JP4789601B2 - 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 threshold value is stored in the memory 6 in advance.

  In addition to the above, for example, in the following Patent Document 1, in the process of closing the window, the threshold value is associated in advance with an optimum value in real time, that is, a predetermined motor rotation period in accordance with the momentary change of the operating state of the motor. The value is updated to a value, and the updated threshold value is compared with the motor rotation cycle change rate in real time to determine whether foreign matter is caught. For example, in Patent Document 2 below, the threshold value is corrected based on the fluctuation rate of the rotation speed of the motor and the detected or calculated window position, and the corrected threshold value is compared with the fluctuation rate to change When the rate increases above the threshold (especially in the direction of decreasing rotation speed), it is determined that there is pinching. Further, for example, in Patent Document 3 below, the estimated rotational speed of the DC motor is calculated based on the power supply voltage of the DC power supply, the actual rotational speed of the DC motor is detected based on the detected value of the rotational speed sensor, and the estimated rotational speed is calculated. The number is corrected based on the deviation between the actual rotation speed and the estimated rotation speed within a predetermined time, and when the deviation between the corrected estimated rotation speed and the actual rotation speed exceeds a threshold value, it is determined that the object is caught. ing.

JP-A-8-128259 JP-A-11-324481 JP 2002-250175 A

  In the power window device using the X-arm type window opening / closing mechanism 102 described above, the load applied to the motor 3 increases as the first arm 104 approaches the horizontal state by the lever principle, and the rotational speed of the motor 3 increases. Gradually decreases, and the load on the motor 3 decreases as the distance from the horizontal state increases, and the rotational speed of the motor 3 may gradually increase. In addition, the sliding resistance of the window glass 101 gradually increases due to the hardening of rubber materials installed on the window frame at low temperatures, the presence of dust, the wear of each part, etc., and the rotational speed of the motor 3 gradually decreases. There are things to do. Variations in the rotational speed of the motor due to structural factors, ambient environmental factors, and time-dependent factors as described above may also occur in power window devices using other types of window opening / closing mechanisms. As described above, when the rotational speed of the motor is gradually reduced, that is, when there is a constant deceleration tendency, the amount of change in the rotational speed is a value other than “0” and easily reaches a threshold value between “+” and “−”. Therefore, the false detection margin (difference between the threshold and the amount of change) for preventing erroneous detection of abnormal rotation of the motor due to pinching is reduced. When the rotational speed of the motor pulsates due to the influence of a disturbance such as an impact at the time of opening and closing the door, it is easy to erroneously detect that the motor rotation abnormality due to pinching has not actually occurred. In addition, when the rotational speed of the motor gradually increases, that is, has a constant acceleration tendency, the amount of change in the rotational speed is a value other than “0” and it is difficult to reach the threshold value between “+” and “−”. Value (a value on the opposite side of the threshold), the above-mentioned false detection margin becomes large, and it is difficult to detect not only motor rotation abnormality due to disturbance but also motor rotation abnormality due to actual pinching. Become.

  Therefore, an object of the present invention is to provide an electric motor control device that can accurately detect abnormal rotation of the electric motor even when the electric motor rotational speed tends to change (decelerate or accelerate).

An electric motor control device according to the present invention is an electric motor control device that controls an electric motor whose rotation speed tends to be constant, and detects a rotation speed of the electric motor, and a rotation speed detected by the detection means in order. A first amount of change is calculated as a one-time change amount from the first storage means to be stored, the current rotation speed output from the detection means, and the past rotation speed stored in the first storage means. 1 calculation means, second storage means for sequentially storing the one-time change amount calculated by the first calculation means, and the current one-time change amount and second storage calculated by the first calculation means. A second calculating means for calculating a change amount of the rotational speed change amount as a two-time change amount from a past one-time change amount stored in the means; and a two-time change amount calculated by the second calculation means. A third storage means for sequentially storing and a preset threshold value According to the determination result of the threshold value changing means, the comparing means for comparing the threshold value with the one-time change amount, the determining means for determining the presence or absence of rotation abnormality of the motor based on the comparison result of the comparing means, Control means for controlling the electric motor, and one time out of the one-time change amount and the two-time change amount calculated in a predetermined section before the predetermined number of times stored in the second storage means and the third storage means The amount of change has reached a preset first predetermined value (including the case where it exceeds the first predetermined value; the same applies hereinafter), and the amount of change twice has reached a preset second predetermined value. If not, the threshold value changing means changes the threshold value, and the comparing means compares the changed threshold value with the amount of change once.

How to change the threshold value by the threshold value changing means depends on the setting state of the first predetermined value and the second predetermined value, and the change tendency of the rotation speed of the motor determined from the one-time change amount and the two-time change amount. Change accordingly. Specifically, the first predetermined value and the second predetermined value have a tendency to decelerate the electric motor at a constant speed depending on whether the amount of change once and the amount of change twice does not reach the predetermined value. In the state where each value is set such that it can be determined whether or not, the threshold value changing means has the first change amount of the first change amount and the second change amount calculated in the predetermined section a predetermined number of times before the first change amount. rotational speed of the by equal to or greater than a predetermined value reaches the said first predetermined value, and if the two times amount of change has not reached to the second predetermined value by less than a second predetermined value, the electric motor , The threshold value is changed so that the amount of change once does not easily reach the threshold value. In this way, when the rotational speed of the electric motor is in a predetermined decelerating (gradually lowered) trend, once the change amount is changed threshold so difficult reaches the threshold, the rotation abnormality of the erroneous detection margin of the motor (Difference between the threshold and the amount of change once) can be increased. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the electric motor due to the influence of disturbance or the like, and it becomes possible to accurately detect the abnormality in the rotation of the electric motor.

Further, the first predetermined value and the second predetermined value are determined based on whether or not the rotation speed of the electric motor has a constant acceleration tendency depending on whether the amount of change once and the amount of change twice does not reach the predetermined value. In the state where each is set to a value that can be determined, the threshold value changing means has a first change value of the first change value and the first change value calculated in the predetermined section a predetermined number of times before the first predetermined value. The rotational speed of the motor is constant when the first predetermined value is reached by the following , and the amount of change twice is not larger than the second predetermined value and does not reach the second predetermined value . The threshold value is changed so that the amount of change once reaches the threshold value easily because it is determined that there is an acceleration tendency. In this way, when the rotational speed of the electric motor is in a constant acceleration (gradual increase) trend, once the change amount is changed threshold so easily reaches the threshold, the rotation abnormality of the erroneous detection margin of the motor Can be reduced. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the motor due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no rotation abnormality when the rotation abnormality of the motor actually occurs. Detectable.

  Further, in the motor control device according to the present invention, the threshold value changing means has a one-time change amount among the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times after the threshold value is changed. When the first predetermined value is not reached, or when the twice change amount reaches the second predetermined value, the changed threshold value is returned to the original value.

  For example, when the rotation speed of the electric motor is switched from a constant deceleration tendency to a constant acceleration tendency, as described above, if the threshold value is changed so that it is difficult to reach the one-time change amount, the one-time change amount Is a value other than “0” and “+” or “−” that is harder to reach the threshold value (a value that is closer to the opposite side of the threshold value). Thus, it becomes difficult not only to detect erroneous rotation of the motor due to the influence of disturbance, but also to detect abnormal rotation of the actual motor. However, if the rotation speed of the electric motor is switched from a constant deceleration tendency to a constant acceleration tendency, the amount of change once is a threshold value between “+” side and “−” side from “0”. After shifting to the side where it is difficult to reach the value, it is saturated and does not reach the first predetermined value, and the amount of change twice changes once from “0” to the side where it is difficult to reach the threshold value among the “+” side and the “−” side In addition, since it returns to the vicinity of “0” and saturates and does not reach the second predetermined value, the changed threshold value is returned to the original value, and the erroneous detection margin for abnormal rotation of the motor is prevented from becoming too large. be able to. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the motor due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no rotation abnormality when the rotation abnormality of the motor actually occurs. Detectable.

  Further, for example, when the rotation speed of the electric motor changes from a constant acceleration tendency (no longer shows a constant acceleration tendency), the threshold value is changed so that the change amount can be easily reached once as described above. Since the amount of change once reaches a threshold value (a value close to the threshold value), the erroneous detection margin for abnormal rotation of the motor becomes too small, and the abnormal rotation of the motor due to the influence of disturbance, etc. is erroneously detected. It becomes easy to do. However, if the rotational speed of the motor changes from a certain acceleration tendency, the amount of change once changes to the side where it easily reaches the threshold value and does not reach the first predetermined value. Since the amount shifts from “0” to the “+” side and “−” side that easily reaches the threshold value and does not reach the second predetermined value, the changed threshold value is returned to the original value, and the electric motor It is possible to prevent the erroneous detection margin of the rotation abnormality from becoming too small. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the electric motor due to the influence of disturbance or the like, and it becomes possible to accurately detect the abnormality in the rotation of the electric motor.

Another electric motor control device according to the present invention is an electric motor control device that controls an electric motor whose rotational speed is in a constant change tendency, and is detected by a detecting means that detects the rotational speed of the electric motor, and the detecting means. The amount of change in the rotation speed is changed once from the first storage means for sequentially storing the rotation speed, the current rotation speed output from the detection means, and the past rotation speed stored in the first storage means. The first calculation means for calculating the first change amount, the second storage means for sequentially storing the one-time change amount calculated by the first calculation means, and the one-time change amount calculated by the first calculation means are changed. The change amount of the change amount of the rotational speed is calculated from the current change amount calculated by the change amount change unit, the first calculation unit, and the past change amount stored in the second storage unit. Second calculation means for calculating the amount of change in rotation, and second calculation means Third storage means for sequentially storing the calculated twice-change amount, comparison means for comparing a preset threshold value with the one-time change amount, and presence / absence of abnormal rotation of the motor based on the comparison result of the comparison means And a control unit that controls the electric motor according to the determination result of the determination unit, and is calculated in a predetermined section before a predetermined number of times stored in the second storage unit and the third storage unit. Of the one-time change amount and the two-time change amount, the one-time change amount has reached a preset first predetermined value, and the twice-change amount has not reached a preset second predetermined value. In addition, the change amount changing means changes the change amount once, and the comparison means compares the changed once change amount with the threshold value.

The method of changing the one-time change amount by the change amount changing means is to set the first predetermined value and the second predetermined value, and the rotation speed of the motor determined from the one-time change amount and the two-time change amount. It changes according to the change tendency. Specifically, the first predetermined value and the second predetermined value have a tendency to decelerate the electric motor at a constant speed depending on whether the amount of change once and the amount of change twice does not reach the predetermined value. In the state where each value is set so that it can be determined whether or not, the change amount changing means has the first change amount of the first change amount and the second change amount calculated in the predetermined section before the predetermined number of times. If the first predetermined value is reached by being greater than or equal to a predetermined value of 1, and if the amount of change twice is less than the second predetermined value and has not reached the second predetermined value , the rotation of the motor It is determined that the speed tends to be a constant deceleration, and the amount of change once is changed so that the amount of change once does not easily reach the threshold value. In this way, when the rotational speed of the electric motor is in a certain slowdown it can be one variation is changed to be hardly reach the threshold value, increasing the false detection margin of rotation abnormality of the electric motor. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the electric motor due to the influence of disturbance or the like, and it becomes possible to accurately detect the abnormality in the rotation of the electric motor.

