JP4891121B2 - Control device for vehicle opening / closing body - Google Patents

Description

  The present invention relates to a control device for a vehicle opening / closing body such as a vehicle window or a sliding door. In particular, the present invention relates to a control device for a vehicle opening / closing body capable of driving the opening / closing body with a direct current motor and detecting the inclusion of a foreign object.

  2. Description of the Related Art Conventionally, an opening / closing body control apparatus that controls driving of a vehicle opening / closing body such as a vehicle window or a sliding door with a DC motor is known. In such an opening / closing body control device, it is necessary to stop or reverse the rotation of the motor when a foreign object is caught. It is conceivable to detect the load of the motor in order to detect foreign object pinching. The motor load can be obtained from the motor terminal voltage and the armature current. However, if a current pickup coil is used for current detection or a shunt resistor with a very small resistance is used, the number of parts increases and the cost increases. There are problems such as. Therefore, the motor load is estimated from the motor voltage, angular velocity, and angular acceleration, and it is determined that there is a foreign object when the estimated load exceeds a predetermined threshold for a predetermined time (also referred to as a mask time). Has been proposed (see, for example, Patent Document 1).

In the said patent document, the estimated load P is calculated | required by following Formula.
P = Bm (ω0−ω) + (Tm−Tm0) −Jm · dω (1)
Here, Bm is the viscosity coefficient of the motor internal load, ω is the angular velocity, ω0 is the steady angular velocity value when there is no external load, Tm is the motor torque, Tm0 is the motor torque when there is no external load, and Jm is a device including the motor (for example, Moment of inertia of the window opening and closing device), dω is angular acceleration.

In this equation, (Tm−Tm0) can be decomposed into voltage and angular velocity and expressed by the following equation.
Tm = −a · ω + b · V + c (2)
Here, a, b, and c are constants specific to the motor, and the expression (2) can be stored in a memory such as a ROM by converting it into a function or a map for each motor.

From the equations (1) and (2), the estimated load P can also be expressed as follows.
P = (Bm + a) (ω0−ω) + b (V−V0) −Jm · dω (3)
In equation (3), (Bm + a) (ω0−ω) is also called an angular velocity difference calculation term, b (V−V0) is a voltage difference calculation term, and Jm · dω is also called an angular acceleration calculation term (or inertia term). is there.
JP 2004-242425 A JP-A-9-328965 JP-A-10-169310 JP-A-9-125815 JP 2005-83052 A

  In the pinching determination based on the estimated load as described above, if a disturbance is applied during the closing operation of the opening / closing body, for example, when the vehicle is traveling on a rough road with many bumps, the angular velocity ω and angular acceleration dω of the motor May fluctuate greatly and the estimated load P may fluctuate greatly, which may cause erroneous determination that a foreign object is actually caught. For this reason, it has been proposed to change the threshold value used for estimation of the jamming according to the characteristics of the road surface (see Patent Document 2). In another document, when a disturbance is detected, it has been proposed to correct a threshold value indicating foreign object pinching so that the pinching detection sensitivity becomes dull (see Patent Document 3). However, there is a need for a more accurate disturbance detection method in order to more effectively remove the influence of vibrational disturbances and realize highly reliable pinching determination.

  Further, even when a large impact is temporarily applied to the vehicle, such as when the door is closed during the closing operation of the opening / closing body, the estimated load P may fluctuate abruptly and pinching misjudgment may occur. Patent Document 4 proposes to increase the threshold for pinching determination when it is detected that a door closing operation is performed by a door switch while the window is moving up. However, since the door closing operation needs to be detected separately by a door switch or the like, the apparatus becomes complicated. Even if the threshold value is increased, if there is a large instantaneous disturbance exceeding the threshold value, an erroneous determination occurs.

  Further, when the motor is started, the operation is not stable, that is, the angular velocity ω and the angular acceleration dω fluctuate greatly, so that erroneous determination is likely to occur. For this reason, pinching detection and determination are not performed during a predetermined period (mask period) from the start of the motor. However, when a foreign object is already pinched at the start of the motor, the pinch determination starts after the mask period. For this reason, there is a possibility that the load becomes too large when pinching is detected (Patent Document 5).

  In addition, motor characteristics vary from individual to individual, and change during use. Therefore, in order to detect pinching quickly and accurately, such differences in individual motor characteristics and changes over time are taken into account. There is a need to.

