JP5155055B2 - Position control device - Google Patents

Description

  The present invention relates to a position control device that performs position control of a movable member driven by a motor.

  Conventionally, in a vehicle or the like, the seat position desired by the occupant is stored in a memory or the like, so that even if the seat position is subsequently changed, the seat position stored in the memory can be stored with a single switch operation. A sheet position control device capable of automatic adjustment has been put into practical use. In order to adjust the seat position, a slide motor that moves the entire seat back and forth, a reclining motor that changes the inclination of the seat back, and the like are provided. By driving these motors by switch operation, the sheet position can be adjusted to a desired position. In such a sheet position control device that adjusts the sheet position, a differential circuit is used to detect a ripple component included in the motor current of the motor that drives the sheet without using a rotation sensor that detects the rotation position of the motor. Some of them are detected as ripple pulses synchronized with the motor via the used pulse generation circuit, and the sheet position is controlled based on the pulses (for example, Patent Documents 1 and 2).

  When the position of a sheet or the like is controlled using a motor ripple pulse synchronized with the motor without using a rotation sensor that detects the rotational position of the motor, a ripple pulse is generated while the motor is operating. Since no ripple pulse is generated, the amount of operation due to inertia after stopping the motor output cannot be grasped. For this reason, the state storage device described in Patent Document 1 estimates the operation amount after the motor output is stopped from the rotation amount during operation of the motor, and grasps the current position by correcting the position information. In order to estimate the amount of rotation, the state storage device stores in advance a correction amount map made up of operating parts, voltages and pulse periods.

  In addition, when the position of a sheet or the like is controlled using a motor ripple pulse synchronized with the motor without using a rotation sensor that detects the rotational position of the motor, the motor rotates at an extremely low speed (very low speed rotation). And can not generate an accurate ripple pulse. Therefore, the rotation position of the motor may not be detected particularly when the rotation is extremely low since the motor is started. For this reason, the motor control device described in Patent Document 2 uses a current at the time of motor start-up and a current at the time of steady state to detect a very low speed rotation at the time of motor start-up, and takes into account the extremely low speed rotation. Control is in progress.

JP 2000-250629 A JP 2002-325475 A

  In the techniques described in Patent Documents 1 and 2, the following problems may occur. For products such as vehicle seats and sunroofs, when the mechanical end point (end of the movable range) is controlled to operate further in the direction of the mechanical end point, that is, when the motor rotates at a very low speed (motor lock) Suppose that the motor output is stopped. Then, when the gears that change the position of the vehicle seat, sunroof, or the like change over time, or the members that change the position of the vehicle seat, sunroof, etc. (hereinafter referred to as change members) hit the mechanical end points In some cases, the movement of the shock absorbing member provided at the mechanical end point to absorb the shock may move in the direction opposite to the operation direction. Such a movement amount in the reverse direction results in a shift in the storage position for control.

  In other words, when the change member pushes the backlash amount and the absorption amount of the shock absorbing member beyond the mechanical end point, the push amount beyond the mechanical end point can be measured when power is supplied to the control unit. When the power supply to the control unit is cut off, it is not possible to detect the amount of movement of the changing member that is subsequently moved by the biasing force that is caused by the deflection of the shock absorbing member. For this reason, a shift | offset | difference will generate | occur | produce between the position of an actual change member, and the position which a control part memorize | stores. Such deviations accumulate and gradually increase each time the above phenomenon occurs. Therefore, even when an attempt is made to return the vehicle seat, sunroof, or the like to a position stored in advance, there is a possibility that a deviation from the position desired by the user may occur.

  Such misalignment correction can be performed by performing lock detection when a ripple pulse is not detected for a certain period of time, and updating the current position of the movable member to the lock detection position when a locked state is detected. However, during engine operation, a pseudo pulse due to engine noise is detected as a ripple pulse, and lock detection may not be performed.

  Furthermore, when considering mechanical variations and detection variations, an area including variations near the mechanical end point, which is the mechanical end point, may be set, and control may be performed so that the area is not moved in the locking direction. However, if the user operates to the end point to recognize the lock and then operates in the reverse direction to stop within the area, the user feels suspicious about not moving in the lock direction again.

  The present invention has been made in view of the above problems, and its purpose is to appropriately correct the deviation even when a deviation occurs between the position calculated based on the ripple pulse and the actual position. In addition, an object of the present invention is to provide a position control device capable of controlling the position of a movable member so as not to make the user feel doubts.

Characteristic feature of the position control apparatus according to the present invention for achieving the above object, the present position information indicating the current position of the movable member driven by the motors, according to the motor current applied to the motor ripple lock the current position information calculation unit, based on the calculated the current position information at the current position information calculating unit, the position information of the end of the movable member becomes mechanically locked to calculation based on the pulse A lock position information storage unit stored as position information, and a lock detection area set at least on the movable range side with respect to the lock position of the end stored in the lock position information storage unit is stored. and a lock detection area storage unit, when the movable member relative to the locking position of the end, starts to move from a set on the side of the movable range the lock detection area, wherein A position controller movement is restricted to the click position direction, when the movable member is directed to start moving from the movable range of the side of the lock detection area to the opposite side of said end portion, said movable member Is further provided with a stop position correction control unit that prohibits stopping in the lock detection area and moves the movable member to the outside of the lock detection area.