Further, the first predetermined value and the second predetermined value are set based on whether or not the rotation speed of the electric motor has a constant acceleration tendency depending on whether the one-time change amount and the two-time change amount reach or do not reach the predetermined value. In such a state that each of the change amounts is set to such a value that it can be determined, the change amount changing means has the first change amount of the first change amount and the second change amount calculated in the predetermined section a predetermined number of times before the first change amount. When the first predetermined value is reached by being less than or equal to a predetermined value , and the amount of change twice is greater than the second predetermined value and has not reached the second predetermined value , the rotational speed of the motor is It is determined that the acceleration tendency is constant, and the one-time change amount is changed so that the one-time change amount easily reaches the threshold value. In this way, when the rotation speed of the electric motor has a constant acceleration tendency, the change amount is changed so that the one- time change amount easily reaches the threshold value, and the erroneous detection margin of the rotation abnormality of the electric motor can be reduced. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the motor due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no rotation abnormality when the rotation abnormality of the motor actually occurs. Detectable.

  Moreover, in the electric motor control device according to another aspect of the present invention, the change amount changing means includes the one-time change amount and the two-time change amount calculated for the predetermined section before the predetermined number of times after the change of the one-time change amount described above. When the amount of change once does not reach the first predetermined value or when the amount of change twice reaches the second predetermined value, the change of the amount of change once is stopped.

  For example, when the rotation speed of the electric motor is switched from a constant deceleration tendency to a constant acceleration tendency, as described above, once the change amount is changed so as to hardly reach the threshold value, once Since the amount of change is a value other than “0” and “+” or “−” is difficult to reach the threshold value, the erroneous detection margin of the rotation abnormality of the motor becomes too large, due to the influence of disturbance, etc. It becomes difficult not only to detect erroneous rotation of the motor but also to detect abnormal rotation of the actual motor. However, if the rotation speed of the electric motor is switched from a constant deceleration tendency to a constant acceleration tendency, the amount of change once is a threshold value between “+” side and “−” side from “0”. After shifting to the side where it is difficult to reach the value, it is saturated and does not reach the first predetermined value, and the amount of change twice changes once from “0” to the side where it is difficult to reach the threshold value among the “+” side and the “−” side In addition, since it returns to the vicinity of “0” and saturates and does not reach the second predetermined value, the amount of change once is not changed, and it is possible to suppress an erroneous detection margin for abnormal rotation of the motor from being excessively increased. . For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the motor due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no rotation abnormality when the rotation abnormality of the motor actually occurs. Detectable.

  Further, for example, when the rotation speed of the motor changes from a constant acceleration tendency, if the change amount is changed so as to easily reach the threshold value as described above, the change amount once becomes the threshold value. Therefore, the erroneous detection margin for abnormal rotation of the motor becomes too small, and it becomes easy to erroneously detect abnormal rotation of the motor due to the influence of disturbance or the like. However, if the rotation speed of the motor is changed from a certain acceleration tendency, the amount of change in one time is more likely to reach the threshold value from the “+” side and the “−” side than “0”. Since the transition does not reach the first predetermined value, the amount of change twice changes from “0” to the “+” side and the “−” side, which tends to reach the threshold value, and does not reach the second predetermined value. It can be suppressed that the amount of change once is not changed and the erroneous detection margin of the rotation abnormality of the electric motor does not become too small. For this reason, it becomes difficult to erroneously determine whether there is an abnormality in the rotation of the electric motor due to the influence of disturbance or the like, and it becomes possible to accurately detect the abnormality in the rotation of the electric motor.

  Furthermore, in the electric motor control device according to the present invention, the control means reaches the first predetermined value of the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times, In addition, when the amount of change twice does not reach the second predetermined value, when the amount of change once reaches the threshold value, the reversal or stop of the motor is prohibited.

  In this way, when the rotation speed of the motor is in a constant deceleration or acceleration trend, even if the amount of change once reaches the threshold value due to the influence of disturbance or the like even though the motor is not in an abnormal rotation state, The rotation state can be maintained as it is.

  According to the present invention, when the rotation speed of the electric motor tends to be a constant change (deceleration or acceleration), the threshold value or the amount of change once is changed to change the magnitude of the erroneous detection margin of the rotation abnormality of the electric motor. Thus, it becomes difficult to erroneously determine the presence or absence of the rotation abnormality of the electric motor due to the influence of disturbance, and the rotation abnormality of the electric motor can be accurately detected.

  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, and here, the blocks 81, 83, 85, and 87 to 89 are illustrated as hardware circuits for convenience, but actually these blocks are illustrated. The function of the circuit is realized by software. Of course, you may comprise these blocks with a hardware circuit. The blocks 82, 84, and 86 may be secured as a memory area of the control unit 8.

  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 speed detected by the rotation speed detection unit 81 in a predetermined area of the memory 6 in FIG. 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 calculates the change amount of the rotation speed 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 as 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 changes 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 rotation speed storage unit 82. A change amount of the amount is calculated as a change amount twice. The twice change amount storage unit 86 sequentially stores the twice change amount calculated by the twice change amount calculation unit 85. That is, the twice change amount storage unit 86 sequentially stores a plurality of twice change amounts calculated at a predetermined cycle. The threshold value changing unit 87 stores a predetermined threshold value that is preset and stored in a predetermined area of the memory 6 in the one-time change amount and the two-time change amount storage unit 86 that are stored in the one-time change amount storage unit 84. Based on the stored twice change amount, the change is made as described later. The change amount / threshold value comparison unit 88 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 87. The rotation abnormality determination unit 89 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 in the change amount / threshold comparison unit 88. Then, a control signal corresponding to the determination result is output to the motor drive circuit 2 in FIG.

  The rotation speed detection unit 81, together with the rotary encoder 4 and the pulse detection circuit 5, constitute one 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 twice change amount storage unit 86 constitutes an embodiment of the third storage means in the present invention. The threshold value changing unit 87 constitutes an embodiment of the threshold value changing means in the present invention. The change amount / threshold value comparison unit 88 constitutes an embodiment of the comparison means in the present invention. The rotation abnormality determination unit 89 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, and the same applies to the 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 state detection process of the motor 3 is performed (step S14). Details of this processing will be described later.

  When the processing of step S14 is completed, it is determined whether or not the change amount / threshold comparison flag provided in a predetermined area of the memory of the control unit 8 or the memory 6 of FIG. 1 is “1” (step S15). . This change amount / threshold comparison flag indicates the result of comparing the threshold value and the one-time change amount as will be described later in the process of step S14. When the one-time change amount reaches the threshold value, “1” is set. When the amount of change once does not reach the threshold, it is “0”. If the change amount / threshold comparison flag is “1” (step S15: YES), then the change condition flag provided in a predetermined area of the memory of the control unit 8 or the memory 6 is “0”. Is determined (step S16). This change condition flag indicates a determination result as to whether or not the one-time change amount and the two-time change amount satisfy a predetermined condition as will be described later in the process of step S14, and satisfies the predetermined condition. If it is not satisfied, it is “0”. Here, if the change condition flag is “0” (step S16: YES), it is determined that the rotation abnormality of the motor 3 has occurred due to the object Z being caught in the window 100 as shown in FIG. Step S17). Then, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3 and open the window 100 (step S18). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S19). If the window 100 is completely opened (step S19: YES), the process is terminated. If not completely opened (step S19: NO), the process proceeds to step S18. Return to continue the reverse rotation of the motor 3.

  On the other hand, when the one-time change amount / threshold comparison flag is “0” in step S15 (step S15: NO), or when the change condition flag is “1” in step S16 (step S16: NO). ) Determines that the rotation abnormality of the motor 3 due to the object Z being caught in the window 100 has not occurred (step S20). Then, a signal prohibiting the reversal and stop of the motor 3 is output from the motor drive circuit 2, and the normal rotation of the motor 3 is continued as it is (step S21). In this example, since it is determined that the rotation abnormality of the motor 3 due to the pinching has occurred as described above, the motor 3 is reversely rotated. Therefore, in step S21, a signal prohibiting only reverse rotation is output from the motor drive circuit 2 to the motor 3. May be. As another example, when the motor 3 is stopped after it is determined that the rotation abnormality of the motor 3 due to pinching has occurred, a signal prohibiting only the stop from the motor drive circuit 2 to the motor 3 may be output in step S21. .

  After step S21, it is determined whether or not the operation switch 1 is in the manual close MC position (step S22). If the operation switch 1 is in the manual close MC position (step S22: YES), the process returns to step S12. If the motor 3 continues normal rotation and is not at the manual closing MC position (step S22: NO), it is determined whether or not the motor 3 is at the automatic closing AC position (step S23). If the operation switch 1 is in the auto-closed AC position (step S23: YES), the process proceeds to an auto-close process described later (step S24), and if it is not in the auto-closed AC position (step S23: NO), the manual opening MO is performed. It is determined whether or not it is in a position (step S25). If the operation switch 1 is in the manual opening MO position (step S25: YES), the process proceeds to the manual opening process described later (step S26). If it is not in the manual opening MO position (step S25: NO), the automatic opening AO is performed. It is determined whether or not it is in a position (step S27). If the operation switch 1 is in the auto-open AO position (step S27: YES), the process proceeds to an auto-open process described later (step S28). If the operation switch 1 is not in the auto-open AO position (step S27: 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 S24 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 state detection process of the motor 3 is performed (step S34). Details of this processing will also be described later.

  When the process of step S34 is completed, it is determined whether or not the threshold value / one-time change amount comparison flag is “1” (step S35). If the flag is “1” (step S35: YES) Then, it is determined whether or not the change condition flag is “0” (step S36). If the flag is “0” (step S36: YES), the object Z to the window 100 is displayed. It is determined that rotation abnormality of the motor 3 due to the pinching has occurred (step S37). Then, a reverse rotation signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 is opened (step S38). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S39). If the window 100 is completely opened (step S39: YES), the process is terminated. If not completely opened (step S39: NO), the process proceeds to step S38. Return to continue the reverse rotation of the motor 3.

  On the other hand, if the one-time change amount / threshold comparison flag is “0” in step S35 (step S35: NO), or if the change condition flag is “1” in step S36 (step S36: NO). ) Determines that there is no rotation abnormality of the motor 3 due to the object Z being caught in the window 100 (step S40). Then, a signal prohibiting the reversal and stop of the motor 3 is output from the motor drive circuit 2, and the normal rotation of the motor 3 is continued as it is (step S41). Subsequently, if the operation switch 1 is in the position of manual opening MO (step S42: YES), the process proceeds to the manual opening process described later (step S43). If it is not in the position of manual opening MO (step S42: NO), auto It is determined whether or not it is in the open AO position (step S44). If the operation switch 1 is in the auto-open AO position (step S44: YES), the process proceeds to an auto-open process described later (step S45). If the operation switch 1 is not in the auto-open AO position (step S44: 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 S26 of FIG. 7, and step S43 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 in FIG. 6, step S28 in FIG. 7, step S45 in FIG. 8, and step S56 in 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.