  Furthermore, when it is determined that foreign objects are caught when the estimated load as described above exceeds a predetermined threshold for a predetermined time or more, when the moving speed of the opening / closing body is high (that is, when the load increase rate is large) ), The load at the time when it is determined that pinching is present (referred to as pinching load) may be excessive.

  The present invention has been made to solve the above-mentioned problems, and its main object is to provide a control device for a vehicle opening / closing body using a DC motor capable of accurately and promptly detecting a foreign object. It is to be.

  A second object of the present invention is to provide a control device for a vehicle opening / closing body that can determine whether an object is caught immediately after the start of a motor without providing a mask period.

  In order to solve such a problem, the control device for a vehicle opening / closing body according to the present invention detects a rotational speed detecting means for detecting a rotational speed of a DC motor for driving the opening / closing body, and detects a driving voltage of the motor. Voltage detecting means, acceleration calculating means for calculating the acceleration of the motor from the rotational speed of the motor, estimated load calculating means for obtaining an estimated load from the rotational speed, acceleration and drive voltage of the motor, and the rotational speed of the motor Motor torque calculating means for calculating motor torque from the driving voltage, reference torque calculating means for calculating a reference torque based on the steady state of the motor torque and storing it in a memory, and based on the estimated load, motor torque and reference torque And a pinching determination unit for determining pinching of the object, wherein the pinching determination unit is a case where the estimated load is greater than a predetermined threshold value. If at least one of the motor torque and the estimated load is smaller than the reference torque is assumed to determine that there is no pinching of an object.

  The reference torque can be calculated by the reference torque calculation means as an average value of the motor torque within a predetermined time when a state where the fluctuation range of the estimated load is within a predetermined range continues for a predetermined time. .

  Preferably, the reference torque calculation means can calculate the reference torque in both an opening operation and a closing operation of the opening / closing body.

  In addition, when the opening / closing body is opened / closed in the vertical direction and the opening / closing body is opened downward, the reference torque calculated in the opening operation is a pinching determination made in the closing operation of the opening / closing body. It is preferable that the correction is made based on the weight of the opening / closing body.

  The pinching determination means is configured so that a duration during which the estimated load exceeds the predetermined threshold exceeds a predetermined reference time, or the estimated load is in a state exceeding the predetermined threshold. When the movement amount of the opening / closing body exceeds a predetermined reference movement amount, it can be determined that the object is caught.

  According to the present invention, as described above, the reference torque (or steady torque) is calculated as the average value of the motor torque when the estimated load is stable, and the pinch determination means has the estimated load larger than the predetermined threshold value. Even when the estimated load and / or motor torque falls below the reference torque, it is determined that the object is not pinched (that is, the object is pinched only when both the estimated load and the motor torque exceed the reference torque). This effectively prevents false detection of foreign matter being caught even if the estimated load increases due to fluctuations in the angular velocity or angular acceleration of the motor due to instability immediately after the motor is started. Therefore, it is possible to determine whether the object is caught without providing a mask period immediately after starting the motor.

  If the reference torque is calculated in both the opening and closing operations of the opening / closing body, the reference torque can always be maintained in the latest state, and the determination accuracy is improved. In particular, when the opening / closing body is opened / closed in the vertical direction and the opening / closing body is opened downward, the opening / closing body is used when the reference torque calculated in the opening operation is used for the pinching determination performed in the closing operation of the opening / closing body. If it correct | amends based on the weight of this, more exact pinch | pinching determination will be attained in closing operation by using the correct | amended reference torque.

  In addition, the sandwiching judging means is configured such that the duration in which the state where the estimated load exceeds the predetermined threshold continues for a predetermined reference time or the estimated load is in a state where the estimated load exceeds the predetermined threshold. If the movement amount of the door exceeds the predetermined reference movement amount, the object will be pinched, and when the moving speed of the opening and closing body is slow, pinching judgment based on the duration is performed to ensure pinching In addition, when the moving speed of the opening / closing body is high, it is possible to detect the pinching without excessive pinching load by performing the pinching determination based on the moving amount of the opening / closing body.