  With such a characteristic configuration, as a result of detecting a pseudo pulse due to engine noise as a ripple pulse, the actual position of the movable member and the position indicated by the current position information calculated based on the ripple pulse Even if there is a difference between the current position information, the movable member can be moved out of the lock detection area, and the current position information can be appropriately corrected by updating the current position information to the boundary of the lock detection area. it can. In addition, for example, in a situation where a predetermined position in the lock detection area is stored in the memory as a set position, when the movable member is moved in the direction of the end portion again from the stored position, from the stored position It can prevent that it cannot move to an edge part direction. Therefore, it is possible to prevent the user from feeling doubtful because the movable member cannot move.

Another characteristic feature of the position control apparatus according to the present invention for achieving the above object, the present position information indicating the current position of the movable member driven by the motors, the motor current applied to the motor A current position information calculation unit that calculates based on a ripple pulse corresponding to the current position information, and an end of the movable member that is mechanically locked based on the current position information calculated by the current position information calculation unit. Lock position information storage unit storing position information as lock position information, and lock detection set at least on the movable range side with respect to the lock position of the end stored in the lock position information storage unit and a lock detection area storage unit for storing area, the lock position of the movable member is the end, start moving from a set on the side of the movable range the lock detection area If, a position controller movement is restricted to the lock position direction, an automatic movement to move automatically to a preset position movement of the movable member from the outside of the lock detection area, said movable member When the current position indicated by the current position information starts to move from outside the lock detection area and enters the lock detection area on the movable range side according to the movement of the movable member, the movable member is stopped within the lock detection area. And a stop position correction control unit that moves the end portion to the locked position .

  With such a characteristic configuration, as a result of detecting a pseudo pulse due to engine noise as a ripple pulse, the actual position of the movable member and the position indicated by the current position information calculated based on the ripple pulse Even if there is a difference between the current position information, the position indicated by the current position information matches the actual position where the movable member is mechanically locked and stopped. Can be corrected. Further, for example, in a situation where a predetermined position in the lock detection area is stored in the memory as a set position, the movable member is moved to the stored position again by the memory reproduction operation from outside the lock detection area and stopped. In this case, since the position control device moves the movable member from the stopped position to the end portion, it is possible to prevent the movable member from moving from the stopped position toward the end portion. Therefore, it is possible to prevent the user from feeling doubtful because the movable member cannot move.

  In addition, when the movable member is moved to the end by the stop position correction control unit, it is preferable to include a current position information update unit that updates the current position information with the lock position information.

  With such a configuration, when the movable member is moved to the end by the stop position correction control unit, the current position indicated by the current position information is updated so as to be the lock position. Correction can be performed.

  In addition, for example, it can be suitably used when the movement of the movable member is a manual movement by a user's manual switch operation from outside the lock detection area, and the stop of the movable member is a stop in the locked state.

  Alternatively, for example, it is used when the movement of the movable member is an automatic movement that automatically moves from outside the lock detection area to a preset position, and is moved until the movable member is in the locked state. it can.

[First embodiment]
Hereinafter, the position control device 1 according to the present invention will be described as an example of a case where the position control device 1 is applied to a seat position control device 2 that changes the seat position of a vehicle seat 3. FIG. 1 is a schematic diagram of the overall configuration of the sheet position control device 2. The seat position control device 2 includes an electronic control unit (hereinafter referred to as “ECU”) 21 formed of a microcomputer.

  The ECU 21 includes a control unit 22 as control means. The control unit 22 includes functional units that constitute the position control device 1 according to the present invention (details will be described later). The control unit 22 includes a ROM, a RAM, a backup RAM, and the like (not shown). The ROM is a memory that stores various control programs, maps that are referred to when these programs are executed, and the like. The control unit 22 performs arithmetic processing based on various control programs and maps stored in the ROM. The RAM corresponds to a memory that temporarily stores calculation results in the control unit 22, data input from the outside, and the like, and the backup RAM includes a nonvolatile memory that stores the stored data and the like. The control unit 22, the ROM, the RAM, and the backup RAM are connected to each other via a bus (not shown). Further, they are connected to an input interface 23 and an output interface (not shown).

  A battery 25 is connected to the controller 22 via a power circuit 24 inside the ECU 21. A positive terminal of the battery 25 is connected to the input interface 23 via the ignition switch 26. When the ignition switch 26 is turned on, a constant voltage (for example, 5 V) stabilized by the power supply circuit 24 is supplied to each part of the ECU 21.

  An operation switch 27 for adjusting the position (sheet state) of each part of the sheet is connected to the input interface 23 of the control unit 22. The operation switch 27 includes slide switches 28a and 28b, reclining switches 29a and 29b, front vertical switches 30a and 30b, and lifter switches 31a and 31b.