  11 and 12 are flowcharts showing the detailed procedure of the rotation state detection process 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 an arbitrary past detection time. Then, the one-time change amount calculation unit 83 calculates a difference between the current rotation speed f (0) and the past rotation speed f (x) as a one-time change amount ΔF1 (0) (ΔF1 (0) = f ( x) −f (0)) and stored in the one-time change amount storage unit 84 (step S73). Further, 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 past detection time. The above “x” and “y” may be the same time, but are preferably different times. 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)), and is stored in the twice change amount storage unit 86 (step S75).

  FIG. 13 shows the rotational speed of the motor 3 output from the rotational speed detection unit 81 during the closing operation of the window 100 in the first embodiment, and the one-time variation and the two-time variation calculated as described above. It is the figure which showed the time change. The vertical axis represents the motor rotation speed, that is, the frequency of the pulse output from the rotary encoder 4 in FIG. 1, and the horizontal axis represents time, that is, the timing of the edge of the pulse. F indicated by a black circle is the raw rotation speed of the motor 3, ΔF1 indicated by a black square is a one-time change amount that is a change amount of the rotation speed f, and ΔF2 indicated by a black triangle is a one-time change amount ΔF1. The amount of change that is the amount of change twice, S indicated by a bold line is the threshold value described above. A indicated by a one-dot chain line is a first predetermined value to be compared with the one-time variation ΔF1, and B indicated by a two-dot chain line is a second predetermined value to be compared with the two-time variation ΔF2. The first predetermined value A and the second predetermined value B are preset and stored in a predetermined area of the memory 6. In the first embodiment, the first predetermined value A and the second predetermined value B are set based on whether the one-time change amount ΔF1 reaches the first predetermined value A and the two-time change amount ΔF2 is a second predetermined value. Each value is set so that it can be determined whether or not the rotational speed f of the motor 3 has a constant deceleration tendency from the result of whether or not the value B is reached.

  FIG. 13 shows a state in which the closing operation of the window 100 is normally performed, that is, a state in which an object Z is not sandwiched in the window 100 or a disturbance such as a vibration when traveling on a rough road or an impact when opening and closing the door is not applied. ing. FIG. 15, FIG. 18, and FIG. 20, which will be described later, similarly show the normal state of the closing operation. In the X-arm type window opening / closing mechanism 102 shown in FIG. 3, when the first arm 104 is rotated by driving the motor 3 to close the window 100, the first arm 104 is tilted downward from the horizontal state. As the state approaches, the load applied to the motor 3 increases due to the lever principle, and the rotational speed f of the motor 3 gradually decreases as shown in the figure, and a constant deceleration tendency occurs. Then, as the first arm 104 is inclined obliquely upward from the horizontal state, the load applied to the motor 3 is reduced by the lever principle, and the rotational speed f of the motor 3 gradually increases as shown in the figure. It becomes a certain acceleration trend.

  The changes ΔF1 and ΔF2 are calculated as described with reference to FIG. Specifically, in FIG. 13, the one-time variation ΔF1 is calculated by subtracting the current rotational speed f from the past rotational speed f detected eight times before the present as indicated by an arrow on the left side. The two-time change amount ΔF2 is calculated by subtracting the past one-time change amount ΔF1 calculated three times before from the current one-time change amount ΔF1 as indicated by an arrow at the center. The changes ΔF1 and ΔF2 are calculated in this way even if the rotational speed f of the motor 3 pulsates due to a structural factor such as a shaft misalignment of the pinion 109 in FIG. 3, the changes ΔF1 and ΔF2 are affected by the pulsation. In order to make it easy to grasp the state, the acceleration / deceleration tendency of the rotational speed f and the change amounts ΔF1 and ΔF2 is the same, that is, both decrease during deceleration and increase during acceleration. Because. The threshold value S is set to a value relatively far from “0” to the “+” side (in this example, the initial value S (0) is 8 Hz). The first predetermined value A is set to a value (“3” in this example) that is “+” from “0” and smaller than the threshold, and the second predetermined value B is “+” from “0”. A value smaller than the first predetermined value A (1 Hz in this example) is set.

  When step S75 is completed in FIG. 11, once-change amounts ΔF1 (z) to ΔF1 (z + n) and twice-change amounts ΔF2 ( z) to ΔF1 (z + n) are read from the once change amount storage unit 84 and the twice change amount storage unit 86, respectively (step S76). “Z” is an arbitrary past calculation time. “Z” and the above “x” and “y” may be the same time, but are preferably different times. Then, all of the once-change amount ΔF1 (z) to ΔF1 (z + n) are equal to or greater than the predetermined value A (having reached the predetermined value A) and the twice-change amount ΔF2 (z) to ΔF2 in the threshold value changing unit 87. It is determined whether or not all of (z + n) are less than the predetermined value B (not reaching the predetermined value B) (step S77 in FIG. 12). This condition is for increasing the threshold value S in the first embodiment. In FIG. 13, all of the one-time variation ΔF1 in four consecutive sections three times before the current time are greater than or equal to the first predetermined value A and all of the two-time variation ΔF2 are less than the second predetermined value B. I am going to do that.

  As shown in FIG. 13, when the rotational speed f of the motor 3 has a constant deceleration tendency, all the one-time variation ΔF <b> 1 in the four previous three sections is “0” as surrounded by a rough broken line. Since it is on the “+” side where the threshold value S is more likely to be reached and is greater than or equal to the first predetermined value A, and all the twice-change amounts ΔF2 are near “0” and less than the second predetermined value B (FIG. 12 (step S77: YES), the change condition flag is set to “1” to indicate that the above condition is satisfied (step S78). Then, it is determined that the rotation speed f has a constant deceleration tendency, and the value S (m) obtained by increasing the threshold value S by a predetermined amount from the initial value S (0) so that the one-time change amount ΔF1 does not easily reach the threshold value S. ) And set (step S79). In FIG. 13, the threshold value S (m) after the change is increased by 1 Hz from the initial value S (0) to 9 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 is increased.

  Next, the change / threshold comparison unit 88 compares the current one-time change amount ΔF1 (0) with the changed threshold value S (m), and the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (m). It is determined whether or not (the threshold value S (m) has been reached) (step S80). Here, if the amount of change ΔF1 (0) once exceeds the threshold S (m) due to the pulsation of the rotational speed f of the motor 3 due to the influence of disturbance (step S80: YES), the amount of change · The threshold value comparison flag is set to “1” to indicate that the one-time variation ΔF1 (0) is equal to or greater than the threshold value S (m) (step S81). Then, the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. When the transition is made in this way, the change amount / threshold comparison flag is “1” (step S15 in FIG. 7: YES or step S35 in FIG. 8: YES), and the change condition flag is “1” (in FIG. 7). Since step S16: NO or step S36: NO in FIG. 8), it is determined that the rotation abnormality of the motor 3 due to the object Z being caught in the window 100 has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8). . Then, a reverse / stop prohibition signal is output from the motor drive circuit 2 to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed as described above.

  On the other hand, if the single change amount ΔF1 (0) is less than the threshold value S (m) in step S80 of FIG. 12 (step S80: NO), the change amount / threshold comparison flag is set to the single change amount. “0” is set to indicate that ΔF1 (0) is less than the threshold value S (m) (step S85). Then, the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. When the transition is made in this way, the change amount / threshold comparison flag is “0” (step S15 in FIG. 7: NO or step S35 in FIG. 8: NO), so that the motor 3 is inserted into the window 100 due to the object Z being caught. It is determined that no rotation abnormality has occurred (step S20 in FIG. 7 or step S40 in FIG. 8). Then, a reverse / stop prohibition signal is output from the motor drive circuit 2 to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed as described above.

  After that, as shown in FIG. 13, when the rotation speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, as shown in a fine broken line, it changes once in the current four sections. A part of the amount ΔF1 is shifted to the “−” side where it is difficult to reach the threshold, and becomes less than the first predetermined value A (step S77 in FIG. 12: NO). Further, after this, the one-time variation ΔF1 shifts to the “−” side as shown in FIG. 13 and then saturates at a certain value on the “−” side (−4 Hz in this example). The twice-change amount ΔF2 once transitions from “0” to the “−” side, then returns to the vicinity of “0” and is saturated, and does not exceed the second predetermined value B. When the condition in step S77 is not satisfied as described above, the change condition flag is set to “0” to indicate that the condition is not satisfied (step S82). Then, it is determined that the rotational speed f has changed from a constant deceleration tendency (no longer exhibits a constant deceleration tendency), and the threshold value S is set back from the change value S (m) to the initial value S (0) ( Step S83). As a result, the erroneous detection margin for the rotation abnormality of the motor 3 that has become too large due to the transition of the one-time change amount ΔF1 to the “−” side is reduced by a predetermined amount (1 Hz in this example).

  Next, the change / threshold comparison unit 88 compares the current one-time change amount ΔF1 (0) with the threshold value S (0), and whether the one-time change amount ΔF1 (0) is greater than or equal to the threshold value S (0). It is determined whether or not (step S84). At this time, since the false detection margin of the rotation abnormality of the motor 3 is increased due to the transition of the one-time variation ΔF1 to the “−” side as described above, even if there is a certain amount of disturbance, the one-time variation ΔF1. (0) is unlikely to be greater than or equal to the threshold value S (0). If the single change amount ΔF1 (0) is less than the threshold value S (0) in step S84 (step S84: NO), the change amount / threshold comparison flag is set to “0” (step S85), and the single change amount ΔF1. If (0) is greater than or equal to the threshold S (0) (step S84: YES), the change amount / threshold comparison flag is set to “1” (step S81). Then, the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. When the transition is made in this way, if the change amount / threshold comparison flag is “0” (step S15 in FIG. 7: NO or step S35 in FIG. 8: NO), the motor 3 is inserted into the window 100 due to the object Z being caught. It is determined that no rotation abnormality has occurred (step S20 in FIG. 7 or step S40 in FIG. 8). Then, a reverse / stop prohibition signal is output from the motor drive circuit 2 to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed as described above.

  On the other hand, if the change amount / threshold comparison flag is “1” (step S15 in FIG. 7: YES or step S35 in FIG. 8: YES), the change condition flag is “0” (step in FIG. 7). Since S16: YES or step S36 in FIG. 8: YES, it is determined that the rotation abnormality of the motor 3 has occurred due to the object Z being caught in the window 100 (step S17 in FIG. 7 or step S37 in FIG. 8). Then, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3, open the window 100 (step S18 in FIG. 7 and step S38 in FIG. 8), release the pinching, and if the window 100 is completely opened (Step S19 in FIG. 7: YES or Step S39 in FIG. 8: YES), the manual closing process in FIG. 7 or the automatic closing process in FIG. 8 ends.