  The control device of the present invention may further include motor torque map calculation means (8e) for calculating a motor torque map indicating a change in motor torque with respect to the position of the opening / closing body for each closing operation of the opening / closing body. The pinching determination means adjusts the estimated load by subtracting a motor torque obtained by referring to the motor torque map based on the position of the opening / closing body from the estimated load, and based on the adjusted estimated load. Thus, it is possible to determine whether the object is caught. The motor torque map calculation means can calculate the motor torque map based on the change state of the motor torque. Preferably, the motor torque map calculation means can calculate an average value of the motor torque for each predetermined period, and the average value of the motor torque can be used as the updated motor torque in the predetermined period. By such motor torque map calculation means, individual differences in motor characteristics, secular changes, and sliding loads of the opening / closing body can be reflected in the motor torque map. The pinching determination means adjusts the estimated load by subtracting the motor torque obtained by referring to the motor torque map based on the position of the opening / closing body from the estimated load, and determines whether the object is pinched based on the adjusted estimated load. Therefore, it is possible to detect only an increase in load due to pinching while suppressing the influence of individual differences in motor characteristics and changes over time, and to perform pinching determination with high accuracy.

  In one embodiment, the pinch determination means stores a peak value of an absolute value of a difference between the estimated load and the motor torque when the motor torque is larger than the estimated load as an inertial force peak value (Ipeak), and the estimated When the load exceeds the motor torque, if the absolute value of the difference between the estimated load at that time and the motor torque is smaller than the stored inertial force peak value, it can be determined that there is no pinching. As a result, it is possible to prevent erroneous detection of the estimated load increased due to the influence of the vibration disturbance as being caught in the object, and to perform pinching detection with high reliability. In addition, since it is not necessary to provide a margin for the pinch determination (that is, the reference load PL) in consideration of the vibration disturbance, the pinch detection sensitivity is improved, and pinch detection can be performed more quickly.

  Assuming that the inertial force peak value is cleared when the fluctuation range of the estimated load is less than or equal to a predetermined value for a predetermined period, pinching detection is performed by misrecognizing that there is a vibration disturbance when there is no vibration disturbance. It can be avoided.

  Further, the pinching determination means sets a threshold value representing an acceleration side fluctuation amount of the estimated load with respect to the motor torque, and when the estimated load exceeds the motor torque, the estimated load at that time and the motor When the absolute value of the torque difference is smaller than the set threshold value, it can be determined that there is no jamming. As a result, it is possible to prevent erroneous detection of the estimated load increased due to the influence of the vibration disturbance as being caught in the object, and to perform pinching detection with high reliability.

  According to a preferred embodiment of the present invention, the pinching determination means has an object pinching when the estimated load exceeds a predetermined threshold for a period determined by a predetermined mask amount (tref, Dref). It can be determined that the predetermined mask amount is variable according to the rate of change of the estimated load. As a result, even when a large fluctuation exceeding the predetermined threshold occurs due to disturbance, the estimated load is estimated from the rate of change of the estimated load, and an appropriate mask amount corresponding to the rate of change is estimated. By doing so, erroneous determination can be effectively prevented.

  For example, the mask amount is a predetermined reference time, and the pinching determination means determines that there is an object pinching when the estimated load exceeds a predetermined threshold for a predetermined reference time, and the predetermined reference time is estimated. It can be variable according to the rate of change of the load. With such a reference time that is variable according to the rate of change of the estimated load, it is possible to effectively prevent pinching misjudgment that may be caused by a large disturbance. Preferably, when the fluctuation rate of the estimated load is smaller than a predetermined value, the predetermined reference time is set as the first reference time, and when the fluctuation rate of the estimated load is equal to or larger than the predetermined value, the predetermined reference time is set as the first reference time. The second reference time which is larger than the reference time can be set, and thereby, it is possible to effectively prevent erroneous determination when a disturbance occurs with a simple configuration.

  As another method, or in addition thereto, the mask amount is a predetermined reference movement amount of the opening / closing body, and the pinch detection means has a predetermined reference movement amount of the opening / closing body while the estimated load exceeds a predetermined threshold. When the movement amount is exceeded, it is determined that the object is caught, and the predetermined reference movement amount can be variable according to the change rate of the estimated load. With such a reference movement amount that is variable according to the change rate of the estimated load, it is possible to effectively prevent a pinching misjudgment that may be caused by a large disturbance. Preferably, when the fluctuation rate of the estimated load is smaller than a predetermined value, the predetermined reference movement amount is set as the first reference movement amount, and when the fluctuation rate of the estimated load is equal to or larger than the predetermined value, a predetermined reference time is set as the first reference movement amount. The second reference time that is larger than the reference time of 1 can be set, thereby making it possible to effectively prevent erroneous determination when a disturbance occurs with a simple configuration.