  The slide switches 28 a and 28 b are operation switches that slide the entire sheet 3 as shown in FIG. 2 forward or backward along the rail 4 attached to the floor as indicated by the white arrow 5. The reclining switches 29 a and 29 b are operation switches for moving the seat back 3 b supported by the seat cushion 3 a forward or backward as indicated by the white arrow 6. The front vertical switches 30 a and 30 b are operation switches that move the front part of the seat cushion 3 a where the user sits up or down in the vertical direction as indicated by the white arrow 7. The lifter switches 31 a and 31 b are switches that move the rear part of the seat cushion 3 a on which the user sits up or down as indicated by the white arrow 8.

  Returning to FIG. 1, in addition to the operation switch 27, memory playback switches 32 and 33 and a storage switch 34 are connected to the input interface 23. The memory reproduction switches 32 and 33 are switches for storing two sheet positions for one sheet 3. That is, according to the sheet position control device 2, it is possible to store two types of sheet positions desired by the user. By operating each of the operation switches 27, each part of the sheet 3 can be adjusted to a desired sheet position (sheet state). The adjusted sheet position is stored in the above-described backup RAM. When storing the sheet position in the backup RAM, one of the memory reproduction switches 32 and 33 corresponding to the backup RAM to be stored is pressed together with the storage switch 34. Thereafter, when any one of the memory reproduction switches 32 and 33 corresponding to the stored backup RAM is pressed, each part of the sheet 3 is automatically moved to the stored sheet position.

  Four motors 39 to 42 are connected to the output interface of the control unit 22 via relays 43, respectively. These motors 39 to 42 are DC brush motors. The relay 43 includes four sets of relays corresponding to the four motors 39 to 42, and each motor is connected to the output interface via a corresponding set of relays. Each set of relays includes a pair of coils and a pair of switching terminals. When any one of the operation switches 27 is operated, energization of the set of coils corresponding to the operated switch is controlled by the control unit 22. As a result, the switching terminals of the corresponding set of relays are switched, and the motors corresponding to the corresponding set of relays among the motors 39 to 42 are independently driven in the forward direction or the reverse direction.

  Accordingly, the slide motor 39 rotates forward or reverse by operating the slide switches 28a and 28b to slide the entire seat 3 forward or backward. The reclining motor 40 rotates forward or backward by operating the reclining switches 29a and 29b to move the seat back 3b forward or backward. The front vertical motor 41 rotates forward or reverse by operating the front vertical switches 30a and 30b to move the front portion of the seat cushion 3a up or down. The lifter motor 42 rotates forward or reverse by operating the lifter switches 31a and 31b to move the rear part 3a of the seat cushion upward or downward.

  In addition, the ECU 21 pulsates ripple components included in the motor currents flowing in the motors 39 to 42 and outputs a ripple pulse synchronized with the motors, and amplifies the motor current. An amplifying circuit 51 is provided. The ripple pulse detection circuit 50 receives a voltage obtained by dividing the voltage from the battery 25 by the impedance of the motor to be operated and the resistance 52 as a motor rotation signal. The motor current amplified by the amplifier circuit 51 is A / D converted by an A / D converter (not shown) provided in the ECU 21 and read into the control unit 22. Thus, the control part 22 always detects the motor current of each motor 39-42. The amplifier circuit 51 and the A / D converter constitute a motor current detection unit 71 (described later) that detects a motor current supplied to the motor.

  The ripple pulse detection circuit 50 includes a switched capacitor filter SCF (not shown) and a ripple pulse shaping circuit (not shown). The above-described motor rotation signal is input to the switched capacitor filter SCF. The switched capacitor filter SCF removes noise superimposed on the motor rotation signal together with the ripple component at a predetermined cutoff frequency.

  The ripple pulse shaping circuit includes a low-pass filter LPF (high frequency active filter), a first differentiation circuit DC1, an amplifier AP, a second differentiation circuit DC2, a comparator CM, and the like.

  The low-pass filter LPF removes noise included in the output signal of the switched capacitor filter SCF. The output signal of the switched capacitor filter SCF from which the noise has been removed is differentiated by the first differentiating circuit DC1 to attenuate the direct current component, thereby obtaining a signal having only a ripple component. When this signal is amplified by the amplifier AP and then passed through the second differentiating circuit DC2, a signal delayed by 90 ° from the signal is obtained. Then, by comparing the output signal of the amplifier AP and the output signal of the second differentiating circuit DC2 with the comparator CM, the frequency of the frequency corresponding to the rotational speed (rotational speed) is synchronized with the rotation of the motors 39 to 42. A ripple pulse is obtained.

  In this way, a ripple pulse having a frequency in accordance with the rotation number of the motors 39 to 42 detected by the ripple pulse detection circuit 50 is transmitted to the control unit 22 via the output interface. . The above is the outline of the overall configuration of the sheet position control device 2.