  On the other hand, when the object Z is sandwiched in the window 100 as shown in FIG. 4, the rotational speed f of the motor 3 rapidly decreases (decelerates) from the time when it is sandwiched and approaches “0”. Both the one-time change amount ΔF1 and the two-time change amount ΔF2 are sandwiched and increased (accelerated) from the time, and the one-time change amount ΔF1 reaches the threshold value S. Therefore, in step 77 of FIG. 12, the twice-change amount ΔF2 (z) to ΔF2 (z + n) becomes equal to or larger than the second predetermined value B (step S77: NO), and the change condition flag is set to “0” (step S82). ), The threshold value S is set to the initial value S (0) (step S83). In step S84, it is determined that the current one-time variation ΔF1 (0) is equal to or greater than the threshold S (0) (step S84: YES), and the variation / threshold comparison flag is set to “1” (step S84). S81), the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. When the transition is made in this way, the change amount / threshold comparison flag is “1” (step S15 in FIG. 7: YES or step S35 in FIG. 8: YES), and the change condition flag is “0” (in FIG. 7). Since step S16: YES or step S36: YES in FIG. 8), it is determined that a rotation abnormality of the motor 3 due to the object Z being caught in the window 100 has occurred (step S17 in FIG. 7 or step S37 in FIG. 8). Then, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3, open the window 100 (step S18 in FIG. 7 and step S38 in FIG. 8), release the pinching, and if the window 100 is completely opened (Step S19 in FIG. 7: YES or Step S39 in FIG. 8: YES), the manual closing process in FIG. 7 or the automatic closing process in FIG. 8 ends.

  According to the first embodiment described above, when the rotational speed f of the motor 3 is in a constant deceleration tendency, a one-time change that is a change amount of the rotational speed f calculated in a predetermined section a predetermined number of times before the current time. Of the amount of change ΔF1 (z) to ΔF1 (z + n) and the amount of change twice of the change amount of the rotational speed f ΔF2 (z) to ΔF2 (z + n), the amount of change ΔF1 (z) to ΔF1 (z + n) ) Are on the “+” side from “0” and are equal to or greater than the first predetermined value A, and all of the twice-changes ΔF2 (z) to ΔF2 (z + n) are in the vicinity of “0” and the second Since it is less than the predetermined value B, the threshold value S is changed so that the one-time change amount ΔF1 (0) does not easily reach the threshold value S, and the erroneous detection margin of the rotation abnormality of the motor 3 can be increased. For this reason, it becomes difficult to erroneously determine the presence or absence of rotation abnormality of the motor 3 due to the influence of disturbance or the like, and the rotation abnormality of the motor 3 can be accurately detected.

  Further, when the rotation speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, if the threshold value S is left as the changed value S (m), the one-time variation ΔF1 is “0”. Since it is a value on the “−” side that is difficult to reach the threshold value S (a value closer to the side opposite to the threshold value S), the erroneous detection margin for the rotation abnormality of the motor 3 becomes too large, and the influence of disturbance, etc. In addition to erroneous detection of abnormal rotation of the motor 3 due to the above, it is difficult to detect actual abnormal rotation of the motor 3. However, as described above, after the rotation speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, the one-time variation ΔF1 has changed from “0” to the “−” side, which is difficult to reach the threshold value S. Saturates, becomes less than the first predetermined value A, and the twice-change amount ΔF2 once shifts from “0” to the “−” side, then returns to the vicinity of “0” and becomes saturated, and the second predetermined value B If the changed threshold value S (m) is returned to the initial value S (0) in response to the fact that it does not become the above, it is possible to prevent the erroneous detection margin of the rotation abnormality of the motor 3 from becoming too large. For this reason, it is difficult to erroneously determine whether there is an abnormality in the rotation of the motor 3 due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no abnormality in the rotation of the motor 3 when an abnormality in the rotation of the motor 3 actually occurs. Can be detected accurately.

  Further, all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) are equal to or more than the first predetermined value A, and all the two-time variation amounts ΔF2 (z) to ΔF2 (z + n) are the second predetermined value. In the case where it is less than B, when the current one-time variation ΔF1 (0) becomes equal to or greater than the threshold value S, the motor 3 is prohibited from reversing or stopping, so the rotational speed f of the motor 3 tends to be a constant deceleration. In some cases, even if the motor 3 is not in an abnormal rotation state, the rotational state of the motor 3 can be maintained as it is even if the one-time change amount ΔF1 (0) exceeds the threshold value S due to the influence of disturbance or the like.

  FIG. 14 is a flowchart showing a part of detailed procedure of the rotation state detection process of the motor 3 in the second 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 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. 11, Steps S71 to S75 are executed as described above, and the current rotation speed f (0), the first variation ΔF1 (0), and the second variation ΔF2 (0) of the motor 3 are respectively determined. Acquire and store in the corresponding storage units 82, 84, 86.

  FIG. 15 is a diagram illustrating temporal changes in the rotational speed, the first variation, and the second variation during the closing operation of the window 100 according to the second embodiment. The display form and the detection / calculation method of the rotational speed f, the first variation ΔF1 and the second variation ΔF2 of the motor 3 are the same as those in FIG. The display form of the threshold value S is the same as in FIG. What is indicated by the one-dot chain line and the two-dot chain line on the “+” side from “0” is the first predetermined value A and the second predetermined value B similar to those described above. In the second embodiment, in addition to the first predetermined value A and the second predetermined value B on the “+” side, a dot-dash line and a two-dot chain line also indicate the “−” side from “0”. Are provided with a first predetermined value A ′ to be compared with the one-time variation ΔF1 and a second predetermined value B ′ to be compared with the second-time variation ΔF2. The first predetermined value A ′ and the second predetermined value B ′ on the “−” side are based on whether or not the first variation ΔF1 reaches the first predetermined value A ′ and the second variation ΔF2 is the second. Each value is set such that it can be determined whether or not the rotational speed f of the motor 3 has a constant acceleration tendency from the result of whether or not the predetermined value B ′ is reached. In FIG. 15, the first predetermined value A ′ is set to −3 Hz, and the second predetermined value B ′ is set to −1 Hz. The threshold value S is changed when the initial value S (0) is set to 8 Hz and the rotational speed f of the motor 3 has a constant deceleration tendency and a constant acceleration tendency, as will be described later.

  When step S75 is completed in FIG. 11, the first-time variation ΔF1 (z) to ΔF1 (z + n) and the second-time variation ΔF2 (z) to ΔF1 (z + n) in the predetermined interval before the current predetermined number of times are respectively stored in the storage unit 84. , 86 (step S76). Then, the threshold value changing unit 87 determines that all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) are equal to or greater than the predetermined value A on the “+” side, and the two-time variation amounts ΔF2 (z) to ΔF2 (z + n). It is determined whether or not all are less than a predetermined value B on the “+” side (step S77 in FIG. 14). This condition is for increasing the threshold value S in the second embodiment. In FIG. 15, all of the one-time variation ΔF1 in four consecutive sections three times before the current time are greater than or equal to the first predetermined value A on the “+” side, and all of the two-time variation ΔF2 are on the “+” side. Is less than the second predetermined value B.

  As shown on the left side of FIG. 15, when the rotational speed f of the motor 3 has a constant deceleration tendency, all of the one-time variation ΔF1 in the four previous three sections as surrounded by a rough broken line on the left side. Is on the “+” side and is greater than or equal to the first predetermined value A, and all of the twice-changes ΔF2 are near “0” and less than the second predetermined value B (step S77 in FIG. 14: YES), the change condition flag is set to “1” to indicate that the above condition is satisfied (step S78). Then, it is determined that the rotation speed f has a constant deceleration tendency, and the value S (m) obtained by increasing the threshold value S by a predetermined amount from the initial value S (0) so that the one-time change amount ΔF1 does not easily reach the threshold value S. ) And set (step S79). In FIG. 15, the threshold value S (m) after the change is increased by 1 Hz from the initial value S (0) to 9 Hz. As a result, an erroneous detection margin for preventing erroneous detection of rotation abnormality of the motor 3 is increased.

  Next, the change / threshold comparison unit 88 compares the current one-time change amount ΔF1 (0) with the changed threshold value S (m), and the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (m). It is determined whether or not (step S80). Then, the change amount / threshold comparison flag is set to “1” (step S81) indicating that the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (m) or the threshold value S (m) according to the determination result. ) Indicating “0” (step S85), the rotational state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, in the same procedure as described above with reference to FIGS. 7 and 8, it is determined that the rotation abnormality of the motor 3 due to the pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8), and the motor drive circuit 2 outputs a reverse / stop prohibition signal to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed.

  After that, when the rotational speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency as shown slightly to the left of the center of FIG. Part of the one-time change amount ΔF1 in the four sections three times before becomes less than the first predetermined value A, and the condition of step S77 in FIG. 14 is not satisfied (step S77: NO). In this case, the threshold value changing unit 87 causes all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) to be equal to or less than the predetermined value A ′ on the “−” side (having reached the predetermined value A ′), and It is determined whether or not all of the twice change amounts ΔF2 (z) to ΔF2 (z + n) are larger than the predetermined value B ′ on the “−” side (not reaching the predetermined value B ′) (step S100). This condition is for lowering the threshold value S in the second embodiment. In FIG. 15, all of the one-time variation ΔF1 in four consecutive sections three times before the current time are equal to or less than the first predetermined value A ′ on the “−” side, and all of the two-time variation ΔF2 are “−”. It is assumed that it is larger than the second predetermined value B ′ on the side.

  In the situation surrounded by a fine broken line on the left side from the center of FIG. 15, all of the one-time variation ΔF1 in the four sections before the current three times are on the “+” side where the threshold value S is more easily reached than “0”. 1 is larger than the predetermined value A ′ and part of the twice-change amount ΔF2 is on the “−” side and is equal to or smaller than the second predetermined value B ′ (step S100: NO), the change condition flag is set to the above condition. Is set to “0” to indicate that is not satisfied (step S82). Then, it is determined that the rotation speed f has changed from a certain deceleration tendency, and the threshold value S is set back from the change value S (m) to the initial value S (0) (step S83). As a result, the erroneous detection margin for the rotation abnormality of the motor 3 that has become too large due to the transition of the one-time change amount ΔF1 to the “−” side is reduced by a predetermined amount (1 Hz in this example).