  The pinch determination means is configured to detect whether the opening / closing body is in a state in which the duration during which the estimated load exceeds a predetermined threshold exceeds a predetermined reference time, or the estimated load exceeds a predetermined threshold. When the movement amount exceeds a predetermined reference movement amount, and it is assumed that the object is caught, at least one of the predetermined reference time and the predetermined reference movement amount is variable according to the fluctuation rate of the estimated load. Preferably there is. By using the reference time and the reference movement amount that are variable according to the rate of change of the estimated load, it is possible to prevent erroneous pinching during the occurrence of disturbance.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a case where the present invention is applied to an automotive power window device as a preferred embodiment of a control device for a vehicle opening / closing body according to the present invention.

  As shown in the drawing, the control unit 1 outputs an automatic or manual opening / closing control signal to the control unit 1 according to each opening / closing operation signal of the automatic operation switch 2a and the manual operation switch 2b provided in the driver's seat or the like. And a drive circuit 4 as a motor drive control circuit for forward / reverse drive control of the DC motor 3 according to the open / close control signal, a voltage detection circuit 5 for detecting the drive voltage of the motor 3, and the rotation of the motor 3. An angular speed calculation circuit 7 that calculates the rotational speed of the motor 3 as an angular speed based on the interval of pulse signals from the rotation sensor (or rotary encoder) 6 as the interlocking rotational speed detection means, and a CPU 8 that performs the main control of the controller 1. And are provided.

  The CPU 8 includes an angular acceleration calculation unit 8a that calculates angular acceleration based on the angular velocity signal from the angular velocity calculation circuit 7, and an estimated load calculation that estimates the external load of the motor 3 based on the drive voltage, angular velocity, and angular acceleration. An estimated load / motor torque calculation unit 8b that functions as a means and also functions as a motor torque calculation unit that calculates the torque of the motor 3 from the drive voltage and the angular velocity, and a determination unit 8c that determines pinching based on the estimated load are provided. It has been. The angular acceleration calculation unit 8a, the estimated load / motor torque calculation unit 8b, and the determination unit 8c may be performed by program processing in the CPU 8.

  Then, the motor 3 rotates forward and backward in accordance with the drive signal from the drive circuit 4, and the window 9 as a driven body connected to the motor 3 via a link or a wire is opened and closed. The auto control circuit 1a outputs a continuous open / close control signal when the open / close signal of the auto operation switch 2a is input, and the open / close signal of the manual operation switch 2b is input. Outputs an open / close control signal only during operation. As the control of the motor 3, constant voltage control or PWM control can be used.

  The CPU 8 is further provided with a position calculation unit 8d for the window 9 that calculates the position of the window 9 from fully closed to fully open based on the angular velocity signal from the angular velocity calculating circuit 7 and the rotation direction of the motor. The function of the position calculation unit 8d of the window 9 is also realized by program processing in the CPU 8. The position of the window 9 is, for example, 0 count for the fully open position, 2500 count for the fully closed position, and a count value between 0 count and 2500 count between the fully closed and fully open positions, based on the pulse count from the rotation sensor 6. It can be expressed by

  Further, the CPU 8 includes a motor torque map calculation unit 8e and a reference torque calculation unit 8f. As will be described in detail later, the motor torque map calculation unit 8e receives the motor torque signal from the estimated load / motor torque calculation unit 8b and the position signal of the window 9 from the position calculation unit 8d. The motor torque map showing the change of the motor torque with respect to the position is calculated (updated). The reference torque calculation unit 8f receives the estimated load and the motor torque from the estimated load / motor torque calculation unit 8b, and calculates a reference torque Tref indicating the steady motor torque based on them, as will be described in detail later.

  FIG. 2 shows a schematic flow of a preferred embodiment of the pinching determination control during the closing operation by the power window device configured as described above. The flow in FIG. 2 can be performed by program processing in the CPU 8 at a constant cycle of, for example, 5 ms.

  First, in step ST1, the terminal voltage V (effective value) of the motor 3 is detected by the voltage detection circuit 5 and A / D converted, and the process proceeds to step ST2.

  In step ST2, the period t is calculated from the interval between each pulse signal from the rotation sensor 6, and the angular velocity ω (= 2π / t) is calculated from the value. In the next step ST3, the angular acceleration dω is calculated based on the angular velocity ω calculated in step ST2, and the process proceeds to step ST4.

