshold value;
A comparison means for comparing the threshold value with the one-time change amount;
Determination means for determining presence or absence of rotation abnormality of the electric motor based on a comparison result of the comparison means;
Control means for controlling the electric motor according to the determination result of the determination means,
When the two-time change amount shows a decreasing tendency and the one-time change amount shows a decreasing tendency weaker than the two-time change amount, the changing means changes the threshold value, and the comparing means after the change An electric motor control device characterized by comparing a threshold value of the first time and the amount of change once. Detection means for detecting the rotational speed of the electric motor;
First storage means for sequentially storing rotational speeds detected by the detection means;
First calculation means for calculating a change amount of the rotation speed as a one-time change amount from a current rotation speed output from the detection means and a past rotation speed stored in the first storage means;
Second storage means for sequentially storing the amount of one-time change calculated by the first calculation means;
The change amount of the rotational speed change amount is calculated as the twice change amount from the current one change amount calculated by the first calculation means and the past one change amount stored in the second storage means. Second calculating means for
Third calculating means for calculating an integral value of the one-time change amount;
Changing means for changing a preset threshold value;
A comparison means for comparing the threshold value with the one-time change amount;
Determination means for determining presence or absence of rotation abnormality of the electric motor based on a comparison result of the comparison means;
Control means for controlling the electric motor according to the determination result of the determination means,
When the plurality of one-time changes calculated by the first calculation means and stored in the second storage means in a predetermined section respectively show an increasing tendency and a decreasing tendency, the third calculating means When the integral value of the one-time change amount in the predetermined section is calculated, the integral value shows an increasing tendency, and the two-time change amount shows a decreasing tendency, the changing means changes the threshold value, The comparison means compares the changed threshold value with the one-time change amount.

Images