  Next, the change / threshold comparison unit 88 compares the current one-time change amount ΔF1 (0) with the threshold value S (0), and whether the one-time change amount ΔF1 (0) is greater than or equal to the threshold value S (0). It is determined whether or not (step S84). Then, the change amount / threshold comparison flag is set to “1” (step S81) or “0” (step S85) according to the determination result, and the rotation state detection process of the motor 3 is terminated, and the step of FIG. The process proceeds to S15 or step S35 in FIG. Thereafter, in the same procedure as described above, rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8) or has occurred (step S17 in FIG. 7 or FIG. 7). 8 step S37). Depending on this result, as described above, step S21 in FIG. 7 or step S41 in FIG. 8 is executed to execute the subsequent processing, or steps S18, S19 in FIG. 7 or step S38 in FIG. , S39 is executed to end the manual closing process or the automatic closing process.

  In addition, when the rotational speed f of the motor 3 continues to be a constant acceleration trend as shown in the approximate center of FIG. 15, the current four intervals in the previous three times are surrounded by a rough broken line at the approximate center. All of the one-time variation ΔF1 is equal to or less than the first predetermined value A ′ on the “−” side, and all of the two-time variation ΔF2 is in the vicinity of “0”, and the second predetermined value B on the “−” side. Since it becomes larger (step S100: YES), the change condition flag is set to “1” to indicate that the above condition is satisfied (step S101). Then, it is determined that the rotation speed f has a constant acceleration tendency, and the value S (n) that is obtained by reducing the threshold S by a predetermined amount from the initial value S (0) so that the one-time variation ΔF1 easily reaches the threshold S. ) And set (step S102). In FIG. 15, the threshold value S (n) after the change is set to 7 Hz by 1 Hz down from the initial value S (0). As a result, the erroneous detection margin for the rotation abnormality of the motor 3 that has become too large due to the transition of the one-time change amount ΔF1 to the “−” side is reduced by a predetermined amount (1 Hz in this example).

  Next, the change / threshold comparison unit 88 compares the current one-time change amount ΔF1 (0) with the changed threshold value S (n), and the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (n). It is determined whether or not (step S103). Then, the change amount / threshold comparison flag is set to “1” (step S81) or “0” (step S85) according to the determination result, and the rotation state detection process of the motor 3 is terminated, and the step of FIG. The process proceeds to S15 or step S35 in FIG. Thereafter, in the same procedure as described above, rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8) or has occurred (step S17 in FIG. 7 or FIG. 7). 8 step S37). Depending on this result, as described above, step S21 in FIG. 7 or step S41 in FIG. 8 is executed to execute the subsequent processing, or steps S18, S19 in FIG. 7 or step S38 in FIG. , S39 is executed to end the manual closing process or the automatic closing process.

  Further, as shown on the right side of FIG. 15, when the rotational speed f of the motor 3 has changed from a constant acceleration tendency (no longer showing a constant acceleration tendency), the current 3 as shown by a thin broken line on the right side. From the first predetermined value A ′ on the “−” side, a part of the one-time change amount ΔF1 in the previous four sections changes to the side that tends to reach the threshold (the side toward “0” and “+”). It becomes larger (step S100 in FIG. 14: NO). The twice-change amount ΔF2 is shifted from “0” to the “+” side, and does not fall below the second predetermined value B ′ on the “−” side. When the condition in step S100 is not satisfied as described above, the change condition flag is set to “0” to indicate that the condition is not satisfied (step S82). Then, it is determined that the rotation speed f has changed from a certain acceleration tendency, and the threshold value S is set back from the change value S (n) to the initial value S (0) (step S83). As a result, the erroneous detection margin of the rotation abnormality of the motor 3 that has become too small due to the transition of the one-time change amount ΔF1 toward the “0” and “+” side is increased by a predetermined amount (1 Hz in this example).

  Next, the change / threshold comparison unit 88 compares the current one-time change amount ΔF1 (0) with the threshold value S (0), and whether the one-time change amount ΔF1 (0) is greater than or equal to the threshold value S (0). It is determined whether or not (step S84). Then, the change amount / threshold comparison flag is set to “1” (step S81) or “0” (step S85) according to the determination result, and the rotation state detection process of the motor 3 is terminated, and the step of FIG. The process proceeds to S15 or step S35 in FIG. Thereafter, in the same procedure as described above, rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8) or has occurred (step S17 in FIG. 7 or FIG. 7). 8 step S37). Depending on this result, as described above, step S21 in FIG. 7 or step S41 in FIG. 8 is executed to execute the subsequent processing, or steps S18, S19 in FIG. 7 or step S38 in FIG. , S39 is executed to end the manual closing process or the automatic closing process.

  On the other hand, when the object Z is sandwiched in the window 100 as shown in FIG. 4, the rotational speed f of the motor 3 rapidly decreases from the time when the object Z is sandwiched and approaches “0” and changes once. Both the amount ΔF1 and the twice-change amount ΔF2 rise from the time of being sandwiched, and the once-change amount ΔF1 reaches the threshold value S. Therefore, in step 77 of FIG. 14, the twice-change amount ΔF2 (z) to ΔF2 (z + n) becomes equal to or larger than the second predetermined value B (step S77: NO), and in step S100, the once-change amount ΔF1 (z). ~ ΔF1 (z + n) becomes larger than the first predetermined value A ′ (step S100: NO), the change condition flag is set to “0” (step S82), and the threshold value S is set to the initial value S (0) ( Step S83). In step S84, it is determined that the current one-time variation ΔF1 (0) is equal to or greater than the threshold S (0) (step S84: YES), and the variation / threshold comparison flag is set to “1” (step S84). S81), the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, in the same procedure as described above, it is determined that rotation abnormality of the motor 3 due to the pinching has occurred (step S17 in FIG. 7 or step S37 in FIG. 8). Then, a motor reverse rotation signal is output to reverse the motor 3, open the window 100 (step S18 in FIG. 7 and step S38 in FIG. 8), release the pinching, and open the window 100 completely (in FIG. 7). Step S19: YES or Step S39 in FIG. 8: YES), the manual closing process or the automatic closing process is terminated.

  According to the second embodiment described above, when the rotational speed f of the motor 3 has a constant deceleration tendency, all of the one-time variations ΔF1 (z) to ΔF1 (z + n) are the first on the “+” side. Is greater than or equal to the predetermined value A, and all of the twice-change amounts ΔF2 (z) to ΔF2 (z + n) are less than the second predetermined value B on the “+” side. The threshold value S is changed so that it becomes difficult to reach the value, and the erroneous detection margin of the rotation abnormality of the motor 3 can be increased. For this reason, it becomes difficult to erroneously determine the presence or absence of rotation abnormality of the motor 3 due to the influence of disturbance or the like, and the rotation abnormality of the motor 3 can be accurately detected. Further, when the rotation speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, a part of the one-time variation ΔF1 (z) to ΔF1 (z + n) is the first on the “+” side. Since it becomes less than the predetermined value A, the changed threshold value S (m) is returned to the initial value S (0), and it is possible to suppress the erroneous detection margin for the rotation abnormality of the motor 3 from becoming too large. For this reason, it is difficult to erroneously determine whether there is an abnormality in the rotation of the motor 3 due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no abnormality in the rotation of the motor 3 when an abnormality in the rotation of the motor 3 actually occurs. Can be detected accurately.

  When the rotational speed f of the motor 3 has a constant acceleration tendency, all of the one-time variations ΔF1 (z) to ΔF1 (z + n) are on the “−” side from “0”, and on the “−” side. Since it is equal to or less than the first predetermined value A ′ and all of the twice-change amounts ΔF2 (z) to ΔF2 (z + n) are in the vicinity of “0” and are larger than the second predetermined value B ′ on the “−” side, The threshold value S is changed so that the one-time change amount ΔF1 (0) can easily reach the threshold value S, so that a false detection margin for abnormal rotation of the motor 3 can be reduced. For this reason, it is difficult to erroneously determine whether there is an abnormality in the rotation of the motor 3 due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no abnormality in the rotation of the motor 3 when an abnormality in the rotation of the motor 3 actually occurs. Can be detected accurately. Further, when the rotational speed of the motor 3 changes from a certain acceleration tendency, if the threshold S is changed to S (n), the one-time change amount is a value other than “0” and the threshold S is set. Since the value is easily reached (value approaching the threshold value S side), the erroneous detection margin for abnormal rotation of the motor 3 becomes too small, and it becomes easy to erroneously detect abnormal rotation of the motor 3 due to the influence of disturbance or the like. However, as described above, the rotational speed f of the motor 3 changes from a constant acceleration tendency, and the one-time change amount ΔF1 changes from “0” to the “+” side where the threshold value S is easily reached. Larger than the first predetermined value A ′ on the side, the double variation ΔF2 shifts from “0” to the “+” side and is saturated, and does not fall below the second predetermined value B ′ on the “−” side. When the changed threshold value S (n) is returned to the initial value S (0), the erroneous detection margin for the rotation abnormality of the motor 3 can be suppressed from becoming too small. For this reason, it becomes difficult to erroneously determine the presence or absence of rotation abnormality of the motor 3 due to the influence of disturbance or the like, and the rotation abnormality of the motor 3 can be accurately detected.

  Furthermore, all of the first variation ΔF1 (z) to ΔF1 (z + n) are equal to or greater than the first predetermined value A on the “+” side, and all of the second variation ΔF2 (z) to ΔF2 (z + n) are When the value is less than the second predetermined value B on the “+” side, and all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) are equal to or less than the first predetermined value A ′ on the “−” side, and When all of the twice-change amount ΔF2 (z) to ΔF2 (z + n) are larger than the second predetermined value B ′ on the “−” side, the current one-time change amount ΔF1 (0) is equal to or greater than the threshold value S. In some cases, the motor 3 is prohibited from being reversed or stopped. Therefore, when the rotational speed f of the motor 3 tends to be a constant deceleration or acceleration, the motor 3 is not in an abnormal rotation state, but the motor 3 is not in an abnormal rotation state. Even when the rotation change amount ΔF1 (0) becomes equal to or greater than the threshold value S, the rotation state of the motor 3 is maintained as it is. Can.

  FIG. 16 is a diagram showing a rotation abnormality detection block in the third embodiment of the present invention. In the figure, the same parts as those in FIG. In FIG. 5, the threshold value changing unit 87 for changing the threshold value is provided as described above based on the one-time change amount and the two-time change amount read from the storage units 84 and 86, but in FIG. Based on the one-time change amount and the two-time change amount read from the storage units 84 and 86, a change amount changing unit 90 that changes the one-time change amount output from the one-time change amount calculating unit 83 as will be described later. Provided. Further, the change amount / threshold comparison unit 91 compares the unchanged or changed one-time change amount output from the change amount changing unit 90 with a predetermined threshold value. The change amount changing unit 90 constitutes one embodiment of a change amount changing unit in the present invention, and the change amount / threshold comparing unit 91 constitutes one embodiment of a comparing unit in the present invention.

  FIG. 17 is a flowchart showing a detailed procedure of a part of the rotation state 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. 11, Steps S71 to S75 are executed as described above to obtain the current rotation speed f (0), the first variation ΔF1 (0), and the second variation ΔF2 (0) of the motor 3, respectively. And stored in the corresponding storage units 82, 84, 86.