  In step ST4, the estimated load / motor torque calculation unit 8b calculates the estimated load P, which is an external load of the motor 3, based on the terminal voltage V, the angular velocity ω, and the angular acceleration dω. ) Here, as shown in FIG. 4, the estimated load P at the time of pinching is a combination of the motor friction characteristics and the load increase due to pinching, but the motor friction characteristics differ from motor to motor and are the same. Aging can also occur with motors. For this reason, conventionally, a threshold having a sufficient false detection margin is set so as not to erroneously detect a change in the estimated load P caused by an individual difference or aging of the motor characteristics or a sliding load of the window 9 (i.e., However, there is a problem in that the load at the time of pinching confirmation (pinching load) becomes high. In order to avoid such a problem, in step ST4, the estimated load P obtained based on the formula (1) or (3) is adjusted using the motor torque map, and the estimated load P is used in the following processing. It is preferable to do. The motor torque map indicates a change in motor torque with respect to the position of the window 9 when there is no external load (that is, when there is no pinching), as shown in FIG. As will be described in detail later, by calculating the motor torque map for each closing operation of the window 9, the individual differences and aging of the motor characteristics as described above and the sliding load of the window 9 are reflected in the motor torque map. be able to. Accordingly, the motor torque corresponding to the position of the window 9 at that time is obtained from the motor torque map updated as appropriate, and the result obtained by subtracting it from the estimated load P obtained from the equation (1) or (3) is as follows. By using the estimated load P to be used, it is possible to accurately detect the pinching by detecting only the load increase due to the pinching without being affected by individual differences in motor characteristics, aging, and sliding load of the window 9. It becomes possible. Correction of the estimated load P using such a motor torque map can be performed in the pinch determination unit 8c as desired.

  In step ST4, the motor torque Tm is also calculated from the terminal voltage V and the angular velocity of the motor 3 based on the above equation (2).

  In step ST5, the fluctuation range of the estimated load P in a predetermined period is compared with a predetermined value. If it is equal to or less than the predetermined value (that is, dω is sufficiently small, the estimated load P and the motor torque Tm are in a steady state being approximately equal). If it can be determined), the process proceeds to step ST6, and the average value of the motor torque Tm in the predetermined period is stored as a reference torque Tref in a memory (not shown). As will be described later in detail, this reference torque Tref is used to prevent pinching misjudgment due to instability at the start of the motor. When correcting the estimated load P using the motor torque map in step ST4, when comparing the reference torque Tref and the motor torque Tm with the estimated load P or comparing them with each other, the same correction is performed with the reference torque Tref and It is good to carry out also about the motor torque Tm.

  As shown in FIG. 3, the calculation and storage of the reference torque Tref is preferably performed also in the opening operation of the window 9, and the reference torque Tref obtained in the opening operation is used immediately after the start of the motor 3 in the next closing operation. It can be used for pinching detection. When the opening operation is a downward operation of the window 9, it is preferable to use a reference torque Tref corrected (for example, adding a weight) in consideration of a load increase corresponding to the weight of the window 9 during the closing operation.

  In step ST7, the above-described motor torque map is calculated (updated). FIG. 5 shows a detailed flow of the process performed in step ST7. As shown in the figure, in step ST71, the pulse count value C from the rotation sensor 6 is compared with a predetermined value (for example, 64 counts), and if the value is equal to or larger than the predetermined value, the process proceeds to step ST72 and the motor torque map is calculated. In step 73, the pulse count value C is cleared. That is, the motor torque map is calculated approximately every 64 counts. Note that the motor torque map is not updated when an object is caught, for example, when the estimated load P is greater than or equal to a predetermined reference load PL (ie, step ST7 is skipped). It may be a thing.

  Referring to the motor torque map of FIG. 6, the motor torque Tm is subjected to an averaging process for smoothing the waveform without the influence of noise or the like. In step ST72, the motor torque map is updated by sampling the motor torque average to obtain a new motor torque for a predetermined period (a period corresponding to 64 pulse edges) (see an enlarged view of FIG. 6). In this way, by sequentially updating the motor torque map every time the motor 3 or the window 9 is closed, even if there are individual differences in the motor characteristics or changes over time, it can be reflected in the motor torque map.