  Hereinafter, the position control apparatus 1 according to the present invention applied to the seat position control apparatus 2 will be described. FIG. 3 is a block diagram schematically showing a schematic configuration of the position control device 1 according to the present embodiment. The position control device 1 is not provided with a position detection sensor for detecting the absolute position of the sheet 3 as described above, and is based on a ripple pulse corresponding to a motor current supplied to a motor that changes the position of the sheet 3. The relative position is detected. For this reason, there is a case where a difference occurs between the actual position of the sheet 3 and the position calculated based on the ripple pulse by erroneously detecting a pseudo pulse due to engine noise or the like as a ripple pulse. The position control device 1 has a function of correcting such an error. Although details will be described later, the position control device 1 is set on the movable range side with respect to the lock positions at both ends where the seat 3 driven by the motors 39 to 42 is mechanically locked. It has a function of restricting movement in the lock position direction from within the lock detection area. Hereinafter, the correction performed by the position control device 1 will be described.

  The position control device 1 corresponds to a functional block that constitutes the control unit 22 described above. The position control device 1 includes an operation state determination unit 70, a motor current detection unit 71, a rotation speed detection unit 72, a lock state determination unit 73, a current position information update determination unit 74, a current position information update unit 75, and a movement start position information storage. Section 76, current position information calculation section 77, lock position information storage section 78, lock detection area storage section 82, and stop position correction control section 84. Here, in the position control device 1, the above-described functional unit for performing various processes related to the position control of the sheet position using the CPU as a core member is constructed by hardware and / or software.

  The motor current detection unit 71 detects a motor current supplied to each motor 39 to 42 that adjusts each part of the seat 3. The motor current is a current that is energized to drive each of the motors 39 to 42. That is, the motor current corresponds to a coil current flowing through a coil wound around the rotor of each of the motors 39 to 42. Here, as described above, the motor current is amplified by the amplifier circuit 51, A / D converted by an A / D converter (not shown) provided in the ECU 21, and read into the control unit 22. This motor current is transmitted to the motor current detection unit 71, and the motor current can be detected. The motor current detected by the motor current detection unit 71 is transmitted to an operation state determination unit 70 and a lock state determination unit 73 described later.

  The rotational speed detector 72 detects the rotational speed of each of the motors 39 to 42. Here, as described above, the ripple pulse detection circuit 50 detects a ripple pulse having a frequency corresponding to the rotational speed (rotational speed) of each of the motors 39 to 42. The ripple pulse detected by the ripple pulse detection circuit 50 is transmitted to the rotation speed detection unit 72. Therefore, the rotational speed detector 72 can detect the rotational speeds of the motors 39 to 42. The rotation speed detected by the rotation speed detection unit 72 is transmitted to an operation state determination unit 70 and a lock state determination unit 73 described later.

The operating state determination unit 70 determines whether or not each of the motors 39 to 42 has just been started based on the motor current supplied to each of the motors 39 to 42 and the rotational speed of the motor. The motor current is transmitted from the motor current detector 71 described above. Further, the rotation speed is transmitted from the rotation speed detector 72 described above. FIG. 4 is a diagram showing the relationship between the motor current and time when the motor is started. As shown in FIG. 4, when the motor is started at time t ₀ (t = t ₀ ), an inrush current I ₀ flows immediately after the start. When time elapses (t> t ₁ ) and the motor shifts to a steady operation, the motor current becomes a steady current I ₁ . Accordingly, when the difference between the inrush current I ₀ and the steady current I ₁ (where I ₀ > I ₁ ) is equal to or greater than a predetermined value and the motor has not rotated immediately before the inrush current I ₀ flows. It can be determined that the motor has just been started. Further, when the motor current is constant (for example, steady current I ₁ ) and the rotation speed of the motor is equal to or higher than a predetermined rotation speed, it can be determined that the motor is in steady operation. The driving state determination unit 70 determines whether or not each of the motors 39 to 42 has just been started in this way.

  Moreover, the driving | running state determination part 70 determines whether each motor 39-42 is a stop state based on the motor current and the rotational speed of a motor which are supplied with electricity to a motor. Also in this case, the motor current is transmitted from the motor current detection unit 71 described above. Further, the rotation speed is transmitted from the rotation speed detector 72 described above. When the motor current is zero and the rotation speed is zero, the operation state determination unit 70 determines that each of the motors 39 to 42 is in a stopped state. These determination results are transmitted to a movement start position information storage unit 76 which will be described later.

  The movement start position information storage unit 76 stores movement start position information indicating a movement start position before the movable member moves. The movable member is the sheet 3 in the present embodiment. Therefore, the movement start position information is information indicating the movement start position of the seat 3 before the motors 39 to 42 are started. Here, as described above, the seat 3 can perform a slide operation, a reclining operation, a front vertical operation, and a lifter operation by the motors 39 to 42. Therefore, the movement start position information is information indicating a position within the movable range that enables each operation. Since each operation is the same process, the following description will be given by taking the front vertical operation as an example, and the movable member will be described as the seat 3.

  Here, the position control device 1 does not include a position detection sensor that detects the absolute position of the sheet 3, and detects the relative position based on the ripple pulse as described above. This relative position is detected by a calculation performed by a current position information calculation unit 77 described later. The movement start position information storage unit 76 detects the current position detected by the current position information calculation unit 77 when a determination result indicating that the motors 39 to 42 are stopped is transmitted from the operation state determination unit 10. Information is acquired and stored as movement start position information.