  FIG. 18 is a diagram showing temporal changes in the rotation speed, the first variation, and the second variation during the closing operation of the window 100 in the third embodiment. The display form, 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 values of the first predetermined value A and the second predetermined value B are also the same as in FIG. The threshold value S is not changed and is always a constant value (8 Hz in this example). ΔF1-C indicated by a white square is a value obtained by changing the amount of change ΔF1 once. This will be described later.

  When step S75 is completed in FIG. 11, the first-time variation ΔF1 (z) to ΔF1 (z + n) and the second-time variation ΔF2 (z) to ΔF1 (z + n) in the predetermined interval before the current predetermined number of times are respectively stored in the storage unit 84. , 86 (step S76). In the change amount changing unit 90, all of the one-time change amounts ΔF1 (z) to ΔF1 (z + n) are equal to or greater than the predetermined value A, and all of the two-time change amounts ΔF2 (z) to ΔF2 (z + n) are predetermined values. It is determined whether it is less than B (step S90 in FIG. 17). This condition is for offsetting (decreasing) the decrease in the false detection margin of the rotation abnormality of the motor 3 by reducing the amount of change ΔF1 once in the third embodiment. In FIG. 18, all of the one-time variation ΔF1 in four consecutive sections three times before the current time are greater than or equal to the first predetermined value A and all of the two-time variation ΔF2 are less than the second predetermined value B. I am going to do that.

  As shown in FIG. 18, when the rotational speed f of the motor 3 has a constant deceleration tendency, all of the one-time variation ΔF1 in the four previous three sections are “+” as surrounded by a rough broken line. The first predetermined value A is greater than or equal to the first predetermined value A, and all the twice-change amounts ΔF2 are near “0” and less than the second predetermined value B (step S90 in FIG. 17: YES). The condition flag is set to “1” to indicate that the above condition is satisfied (step S91). Then, it is determined that the rotational speed f has a constant deceleration tendency, and the current one-time change amount ΔF1 output from the one-time change amount calculation unit 83 so that the one-time change amount ΔF1 does not easily reach the threshold value S. (0) is changed to a value ΔF1 (0) -C that is reduced by a predetermined amount (step S92). In FIG. 18, the one-time change amount ΔF1-C is calculated by reducing the one-time change amount ΔF1 by 1 Hz. As a result, an erroneous detection margin for abnormal rotation of the motor 3 is increased.

  Next, the change amount / threshold comparison unit 91 compares the changed once change amount ΔF1 (0) -C with the threshold value S, and whether or not the once change amount ΔF1 (0) -C is equal to or greater than the threshold value S. Is determined (step S93). Here, if the one-time variation ΔF1 (0) -C is equal to or greater than the threshold S (step S93: YES), the variation / threshold comparison flag indicates that the one-time variation ΔF1 (0) -C is equal to or greater than the threshold S. In order to show that, “1” is set (step S94). If the single change amount ΔF1 (0) -C is less than the threshold value S (step S93: NO), the change amount / threshold comparison flag indicates that the single change amount ΔF1 (0) -C is not greater than or equal to the threshold value S. As shown, “0” is set (step S98). Then, the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. When the transition is made in this way, the change amount / threshold comparison flag is “1” (step S15 in FIG. 7: YES or step S35 in FIG. 8: YES) and the change condition flag is “1” (step in FIG. 7). S16: NO or step S36 in FIG. 8: NO), or because the change amount / threshold comparison flag is “0” (step S15 in FIG. 7: NO or step S35 in FIG. 8: NO), the motor 3 due to pinching It is determined that no rotation abnormality has occurred (step S20 in FIG. 7 or step S40 in FIG. 8). Then, a reverse / stop prohibition signal is output from the motor drive circuit 2 to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed as described above.

  After that, as shown in FIG. 18, when the rotational speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, as shown in a fine broken line, it is once in the current four sections. A part of the change amount ΔF1 shifts to the “−” side and becomes less than the first predetermined value A (step S90 in FIG. 17: NO). Further, after this, the one-time variation ΔF1 shifts to the “−” side as shown in FIG. 18 and then saturates at a certain value on the “−” side. The twice-change amount ΔF2 once shifts to the “−” side, then returns to the vicinity of “0” and is saturated, and does not exceed the second predetermined value B. When the condition of step S90 is not satisfied as described above, the change condition flag is set to “0” to indicate that the condition is not satisfied (step S95). Then, it is determined that the rotational speed f has changed from a constant deceleration tendency, and the change (down) to the current one-time change amount ΔF1 (0) is stopped (step S96). Thereafter, the change / threshold comparison unit 91 compares the current single change ΔF1 (0) with the threshold S to determine whether the single change ΔF1 (0) is equal to or greater than the threshold S. (Step S97). At this time, as described above, the erroneous detection margin of the rotation abnormality of the motor 3 that has become too large due to the transition of the one-time variation ΔF1 to the “−” side is stopped by the change to the one-time variation ΔF1. (1 Hz in this example) is small, but even if there is a certain amount of disturbance, the one-time change amount ΔF1 (0) is unlikely to be greater than or equal to the threshold value S.

  If the one-time variation ΔF1 (0) is less than the threshold value S in step S97 (step S97: NO), the variation / threshold comparison flag is set to “0” (step S98), and the one-time variation ΔF1 (0). Is greater than or equal to the threshold S (step S97: YES), the change amount / threshold comparison flag is set to "1" (step S94). Then, the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. When the transition is made in this way, if the change amount / threshold comparison flag is “0” (step S15 in FIG. 7: NO or step S35 in FIG. 8: NO), the rotation abnormality of the motor 3 due to pinching has not occurred. (Step S20 in FIG. 7 or Step S40 in FIG. 8). Then, a reverse / stop prohibition signal is output from the motor drive circuit 2 to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed as described above. On the other hand, if the change amount / threshold comparison flag is “1” (step S15 in FIG. 7: YES or step S35 in FIG. 8: YES), the change condition flag is “0” (step S16 in FIG. 7: Since YES or step S36 in FIG. 8: YES), it is determined that rotation abnormality of the motor 3 due to the object Z being caught in the window 100 has occurred (step S17 in FIG. 7 or step S37 in FIG. 8). Then, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3, open the window 100 (step S18 in FIG. 7 and step S38 in FIG. 8), release the pinching, and if the window 100 is completely opened. (Step S19 in FIG. 7: YES or Step S39 in FIG. 8: YES), the manual closing process or the automatic closing process ends.

  On the other hand, when the object Z is sandwiched in the window 100 as shown in FIG. 4, the rotational speed f of the motor 3 rapidly decreases from the time when the object Z is sandwiched and approaches “0” and changes once. Both the amount ΔF1 and the twice-change amount ΔF2 rise from the time of being sandwiched, and the once-change amount ΔF1 reaches the threshold value S. Therefore, in step 90 of FIG. 17, the twice-change amount ΔF2 (z) to ΔF2 (z + n) becomes equal to or larger than the second predetermined value B (step S90: NO), and the change condition flag is set to “0” (step S95). ) The change of the one-time variation ΔF1 (0) is stopped (step S96). In step S97, it is determined that the current one-time variation ΔF1 (0) is equal to or greater than the threshold value S (step S97: YES), and the variation / threshold comparison flag is set to “1” (step S94). The rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, in the same procedure as described above, it is determined that rotation abnormality of the motor 3 due to the pinching has occurred (step S17 in FIG. 7 or step S37 in FIG. 8). Then, a motor reverse rotation signal is output to reverse the motor 3, open the window 100 (step S18 in FIG. 7 and step S38 in FIG. 8), release the pinching, and open the window 100 completely (in FIG. 7). Step S19: YES or Step S39 in FIG. 8: YES), the manual closing process or the automatic closing process is terminated.

  According to the third embodiment described above, when the rotational speed f of the motor 3 has a constant deceleration tendency, all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) are “+” from “0”. The first predetermined value A is greater than or equal to the first predetermined value A, and the two-time variation ΔF2 (z) to ΔF2 (z + n) is all near “0” and less than the second predetermined value B. The amount ΔF1 (0) is changed (down) so that it does not easily reach the threshold value S, so that the erroneous detection margin of the rotation abnormality of the motor 3 can be increased. For this reason, it becomes difficult to erroneously determine the presence or absence of rotation abnormality of the motor 3 due to the influence of disturbance or the like, and the rotation abnormality of the motor 3 can be accurately detected.

  When the rotation speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, if the change of the one-time variation ΔF1 (0) is continued, the one-time variation ΔF1 is “− ”Side (a value closer to the side opposite to the threshold value S), the erroneous detection margin for the abnormal rotation of the motor 3 becomes too large, and not only the erroneous detection of the abnormal rotation of the motor 3 due to the influence of disturbance or the like. Further, it becomes difficult to detect an actual rotation abnormality of the motor 3. However, as described above, the rotational speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, and the once change amount ΔF1 is shifted to the “−” side and then saturated, so that the first predetermined value is reached. In response to the fact that the twice change amount ΔF2 once shifted from “0” to the “−” side and again saturated near “0” and does not become the second predetermined value B or more. If the above change in the rotational change amount ΔF1 (0) is stopped, it is possible to suppress the erroneous detection margin for the rotation abnormality of the motor 3 from becoming too large. For this reason, it is difficult to erroneously determine whether there is an abnormality in the rotation of the motor 3 due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no abnormality in the rotation of the motor 3 when an abnormality in the rotation of the motor 3 actually occurs. Can be detected accurately.

  Furthermore, all of the one-time variation amounts ΔF1 (Z) to ΔF1 (Z + n) are equal to or greater than the first predetermined value A, and all the two-time variation amounts ΔF2 (Z) to ΔF2 (Z + n) are the second predetermined value. In the case where it is less than B, the reverse rotation or stop of the motor 3 is prohibited when the changed once-change amount ΔF1 (0) -C is equal to or greater than the threshold value S. Therefore, the rotational speed f of the motor 3 is constant. Even if the motor 3 is not in an abnormal rotation state when the motor is in a deceleration tendency, the rotation state of the motor 3 is maintained as it is even if the one-time variation ΔF1 (0) -C exceeds the threshold value S due to the influence of a disturbance or the like. can do.

  FIG. 19 is a flowchart showing a detailed procedure of a part of the rotation state detection process of the motor 3 in the fourth 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 fourth embodiment. The flowcharts of FIGS. 7 and 8 are also cited as the fourth embodiment. Furthermore, since the rotation abnormality detection block of the fourth embodiment is the same as that of FIG. 16, FIG. 16 is also cited as the fourth embodiment. In FIG. 11, Steps S71 to S75 are executed as described above to obtain the current rotation speed f (0), the first variation ΔF1 (0), and the second variation ΔF2 (0) of the motor 3, respectively. And stored in the corresponding storage units 82, 84, 86.