  In step ST8, a process for preventing erroneous pinching due to vibrational disturbance is performed. FIG. 7 shows an example of the behavior of the estimated load P and the motor torque Tm when there is a vibration disturbance. In the example of FIG. 7, the estimated load P is not corrected by the motor torque map. As shown in the top graph of FIG. 7, when there is an oscillating disturbance, the estimated load P rises and falls with respect to the motor torque Tm by changing the angular velocity ω, the angular acceleration dω, and the like in a wave shape. Vibrate. Generally, when the estimated load P is smaller than the motor torque Tm, the angular acceleration dω is positive, that is, the motor is accelerating. When the estimated load P is larger than the motor torque Tm, the angular acceleration dω is negative, that is, the motor is decelerating. it is conceivable that. If the estimated load P increases beyond the motor torque Tm, there is a possibility of foreign matter being caught, but if the estimated load P is just below the motor torque Tm just before that, it is due to vibrational disturbance. Yes, it can be determined that this is not due to foreign object pinching. Therefore, in step ST8, when the estimated load P falls below the motor torque Tm, the degree to which the estimated load P falls is stored as the inertial force peak value Ipeak, and when the estimated load P exceeds the motor torque Tm, it is stored. Compared with the inertial force peak value Ipeak, if it is equal to or less than Ipeak, the subsequent pinching determination process is not performed (ie, it is determined that there is no pinching) because it is due to vibrational disturbance. That is, in this embodiment, the inertial force peak value Ipeak serves as a threshold value representing the amount of fluctuation on the acceleration side of the estimated load P with respect to the motor torque Tm.

  FIG. 8 shows a detailed flow of the process performed in step ST8. As shown in the figure, the estimated load P is compared with the motor torque Tm in step ST81. If P ≦ Tm, Tm−P (or | P−Tm |) is calculated in step ST82, and the inertia force I and (Second graph from the top in FIG. 7). Subsequently, in steps ST83 and ST84, an inertial force peak value Ipeak is obtained. That is, the inertial force I and the inertial force peak value Ipeak are compared in step ST83, and only when Ipeak <I, the process proceeds to step ST84 and the inertial force I at that time is set as a new inertial force peak value Ipeak. In step 85, it is determined whether or not the vibration width ΔP of the estimated load P in the predetermined period is equal to or smaller than a predetermined value. If the vibration width ΔP is equal to or smaller than the predetermined value, the inertial force peak value Ipeak is cleared in step ST86. This is because it is considered that there is no vibration disturbance when the fluctuation range of the estimated load P in the predetermined period is small. In step ST87, the motor torque Tm and the inertial force peak value Ipeak are subtracted from the estimated load value P. If the torque is less than 0, it is determined that the disturbance is due to vibration disturbance, and the process returns to step ST1. Proceed to the next step ST9. In the example of FIG. 7, only the case where P-Tm-Ipeak is positive is shown in the lowermost graph. As described above, even when the estimated load P exceeds the motor torque Tm, if the estimated load P is substantially lower than the motor torque Tm just before that, it is determined that this is due to vibrational disturbance and the subsequent pinching determination By not performing the determination, erroneous determination can be avoided or the number of erroneous determinations can be greatly reduced.

  Subsequently, in step ST9, as will be described in detail later, a mask amount (time and window movement amount) for pinching determination is selected, and the process proceeds to step ST10.

  In step ST10, the jamming determination is performed using the estimated load P. A detailed flow of the process performed in step ST10 is shown in FIG. As shown in the figure, in step ST101, the estimated load P is compared with a predetermined reference load PL, and if P ≧ PL, the process proceeds to step ST102, and if not, the process proceeds to step ST106. In step ST102, the estimated load P is compared with the reference torque Tref obtained in step ST6. If P ≧ Tref, the process proceeds to step ST103, and if not, the process proceeds to step ST106. In step ST103, the motor torque Tm is compared with the reference torque Tref. If Tm ≧ Tref, the process proceeds to step ST104, and if not, the process proceeds to step ST106. In step ST104, the duration tcon while the three conditions of steps ST101, ST102, and ST103 are continuously satisfied is compared with a predetermined reference time (or mask time) tref. Then, the motor 3 is stopped or reversed. If tcon ≧ tref is not satisfied in step ST104, in step ST105, the movement amount D of the window 9 while the three conditions of steps ST101, ST102, and ST103 are continuously satisfied is set to a predetermined reference movement amount (or mask). Compared with (movement amount) Dref, when D ≧ Dref, it is determined that there is jamming, and the motor 3 is stopped or reversed, otherwise, the process returns to step ST1. In step ST106, the duration tcon and the movement amount D are cleared (that is, the value is set to zero). The moving amount D of the window 9 can be suitably represented by the number of pulses from the rotation sensor 6 that represents the amount of rotation of the motor 3.