  FIG. 5 is a diagram for explaining the movable range A related to the front vertical operation. When the seat 3 is moved, the rotational power of the front vertical motor 41 is used. The maximum slide amount that can be moved when the seat 3 is moved corresponds to the movable range A. If the seat 3 is positioned at the position α in FIG. 5 before the front vertical motor 41 is started, the movement start position information storage unit 76 positions the seat 3 at the position α before the front vertical motor 41 is started. The movement start position information indicating that this is being performed is stored.

  The current position information calculation unit 77 calculates current position information indicating the current position of the movable member driven by each of the motors 39 to 42 based on a ripple pulse corresponding to the motor current supplied to each of the motors 39 to 42. . In the present embodiment, the movable member is the sheet 3. The ripple pulse is transmitted from the ripple pulse detection circuit 50 described above. The current position information calculation unit 77 calculates the movement amount of the sheet 3 using the ripple pulse. The current position information calculation unit 77 adds / subtracts the calculated movement amount to / from the position indicated by the movement start position information stored in the movement start position information storage unit 76, according to the operation of each motor 39 to 42. Current position information indicating the current position of the changing sheet 3 is calculated. Note that the above-described calculation of the movement amount is a known technique, and a description thereof will be omitted. In particular, the position information related to the sheet position when the sheet 3 is stopped is transmitted to the movement start position information storage unit 76 described above.

  Here, in the present embodiment, the front vertical motor 41 is taken as an example of the motor. Therefore, the current position information calculation unit 77 calculates the current position information indicating the current position of the seat 3 that changes according to the operation of the front vertical motor 41 based on the position indicated by the movement start position information and the ripple pulse. . As shown in FIG. 5, when the sheet 3 moves from α to β, the current position information calculation unit 77 needed to move to β and movement start position information indicating that the current position information calculation unit 77 was at α. Current position information is calculated based on the ripple pulse.

The lock state determination unit 73 determines whether or not the seat 3 driven by each of the motors 39 to 42 is in a locked state based on the motor current supplied to each of the motors 39 to 42. The motor current is transmitted from the motor current detector 71 described above. Further, the rotation speed is transmitted from the rotation speed detector 72 described above. As shown in FIG. 5, the locked state is a state in which the motor is locked when each part of the seat 3 hits a stopper or the like at the end point X of the movable range A. When the motor is locked, a lock current I ₂ flows as shown in FIG. The lock current I ₂ is larger than the inrush current I ₀ (however, the motor is started at t = t ₀ ). Therefore, the difference between the inrush current I ₀ and the lock current I ₂ (where I ₂ > I ₀ ) is equal to or greater than a predetermined value, and the rotation speed of the motor when the lock current I ₂ flows is equal to or less than the predetermined value. In the extremely low speed rotation state, it can be determined that the lock state is established.

  Here, the extremely low speed rotation state means that the ripple component of the motor current cannot be accurately pulsed by the ripple pulse detection circuit 50 described above, and the motor is rotating at such a low rotation speed that the ripple pulse cannot be accurately detected. Indicates the state. The lock state determination unit 73 determines whether or not the seat 3 is in the locked state in this way. This determination result is transmitted to a current position information update determination unit 74 described later.

  The lock position information storage unit 78 stores position information of an end portion where the movable member is mechanically locked as lock position information. Also in this embodiment, the movable member is the sheet 3. Therefore, the lock position information storage unit 78 stores the position information of the end portion where the seat 3 is mechanically locked as the lock position information. In addition, the position of the edge part which becomes a locked state is decided by the structure of the position control apparatus 1, and is memorize | stored beforehand as lock position information in this embodiment. Therefore, in this embodiment, the lock position information is not newly stored in the lock position information storage unit 78, and the lock position information already stored in the lock position information storage unit 78 is used. The process of storing the lock position information in the lock position information storage unit 78 is a known technique and will not be described in detail. However, in the lock position information setting mode, the seat 3 is moved and the lock state determination unit 73 is moved. It is possible to store the position determined to be in the locked state as an end, and store the position of the end calculated by the current position information calculation unit 77 as the lock position information.

The lock detection area storage unit 82 stores a lock detection area set at least on the movable range side with respect to the end portion. Similarly to the above-described lock position information, the lock detection area is not newly stored in the lock detection area storage unit 82 and is already stored in the lock detection area storage unit 82 in the present embodiment. The lock detection area is used. An example of the lock detection area stored in the lock detection area storage unit 82 is shown in FIG. When the position O ₁ is a locked position stored in locked position information storage unit 78, the lock detection area includes a lock detection area l ₁₁ side of the movable range A, the side of the lock detection area l deviating from the movable range A It consists of _twelve . Such a lock detection area is stored in the lock detection area storage unit 82. In the present embodiment, the lock detection area storage unit 82 only needs to store at least the lock detection area ₁₁ set on the movable range A side, but in the following description, from the movable range A lock detection area l ₁₂ outlying side is also described as being recorded. Further, since the process for storing the lock detection area in the lock detection area storage unit 82 is a known technique, a detailed description thereof will be omitted. However, the lock detection area setting unit (not shown) stores the lock detection area in the lock position information storage unit 78. With reference to the stored lock position information, the lock position information is set.