  FIG. 20 is a diagram showing temporal changes in the rotation speed, the one-time change amount, and the two-time change amount during the closing operation of the window 100 in the fourth embodiment. The display form and the detection / calculation method of the rotational speed f, the first variation ΔF1 and the second variation ΔF2 of the motor 3 are the same as those in FIG. The display forms and values of the first predetermined value A and the second predetermined value B on the “+” side and the first predetermined value A ′ and the second predetermined value B ′ on the “−” side are as shown in FIG. It is the same. The threshold value S is not changed and is always a constant value (8 Hz in this example). ΔF1-C indicated by a solid white square is a value obtained by changing the amount of change ΔF1 by a predetermined amount, and ΔF1 + D indicated by a dashed white square increases the amount of change ΔF1 by a predetermined amount. The value is changed as follows. These will be described later.

  When step S75 is completed in FIG. 11, the first-time variation ΔF1 (z) to ΔF1 (z + n) and the second-time variation ΔF2 (z) to ΔF1 (z + n) in the predetermined interval before the current predetermined number of times are respectively stored in the storage unit 84. , 86 (step S76). Then, in the change amount changing unit 90, all of the once change amounts ΔF1 (z) to ΔF1 (z + n) are equal to or greater than the predetermined value A on the “+” side, and the twice change amounts ΔF2 (z) to ΔF2 (z + n). Are all less than the predetermined value B on the “+” side (step S90 in FIG. 19). This condition is for offsetting the decrease in the erroneous detection margin of the rotation abnormality of the motor 3 by decreasing the one-time change amount ΔF1 in the fourth embodiment. In FIG. 20, all of the one-time variation ΔF1 in four consecutive sections three times before the current time are equal to or more than the first predetermined value A on the “+” side, and all of the two-time variation ΔF2 are on the “+” side. Is less than the second predetermined value B.

  As shown on the left side of FIG. 20, when the rotational speed f of the motor 3 has a constant deceleration tendency, all of the one-time variation ΔF1 in the four previous three sections as indicated by a rough broken line on the left side. Is on the “+” side and is greater than or equal to the first predetermined value A, and all the twice-changes ΔF2 are near “0” and less than the second predetermined value B (step S90 in FIG. 19: YES), the change condition flag is set to “1” to indicate that the above condition is satisfied (step S91). Then, it is determined that the rotational speed f has a constant deceleration tendency, and a current value ΔF1 (0) obtained by reducing the current one-time variation ΔF1 (0) by a predetermined amount so that the one-time variation ΔF1 does not easily reach the threshold S. 0) -C (step S92). In FIG. 20, the one-time change amount ΔF <b> 1 -C is calculated by reducing the one-time change amount ΔF <b> 1 by 1 Hz. As a result, the erroneous detection margin for abnormal rotation of the motor 3 is increased by a predetermined amount (1 Hz in this example).

  Next, the change amount / threshold comparison unit 91 compares the changed once change amount ΔF1 (0) -C with the threshold value S, and whether or not the once change amount ΔF1 (0) -C is equal to or greater than the threshold value S. Is determined (step S93). Then, the change amount / threshold comparison flag is “1” (step S94) indicating that the one-time change amount ΔF1 (0) -C is equal to or greater than the threshold value S or less than the threshold value S according to the determination result. “0” indicating this (step S98), the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, in the same procedure as described above, it is determined that rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8), and the motor drive circuit 2 prohibits reversal / stop. A signal is output to continue normal rotation of the motor 3 (step S21 in FIG. 7 or step S41 in FIG. 8), and the subsequent processing is executed.

  After that, when the rotational speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency as shown slightly to the left of the center of FIG. Part of the one-time variation ΔF1 in the four sections three times before becomes less than the first predetermined value A, and the condition of step S90 in FIG. 19 is not satisfied (step S90: NO). In this case, the change amount changing unit 90 has all of the once-change amounts ΔF1 (z) to ΔF1 (z + n) equal to or less than the predetermined value A ′ on the “−” side, and the twice-change amount ΔF2 (z) to It is determined whether or not all of ΔF2 (z + n) is larger than a predetermined value B ′ on the “−” side (step S110). This condition is for increasing the threshold value S in the fourth embodiment to offset the increase in the erroneous detection margin of the rotation abnormality of the motor 3. In FIG. 20, all of the one-time variation ΔF1 in four consecutive sections three times before the current time are equal to or less than the first predetermined value A ′ on the “−” side, and all of the two-time variation ΔF2 are “−”. The second predetermined value B ′ is greater than the second predetermined value B ′.

  In the situation surrounded by a fine broken line on the left side from the center of FIG. 1 is larger than the predetermined value A ′ and part of the twice-change amount ΔF2 is on the “−” side and is equal to or smaller than the second predetermined value B ′ (step S110: NO), the change condition flag is set to the above condition. Is set to “0” to indicate that is not satisfied (step S95). Then, it is determined that the rotational speed f has changed from a constant deceleration tendency, and the change (down) to the current one-time change amount ΔF1 (0) is stopped (step S96). As a result, the erroneous detection margin for the rotation abnormality of the motor 3 that has become too large due to the transition of the one-time change amount ΔF1 to the “−” side is reduced by a predetermined amount (1 Hz in this example).

  Next, the change / threshold comparison unit 91 compares the current one-time change amount ΔF1 (0) with the threshold value S (0) to determine whether the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S (0). It is determined whether or not (step S97). Then, the change amount / threshold comparison flag is set to “1” (step S94) or “0” (step S98) according to the determination result, and the rotation state detection process of the motor 3 is terminated, and the step of FIG. The process proceeds to S15 or step S35 in FIG. Thereafter, in the same procedure as described above, rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8) or has occurred (step S17 in FIG. 7 or FIG. 7). 8 step S37). Depending on this result, as described above, step S21 in FIG. 7 or step S41 in FIG. 8 is executed to execute the subsequent processing, or steps S18, S19 in FIG. 7 or step S38 in FIG. , S39 is executed to end the manual closing process or the automatic closing process.

  In addition, when the rotational speed f of the motor 3 continues to have a constant acceleration tendency as shown in the approximate center of FIG. 20, the current three times in the previous four sections are surrounded by a rough broken line at the approximate center. All of the one-time variation ΔF1 is equal to or less than the first predetermined value A ′ on the “−” side, and all of the two-time variation ΔF2 is in the vicinity of “0”, and the second predetermined value B on the “−” side. Since it is greater than '(step S110: YES), the change condition flag is set to "1" to indicate that the above condition is satisfied (step S111). Then, it is determined that the rotational speed f has a constant acceleration tendency, and the current one-time change amount ΔF1 (0) is increased by a predetermined amount ΔF1 (so that the one-time change amount ΔF1 can easily reach the threshold value S. 0) + D (step S112). In FIG. 20, the single change amount ΔF + D after the change is calculated by increasing the single change amount ΔF1 by 1 Hz. As a result, the erroneous detection margin for abnormal rotation of the motor 3 is reduced by a predetermined amount (1 Hz in this example).

  Next, the change amount / threshold comparison unit 91 compares the changed once-change amount ΔF1 (0) + D with the threshold value S to determine whether or not the once-change amount ΔF1 (0) + D is equal to or greater than the threshold value S. Determination is made (step S113). Then, the change amount / threshold comparison flag is set to “1” (step S94) or “0” (step S98) according to the determination result, and the rotation state detection process of the motor 3 is terminated, and the step of FIG. The process proceeds to S15 or step S35 in FIG. Thereafter, in the same procedure as described above, rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8) or has occurred (step S17 in FIG. 7 or FIG. 7). 8 step S37). Depending on this result, as described above, step S21 in FIG. 7 or step S41 in FIG. 8 is executed to execute the subsequent processing, or steps S18, S19 in FIG. 7 or step S38 in FIG. , S39 is executed to end the manual closing process or the automatic closing process.

  Also, as shown on the right side of FIG. 20, when the rotational speed f of the motor 3 changes from a constant acceleration tendency, the amount of one-time change in the four previous sections three times before as shown by a thin broken line on the right side. A part of ΔF1 shifts to the side that tends to reach the threshold value (side toward “0” and “+”), and becomes larger than the first predetermined value A ′ on the “−” side (step S110 in FIG. 19: NO). ). The twice-change amount ΔF2 is shifted from “0” to the “+” side, and does not fall below the second predetermined value B ′ on the “−” side. When the condition in step S110 is not satisfied as described above, the change condition flag is set to “0” to indicate that the condition is not satisfied (step S95). Then, it is determined that the rotation speed f has changed from a certain acceleration tendency, and the change (up) to the current one-time change amount ΔF1 (0) is stopped (step S96). As a result, the erroneous detection margin of the rotation abnormality of the motor 3 that has become too small due to the transition of the one-time change amount ΔF1 toward the “0” and “+” side is increased by a predetermined amount (1 Hz in this example).

  Next, the change / threshold comparison unit 91 compares the current one-time change amount ΔF1 (0) with the threshold value S to determine whether or not the one-time change amount ΔF1 (0) is equal to or greater than the threshold value S ( Step S97). Then, the change amount / threshold comparison flag is set to “1” (step S94) or “0” (step S98) according to the determination result, and the rotation state detection process of the motor 3 is terminated, and the step of FIG. The process proceeds to S15 or step S35 in FIG. Thereafter, in the same procedure as described above, rotation abnormality of the motor 3 due to pinching has not occurred (step S20 in FIG. 7 or step S40 in FIG. 8) or has occurred (step S17 in FIG. 7 or FIG. 7). 8 step S37). Depending on this result, as described above, step S21 in FIG. 7 or step S41 in FIG. 8 is executed to execute the subsequent processing, or steps S18, S19 in FIG. 7 or step S38 in FIG. , S39 is executed to end the manual closing process or the automatic closing process.

  On the other hand, when the object Z is sandwiched in the window 100 as shown in FIG. 4, the rotational speed f of the motor 3 rapidly decreases from the time when the object Z is sandwiched and approaches “0” and changes once. Both the amount ΔF1 and the twice-change amount ΔF2 rise from the time of being sandwiched, and the once-change amount ΔF1 reaches the threshold value S. Therefore, in step 90 of FIG. 19, the twice-change amount ΔF2 (z) to ΔF2 (z + n) becomes equal to or greater than the second predetermined value B (step S90: NO), and in step S110, the once-change amount ΔF1 (z). .About..DELTA.F1 (z + n) becomes larger than the first predetermined value A '(step S110: NO), the change condition flag is set to "0" (step S95), and the current change amount .DELTA.F1 (0) is changed. Stop (step S96). In step S97, it is determined that the current one-time variation ΔF1 (0) is equal to or greater than the threshold S (0) (step S97: YES), and the variation / threshold comparison flag is set to “1” (step S97). S94), the rotation state detection process of the motor 3 is terminated, and the process proceeds to step S15 in FIG. 7 or step S35 in FIG. Thereafter, in the same procedure as described above, it is determined that rotation abnormality of the motor 3 due to the pinching has occurred (step S17 in FIG. 7 or step S37 in FIG. 8). Then, a motor reverse rotation signal is output to reverse the motor 3, open the window 100 (step S18 in FIG. 7 and step S38 in FIG. 8), release the pinching, and open the window 100 completely (in FIG. 7). Step S19: YES or Step S39 in FIG. 8: YES), the manual closing process or the automatic closing process is terminated.