  As described above, in the present embodiment, the pinching determination process is continued only when both the estimated load P and the motor torque Tm are equal to or greater than the reference torque (steady torque) Tref, and otherwise, it is determined that there is no pinching. As shown in the upper graph of FIG. 10, since the operation is unstable immediately after the motor 3 is started, the angular velocity ω and the angular acceleration dω are not affected even if the pinching has occurred and the motor torque Tm has not increased. The motor load (estimated load P) greatly varies with the variation. For this reason, if the pinching determination is performed by looking only at the estimated load P, an erroneous determination that the pinching has occurred is likely to occur although there is actually no pinching. Therefore, conventionally, a mask period has been provided so as not to detect pinching until the motor load is stabilized. However, as shown in the lower graph of FIG. 10, when pinching occurs at the start of the motor 3, the load increases immediately after the motor 3 starts, so the pinching determination is delayed due to the mask period, and pinching is confirmed. There was a problem that the load at the time (clamping load) would become large. On the other hand, in the above embodiment, in addition to the criterion that the estimated load P is equal to or greater than the predetermined threshold value PL, the possibility of being caught only when both the estimated load P and the motor torque Tm are equal to or greater than the reference torque (steady torque) Tref. Since the pinching determination process is continued by determining that the pin is present, even if pinching detection is performed immediately after the start of the motor 3 without a mask period, erroneous pinching detection due to fluctuations in the angular velocity ω and the angular acceleration dω is eliminated or greatly reduced. Can be reduced. Therefore, it is possible to suitably detect pinching immediately after the start of the motor 3 without a mask period immediately after the start of the motor.

  Further, in the above-described embodiment, in addition to determining pinching when tcon ≧ tref is satisfied in step ST104, it is determined that pinching has also occurred when D ≧ Dref in step ST105. As shown in the graph of FIG. 11, when the presence / absence of pinching is determined based on only the time tcon in which the estimated load P exceeds the reference load PL, when the moving speed of the window 9 is small (solid line in FIG. 11). The load increase ΔP1 at the time of pinching is also small, and there is no problem. However, when the moving speed is high, the load increase speed is also large (imaginary line in FIG. 11), and the load increase ΔP2 until pinching is confirmed may be excessive. In the above-described embodiment, when the rising speed of the window 9 is fast, the estimated load P has exceeded the reference load PL even before the duration tcom when the estimated load P exceeds the reference load PL reaches the reference time tref. If the movement amount D of the window 9 exceeds the reference movement amount Dref, it is determined that pinching has occurred, and the motor 3 is stopped or reversed. Therefore, an increase in load until pinching is confirmed (for example, ΔP2 ′ in FIG. 11) can be kept low. .

Next, selection of the determination mask amount (that is, the reference time tref and the reference movement amount Dref) in step ST9 will be described. FIG. 12 shows a detailed flow of the process performed in step ST9. As shown in the figure, it is determined in step ST91 whether or not the rate of change of the estimated load P is greater than or equal to a predetermined value. If not, the process proceeds to step ST92, where the first reference time t1 is determined as the reference time tref for determination. In step 93, the first reference movement amount D1 is set as the determination reference movement amount Dref. If the rate of change of the estimated load P is greater than or equal to the predetermined value in step ST91, the process proceeds to step ST94, where the second reference time t2 is set as the determination reference time tref, and the second reference movement amount D2 is determined in step ST95. The reference movement amount Dref is used. Here, t1 <t2 and D1 <D2. For example, t1 can be 20 ms, t2 can be 60 ms, D1 can be 12 counts (number of pulses), and D2 can be 36 counts (number of pulses). In the determinations in steps ST104 and ST105 described above, the presence or absence of pinching is determined using the determination reference time tref and the determination reference movement amount Dref selected in this way. It should be noted that the rate of change of the estimated load P can be preferably obtained by the following formula:
Estimated load change rate = | Previous estimated load-Current estimated load | ÷ (Number of pulses per control cycle) (4)
FIG. 13 shows an example of the estimated load P when a temporary large impact is applied to the vehicle, for example, when the door of the vehicle is closed vigorously. As shown in the figure, the estimated load P increases at a large rate of change, exceeds the reference load PL at a certain point in time, and the pinching determination process starts from there. When such a large impact is applied, an erroneous determination may occur if the determination is made with a relatively small first reference time t1. However, when the rate of change of the estimated load P is greater than or equal to a predetermined value as described above, erroneous detection can be prevented by using the second reference time t2 that is larger than the first reference time t1 for determination. The same applies to the reference movement amount Dref (that is, D1 or D2).