  The current position information update determination unit 74 determines whether or not the current position indicated by the current position information starts to move from outside the lock detection area in accordance with the movement of the seat 3 and enters the lock detection area on the movable range A side. I do. Whether or not the seat 3 has moved is determined by the driving state determination unit 70, and the current position information update determination unit 74 can specify the determination based on the determination result. Whether the current position indicated by the current position information has started to move from outside the lock detection area is determined based on the movement start position information stored in the movement start position information storage unit 76 and the lock detection area storage unit 82. It is determined using the lock detection area stored in.

  Further, whether or not the current position indicated by the current position information has entered the lock detection area on the movable range A side is determined based on the current position information calculated by the current position information calculation unit 77 and the lock detection area storage. This is determined using the lock detection area stored in the unit 82. Thus, when the current position information update determination unit 74 starts moving from the outside of the lock detection area according to the movement of the seat 3 and enters the lock detection area on the movable range A side. When the determination is made, an update signal indicating that the current position information is updated and the lock position information are transmitted to a later-described current position information update unit 75 and a stop position correction determination unit 84.

The position control device 1 is configured so that the lock position direction from the lock detection area set on the movable range A side with respect to the lock positions at both ends where the seat 3 driven by the motor is mechanically locked. Movement to is regulated. That is, the present position control device 1 regulates the movement to the lock position direction from within the lock detection area l ₁₁ that is set on the side of the movable range A. In FIG. 7, when the movement start position information is within the lock detection area l ₁₁ on the movable range A side as indicated by “▲”, the direction of the position O ₁ (white arrow ( Movement in the direction indicated by a) is restricted and cannot be moved, and only movement in the opposite direction of the lock position (direction indicated by the white arrow (b)) is permitted. Therefore, the current position information update determination unit 74 also determines whether or not a movement operation from the lock detection area toward the lock position is performed.

  The stop position correction control unit 84 moves the seat 3 when the current position indicated by the current position information starts to move from outside the lock detection area and enters the lock detection area on the movable range A side according to the movement of the seat 3. Stop in the lock detection area and move to the end. The determination as to whether or not the current position indicated in the current position information has started to move from outside the lock detection area and the determination as to whether or not the vehicle 3 has entered the lock detection area on the movable range A side according to the movement of the seat 3 is as described above. This is performed by the current position information update determination unit 74. Then, based on the update signal transmitted from the current position information update determination unit 74, the stop position correction control unit 84 starts moving the current position indicated by the current position information from outside the lock detection area according to the movement of the seat 3. It is possible to specify that the vehicle has entered the lock detection area on the movable range A side.

  When the stop position correction control unit 84 acquires the above update signal, the stop position correction control unit 84 prohibits the seat 3 from stopping in the lock detection area and moves the seat 3 to the end portion. That is, the stop position correction control unit 84 controls the control unit 22 to drive the motor to be actuated, and moves the seat 3 to the end. When the sheet 3 is moved to the end, it can be specified based on the determination of whether or not the sheet 3 is locked by the lock state determination unit 73 described above. Therefore, the stop position correction control unit 84 controls the control unit 22 to drive the motor to be operated until the seat 3 is locked.

  The current position information update unit 75 updates the current position information with the lock position information when the seat 3 is moved to the end by the stop position correction control unit 84. The fact that the seat 3 has been moved to the end by the stop position correction control unit 84 can be specified based on the update signal transmitted from the current position information update determination unit 74. The lock position information is transmitted from the current position information update unit 74 together with the update signal. When the update signal is transmitted, the current position information update unit 75 updates the current position information calculated by the current position information calculation unit 77 with the lock position information. When the current position information is updated, the current position information calculation unit 77 transmits the updated current position information to the movement start position information storage unit 76. The movement start position information storage unit 76 stores the updated current position information as movement start position information.

  As described above, when the current position indicated by the current position information enters the lock detection area on the movable range A side in accordance with the movement of the seat 3, it is prohibited to stop the seat 3 at a position other than the end portion. Since the current position information is updated with the lock position information, the current position information can be appropriately corrected.

  Next, processing performed by the position control device 1 will be described using a flowchart. FIG. 8 is a flowchart regarding correction of current position information. When the user performs a switch operation so as to move the position of the seat 3 in the lock position direction (step # 01: Yes), the current position information update determination unit 74 starts the movement stored in the movement start position information storage unit 76. Based on the position information and the lock detection area stored in the lock detection area storage unit 82, it is determined whether or not the movement start position is within the lock detection area. If the movement start position is within the lock detection area (step # 02: Yes), the position control device 1 prohibits the outputs of the motors 39 to 42 (step # 03) and ends the process.

  On the other hand, if the movement start position is not within the lock detection area (step # 02: No), the position control device 1 operates each of the motors 39 to 42 according to the switch operation (step # 04). Then, the current position information calculation unit 77 calculates current position information based on the ripple pulse corresponding to the motor current supplied to the motors 39 to 42 and the movement start position information (step # 05).