  According to the fourth embodiment described above, when the rotational speed f of the motor 3 has a constant deceleration tendency, all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) are the first on the “+” side. Is greater than or equal to the predetermined value A, and all of the twice-change amounts ΔF2 (z) to ΔF2 (z + n) are less than the second predetermined value B on the “+” side, so that the one-time change amount ΔF1 (0) is the threshold value S. Therefore, it is possible to increase the erroneous detection margin of the rotation abnormality of the motor 3. For this reason, it becomes difficult to erroneously determine the presence or absence of rotation abnormality of the motor 3 due to the influence of disturbance or the like, and the rotation abnormality of the motor 3 can be accurately detected. Further, when the rotation speed f of the motor 3 is switched from a constant deceleration tendency to a constant acceleration tendency, a part of the one-time variation ΔF1 (z) to ΔF1 (z + n) is the first on the “+” side. Since it is less than the predetermined value A, it is possible to prevent the one-time change amount ΔF1 (0) from being changed as described above, and to prevent the erroneous detection margin of the rotation abnormality of the motor 3 from becoming too large. For this reason, it is difficult to erroneously determine whether there is an abnormality in the rotation of the motor 3 due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no abnormality in the rotation of the motor 3 when an abnormality in the rotation of the motor 3 actually occurs. Can be detected accurately.

  When the rotational speed f of the motor 3 has a constant acceleration tendency, all of the one-time variations ΔF1 (z) to ΔF1 (z + n) are on the “−” side from “0”, and on the “−” side. Since it is equal to or less than the first predetermined value A ′ and all of the twice-change amounts ΔF2 (z) to ΔF2 (z + n) are in the vicinity of “0” and are larger than the second predetermined value B ′ on the “−” side, The one-time change amount ΔF1 (0) is changed (up) so as to easily reach the threshold value S, so that the erroneous detection margin of the rotation abnormality of the motor 3 can be reduced. For this reason, it is difficult to erroneously determine whether there is an abnormality in the rotation of the motor 3 due to the influence of disturbance, etc., and it is difficult to erroneously determine that there is no abnormality in the rotation of the motor 3 when an abnormality in the rotation of the motor 3 actually occurs. Can be detected accurately. In addition, when the rotation speed of the motor 3 changes from a constant acceleration tendency, if the change of the one-time change amount ΔF1 (0) is continued, the one-time change amount ΔF1 easily reaches the threshold value S. Therefore, the erroneous detection margin for the rotation abnormality of the motor 3 becomes too small, and it becomes easy to erroneously detect the rotation abnormality of the motor 3 due to the influence of disturbance or the like. However, as described above, the rotational speed f of the motor 3 changes from a constant acceleration tendency, and the one-time change amount ΔF1 changes from “0” to the “+” side where the threshold value S is easily reached. The second change amount ΔF2 changes from “0” to the “+” side and does not fall below the “−” side second predetermined value B ′. Thus, if the above change of the one-time change amount ΔF1 (0) is stopped, it is possible to suppress the erroneous detection margin for the rotation abnormality of the motor 3 from becoming too small. For this reason, it becomes difficult to erroneously determine the presence or absence of rotation abnormality of the motor 3 due to the influence of disturbance or the like, and the rotation abnormality of the motor 3 can be accurately detected.

  Furthermore, all of the first variation ΔF1 (z) to ΔF1 (z + n) are equal to or greater than the first predetermined value A on the “+” side, and all of the second variation ΔF2 (z) to ΔF2 (z + n) are When the value is less than the second predetermined value B on the “+” side, and all of the one-time variation amounts ΔF1 (z) to ΔF1 (z + n) are equal to or less than the first predetermined value A ′ on the “−” side, and When all of the twice-change amounts ΔF2 (z) to ΔF2 (z + n) are larger than the second predetermined value B ′ on the “−” side, the once-change amounts ΔF1 (0) −C and ΔF1 (0) after the change are made. ) When + D becomes equal to or greater than the threshold value S, the reverse or stop of the motor 3 is prohibited. Therefore, when the rotational speed f of the motor 3 tends to be a constant deceleration or acceleration, the motor 3 is not in an abnormal rotation state. However, the amount of change once ΔF1 (0) −C and ΔF1 (0) + D becomes greater than or equal to the threshold value S due to the influence of disturbance, etc. Also, it is possible to maintain the rotational state of the motor 3.

  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 state 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 state detection process of the motor in 1st Embodiment of this invention. It is the figure which showed the rotational speed of the motor in 1st Embodiment of this invention, and the time change of 1 time variation | change_quantity and 2 time variation | change_quantity. It is the flowchart which showed a part of detailed procedure of the rotation state detection process of the motor in 2nd Embodiment of this invention. It is the figure which showed the rotational speed of the motor in 2nd Embodiment of this invention, the time change 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 state detection process of the motor in 3rd Embodiment of this invention. It is the figure which showed the rotational speed of the motor in 3rd Embodiment of this invention, the time change of 1 time variation | change_quantity, and 2 time variation | change_quantity. It is the flowchart which showed a part of detailed procedure of the rotation state detection process of the motor in 4th Embodiment of this invention. It is the figure which showed the rotational speed of the motor in 4th Embodiment of this invention, and the time change of 1 time variation | change_quantity and 2 time variation | change_quantity.

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Motor 4 Rotary encoder 5 Pulse detection circuit 6 Memory 8 Control part 81 Rotation speed detection part 82 Rotation speed memory | storage part 83 1 time change amount calculation part 84 1 time change amount storage part 85 2 time change amount calculation part 86 2 time change amount Storage unit 87 Threshold change unit 88 Change amount / threshold comparison unit 89 Rotation abnormality determination unit 90 Change amount change unit 91 Change amount / threshold comparison unit A First predetermined value on “+” side B Second on “+” side Predetermined value A '1st predetermined value on the "-" side B' 2nd predetermined value on the "-" side
F2 twice change amount (change amount of motor rotation speed change amount)
S threshold

Claims (9)

An electric motor control device for controlling an electric motor whose rotational speed has a constant change tendency,
A detecting means for detecting a 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;
Based on 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, the change amount of the rotation speed change amount is defined as a two-time change amount. A second calculating means for calculating;
Third storage means for sequentially storing the twice change amount calculated by the second calculation means;
Threshold changing means for changing a preset threshold;
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,
Of the one-time change amount and the two-time change amount calculated in a predetermined section before the predetermined number of times stored in the second storage means and the third storage means, the one-time change amount is set in advance. When the first predetermined value is reached and the amount of change twice does not reach the second predetermined value set in advance, the threshold changing means changes the threshold, and the comparing means changes the change. A motor control device that compares a later threshold value with the one-time change amount. In the electric motor control device according to claim 1,
The first predetermined value and the second predetermined value tend to decelerate at a constant rotational speed of the motor depending on whether the one-time change amount and the two-time change amount reach or do not reach the predetermined value. Are set to values that can be used to determine whether
The threshold value changing means is configured such that the one-time change amount of the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times is equal to or greater than the first predetermined value. When the predetermined value of 1 is reached and the amount of change twice is less than the second predetermined value and does not reach the second predetermined value, the rotational speed of the electric motor tends to be a constant deceleration. And the threshold value is changed so that the one-time change amount does not easily reach the threshold value. In the electric motor control device according to claim 1,
The first predetermined value and the second predetermined value have a tendency that the rotational speed of the motor is constant acceleration depending on whether the one-time change amount and the two-time change amount reach or do not reach the predetermined value. Are set to values that can be used to determine whether
The threshold value changing means is configured such that, of the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times, the first change amount is equal to or less than the first predetermined value . 1 reaches a predetermined value, and when the twice variation is not reached to the second predetermined value by greater than said second predetermined value, the rotational speed of the electric motor is in a constant acceleration tendency And the threshold value is changed so that the one-time change amount easily reaches the threshold value. In the electric motor control device according to any one of claims 1 to 3,
The threshold value changing means, after the threshold value is changed, out of the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times, the one-time change amount becomes the first predetermined value. An electric motor control device that returns a changed threshold value to an original value when the amount of change does not reach or when the amount of change twice reaches the second predetermined value. An electric motor control device for controlling an electric motor whose rotational speed has a constant change tendency,
A detecting means for detecting a 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;
Change amount changing means for changing the one-time change amount calculated by the first calculating means;
Based on 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, the change amount of the rotation speed change amount is defined as a two-time change amount. A second calculating means for calculating;
Third storage means for sequentially storing the twice change amount calculated by the second calculation means;
A comparison means for comparing a preset 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,
Of the one-time change amount and the two-time change amount calculated in a predetermined section before the predetermined number of times stored in the second storage means and the third storage means, the one-time change amount is set in advance. When the first predetermined value is reached and the second-time change amount does not reach a preset second predetermined value, the change-amount changing means changes the first-time change amount, and the comparison The means compares the amount of one-time change after the change with the threshold value. In the motor control device according to claim 5,
The first predetermined value and the second predetermined value tend to decelerate at a constant rotational speed of the motor depending on whether the one-time change amount and the two-time change amount reach or do not reach the predetermined value. Are set to values that can be used to determine whether
The change amount changing unit is configured such that, of the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times, the one-time change amount is equal to or greater than the first predetermined value. It reaches a first predetermined value, and when the twice variation is not reached to the second predetermined value by a second less than a predetermined value, the deceleration trend rotational speed is constant of the motor An electric motor control device characterized by determining that there is a change and changing the one-time change amount so that the one-time change amount does not easily reach the threshold value. In the motor control device according to claim 5,
The first predetermined value and the second predetermined value have a tendency that the rotational speed of the motor is constant acceleration depending on whether the one-time change amount and the two-time change amount reach or do not reach the predetermined value. Are set to values that can be used to determine whether
The change amount changing unit is configured to cause the one-time change amount to be equal to or less than the first predetermined value among the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times. It reaches a first predetermined value, and when the twice variation is not reached to the second predetermined value by greater than said second predetermined value, the acceleration trend rotational speed is constant of the motor An electric motor control device that determines that there is a change and changes the one-time change amount so that the one-time change amount easily reaches the threshold value. In the motor control device according to any one of claims 5 to 7,
The change amount changing means is configured to change the first change amount between the first change amount and the second change amount calculated in the predetermined section before the predetermined number of times after the change of the first change amount. An electric motor control device that stops changing the one-time change amount when the predetermined value is not reached or when the two-time change amount reaches the second predetermined value. In the electric motor control device according to any one of claims 1 to 8,
The control means is configured such that, of the one-time change amount and the two-time change amount calculated in the predetermined section before the predetermined number of times, the one-time change amount reaches the first predetermined value and the two-time change amount. In the case where the amount does not reach the second predetermined value, the motor control device prohibits reversal or stop of the motor when the one-time change amount reaches the threshold value.

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