  Although the present invention has been described in detail based on specific embodiments, these embodiments are merely examples, and the present invention is not limited to these embodiments. For example, in the above embodiment, the present invention is applied to a power window device of an automobile, but the present invention can also be applied to an electric sliding door of an automobile.

  If the reference load PL in step ST101 is greater than or equal to the reference torque Tref in step ST102, the estimated load P ≧ the reference torque Tref is always satisfied if the estimated load P ≧ the reference load PL, and therefore step ST102 is omitted. You can also.

  The vehicle opening / closing body control device according to the present invention can perform object pinching determination without providing a mask period immediately after the start of the motor that drives the opening / closing body, and therefore, for example, for a power window device of an automobile It is useful as a control device.

The block diagram of the motor drive control circuit of the power window apparatus for motor vehicles to which this invention was applied. The figure which shows the outline | summary of the control flow based on this invention. The flowchart for calculating | requiring the reference torque Tref in a window opening operation | movement. The graph which shows the relationship between the estimated load and the motor friction characteristic when pinching has occurred. The flowchart which shows the update process of a motor torque map. The graph which shows an example of a motor torque map. The wave form diagram which shows an example of the estimated load and motor torque when there exists a vibration disturbance. The detailed flowchart of the process for determining whether it is a vibration disturbance. The detailed flowchart of a pinching determination process. The wave form diagram which shows an example of the load change at the time of motor starting. The graph for demonstrating the pinching detection with respect to different window moving speeds. The flowchart which shows the detail of the selection process of the threshold value for pinching | crimping determination. The flowchart which shows an example of the estimated load when a big disturbance is added to the vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2a Auto operation switch, 2b Manual operation switch 3 Motor 4 Drive circuit 5 Voltage detection circuit 6 Rotation sensor 7 Angular velocity calculation circuit 8 CPU
8a angular acceleration calculation unit, 8b estimated load / motor torque calculation unit, 8c determination unit, 8d position calculation unit, 8e motor torque map calculation unit, 8f reference torque calculation unit 9 window

Claims (5)

A control device for a vehicle opening / closing body that drives the opening / closing body with a DC motor,
Rotation speed detection means for detecting the rotation speed of the motor;
Voltage detection means for detecting the drive voltage of the motor;
Acceleration calculating means for calculating the acceleration of the motor from the rotational speed of the motor;
An estimated load calculating means for obtaining an estimated load from the rotational speed, acceleration and driving voltage of the motor;
Motor torque calculation means for calculating motor torque from the rotational speed and drive voltage of the motor;
A reference torque calculating means for calculating a reference torque based on a steady state of the motor torque and storing it in a memory;
Pinching determination means for determining pinching of an object based on the estimated load, motor torque and reference torque;
The pinching determination means determines that no object is pinched when at least one of the estimated load and the motor torque is smaller than the reference torque even when the estimated load is larger than a predetermined threshold. Control device for vehicle opening / closing body.   The control device for a vehicle opening / closing body according to claim 1, wherein the reference torque calculating means calculates the reference torque in both an opening operation and a closing operation of the opening / closing body.   The opening / closing body is opened / closed in the up / down direction, and the opening / closing body is opened in the downward direction. The reference torque calculated in the opening operation is used for pinching determination performed in the closing operation of the opening / closing body. The control device for a vehicle opening / closing body according to claim 2, wherein the control is performed based on a weight of the opening / closing body.   The pinching determination means is configured so that a duration during which the estimated load exceeds the predetermined threshold exceeds a predetermined reference time, or the estimated load is in a state exceeding the predetermined threshold. The vehicle opening / closing according to any one of claims 1 to 3, wherein when the movement amount of the opening / closing body exceeds a predetermined reference movement amount, it is determined that an object is caught. Body control device.   The reference torque is calculated by the reference torque calculation means as an average value of the motor torque within a predetermined time when a state where the fluctuation range of the estimated load is within a predetermined range continues for a predetermined time. The control device for a vehicle opening / closing body according to any one of claims 1 to 4, wherein

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