  Then, the current position information update determination unit 74 determines whether or not the current position information has entered the lock detection area on the movable range A side. In this determination, the current position information is acquired from the current position information calculation unit 77 and the lock detection area is acquired from the lock detection area information stored in the lock detection area storage unit 82.

  When the current position information update determination unit 74 determines that the current position information has entered the lock detection area on the movable range A side (step # 06: Yes), the current position information update determination unit 74 An update signal indicating that the sheet 3 is moved to the end is transmitted to the stop position information correction unit 84.

  The stop position information correction unit 84 operates the motor to be operated on the control unit 22 until the lock state determination unit 73 determines that the seat 3 is in the locked state. When the lock state determination unit 73 detects the lock state (step # 07: Yes), the stop position information correction unit 84 causes the control unit 22 to stop the output of the motor (step # 08). Therefore, the seat 3 can be stopped at the end of the movable range A.

  Then, the current position information update unit 75 updates the current position information calculated by the current position information calculation unit 77 with the lock position information stored in the lock position information storage unit 78 (step # 09). Accordingly, since the actual position of the sheet 3 stopped at the end portion matches the current position information indicated by the current position information, the difference between the two can be eliminated.

  On the other hand, when the current position information update determination unit 74 determines in step # 06 that the current position information has not entered the lock detection area on the movable range A side (step # 06: No), the seat It is confirmed whether or not the switch operation for changing the position 3 is released. This confirmation is performed by the control unit 22. When the switch operation is released (step # 10: Yes), the process is terminated. On the other hand, if the switch operation has not been released (step # 10: No), the processing is continued from step # 04.

  In this way, the position control device 1 updates the current position information based on the lock position, so that the physical position (actual position) of the seat 3 and the current position that the position control device 1 recognizes. It is possible to eliminate an error from the position information.

[Second Embodiment]
Next, a second embodiment according to the position control device 1 will be described. In the first embodiment described above, the stop position correction control unit 84 starts moving from the outside of the lock detection area according to the movement of the seat 3, and the lock detection area on the movable range A side. It has been described that the seat 3 is prohibited from being stopped in the lock detection area and moved to the end when it enters the door. In the second embodiment, when the stop position correction control unit 84 starts moving from the lock detection area on the movable range A side and moves toward the opposite side of the end portion, the seat 3 stops in the lock detection area. This is different in that the sheet 3 is moved out of the lock detection area. Since the other functions are the same as those in the first embodiment, description thereof is omitted.

  As described above, the stop position correction control unit 84 causes the seat 3 to stop in the lock detection area when the seat 3 starts moving from the lock detection area on the movable range A side and goes to the opposite side of the end portion. Is prohibited, and the seat 3 is moved out of the lock detection area. The above-described current position information update determination unit 74 determines whether the seat 3 starts to move from the lock detection area on the movable range A side and moves toward the opposite side of the end. Then, based on the update signal transmitted from the current position information update determination unit 74, the stop position correction control unit 84 starts moving from the lock detection area on the movable range A side toward the opposite side of the end portion. Can be specified.

  When the stop position correction control unit 84 acquires the update signal, the stop position correction control unit 84 prohibits the seat 3 from stopping in the lock detection area and moves the seat 3 to the outside of the lock detection area. That is, the stop position correction control unit 84 controls the control unit 22 to drive the motor to be operated, and moves the seat 3 to the outside of the lock detection area. This movement can be specified based on the current position information calculated by the current position information calculation unit 77. Therefore, the stop position correction control unit 84 prohibits the seat 3 from stopping in the lock detection area and controls the control unit 22 to move the seat 3 to outside the lock detection area.

  In this way, when the seat 3 is prohibited from stopping in the lock detection area and moved to the outside of the lock detection area, the seat 3 is moved from the position in the lock detection area toward the end. It is possible to prevent the movement of the sheet 3 from being restricted. Therefore, the position of the movable member can be controlled so that the user does not feel doubts.

  Next, processing performed by the position control device 1 according to the second embodiment will be described using a flowchart. FIG. 9 is a flowchart regarding correction of current position information according to the second embodiment. When the user performs a switch operation to move the position of the seat 3 in the direction opposite to the lock position (step # 01: Yes), the current position information update determination unit 74 is stored in the movement start position information storage unit 76. Based on the movement start position information and the lock detection area stored in the lock detection area storage unit 82, it is determined whether or not the movement start position is within the lock detection area. If the movement start position is within the lock detection area (step # 02: Yes), the position control device 1 operates each of the motors 39 to 42 according to the switch operation (step # 03). The current position information calculation unit 77 calculates current position information based on the ripple pulse corresponding to the motor current supplied to the motors 39 to 42 and the movement start position information (step # 04).

  Then, the current position information update determination unit 74 determines whether or not the current position information has gone out of the lock detection area. In this determination, the current position information is acquired from the current position information calculation unit 77, and the lock detection area is acquired from the lock detection area information stored in the lock detection area storage unit 82.

  If the current position information update determination unit 74 determines that the current position information has gone out of the lock detection area (step # 05: Yes), the process ends. On the other hand, when the current position information update determination unit 74 determines that the current position information is not outside the lock detection area (step # 05: No), the process returns to step # 03 and the process is continued.

  In step # 02, if the movement start position is not within the lock detection area (step # 02: No), the position control device 1 operates each of the motors 39 to 42 according to the switch operation (step # 06). Then, in accordance with the operation of the motor, the current position information calculation unit 77 calculates the current position information based on the ripple pulse corresponding to the motor current supplied to the motors 39 to 42 and the movement start position information (step #). 07).

  Then, it is confirmed whether or not the movement of the sheet 3 is completed. This confirmation is performed by the control unit 22. When the movement of the sheet 3 is finished (step # 08: Yes), the process is finished. On the other hand, if the movement of the sheet 3 has not been completed (step # 08: No), the processing is continued from step # 06.

  In this way, the position control device 1 prohibits the seat 3 from stopping in the lock detection area when the seat 3 starts moving from the lock detection area on the movable range A side and goes to the opposite side of the end portion. Then, the seat 3 is moved out of the lock detection area. For this reason, if the lock detection area is set to a width of, for example, 2 to 3 mm, even if the position control device 1 has a function of restricting movement from the lock detection area to the end side, the user can seat Even if the position where 3 is stopped is within the lock detection area, the seat 3 can be moved without giving the user a sense of incongruity. Therefore, the position of the movable member can be controlled so that the user does not feel doubts.

[Other Embodiments]
In the above embodiment, the operation of the motor is not described when it is determined that the seat 3 is in the locked state. When it is determined that the seat 3 is in the locked state, it is preferable that the motor control unit that controls the motor controls the motor to stop. With such a configuration, it is possible to prevent unnecessary battery consumption.

Alternatively, even when the user recognizes that the seat 3 is in the locked state and turns off the operation switch for driving the motor, the motor is continuously operated at least for a preset minimum operation amount. May be. That is, even when the minimum operation amount is set in advance and the user recognizes that the seat 3 is in the locked state and turns off the operation switch that drives the motor, the motor control unit does not stop at least the minimum operation amount. Can be controlled to operate continuously. This minimum operation amount may be defined by the detection value of the counter or may be defined by the operation time. With such a configuration, it is possible to improve the detection accuracy of the locked state. That is, in FIG. 6, if the operation switch for driving the motor is turned off after the inrush current I ₀ is detected and before the motor current reaches I ₂ , the lock current cannot be detected. For this reason, it is possible to detect the lock current by setting the minimum operation amount in advance and continuously driving the motor with the minimum operation amount.

  Further, when setting the minimum operation amount, it may be set differently on the movable range A side of the lock detection area and on the side outside the movable range A, or may be set in the same manner.

  In the embodiment described above, the current position information is updated at the lock detection position when the lock state is detected with respect to the movement of the seat 3 from outside the lock detection area. However, the scope of application of the present invention is not limited to this. For example, even when moving from within the lock detection area, it is naturally possible to adopt a configuration in which the current position information is updated with the lock position information when a lock state is detected.

  In the embodiment described above, the movable member is the sheet 3. However, the scope of application of the present invention is not limited to this. For example, the movable member can be a sunroof, or can be a window or a door. In addition, the present invention can naturally be applied to other members that are moved by a motor.

  In the above embodiment, the front vertical operation of the seat 3 has been described as an example. However, the scope of application of the present invention is not limited to this. A reclining operation, a sliding operation, a lifter operation, and the like can be similarly applied.

  In the above embodiment, when the seat 3 moves and stops, the current position information update unit 75 starts moving from the outside of the lock detection area when the current position indicated by the current position information, and the lock detection area on the side outside the movable range. It has been described that the current position information is updated with the lock position information when stopped at. In this case, in particular, when the movement of the seat 3 is a manual movement by a user's manual switch operation from outside the lock detection area, and the stop of the seat 3 is a stop in the locked state, the current position information update unit 75 Of course, it is also possible to configure so as to be updated with the lock position information. With such a configuration, it is possible to appropriately correct the current position information when the movable member moved by manual movement from outside the lock detection area becomes locked.

  Further, the movement of the seat 3 is an automatic movement that automatically moves from outside the lock detection area to a preset position. When the seat 3 is moved until it is locked, the current position information update unit 75 displays the current position information. Of course, it is also possible to configure so as to be updated with the lock position information. With such a configuration, in the case of automatic movement from outside the lock detection area, the movable member is moved until it is locked, so that the current position information can be appropriately corrected.

In the above embodiment, the lock detection area is the lock detection area l ₁₁ on the movable range A side and the side outside the movable range A with reference to the position O ₁ which is _one lock position in the movable range A in FIG. It has been described as comprised of a lock detection area l ₁₂ Prefecture. However, the scope of application of the present invention is not limited to this. The lock detection area l ₂₁ on the movable range A side and the lock detection area l ₂₂ on the movable range A side are configured on the other lock position in the movable range A (for example, using O ₂ as a reference) Of course, it is possible to correct the difference between the actual position of the movable member and the current position information using the lock detection area formed at the lock position.

The figure which showed roughly the whole structure of a sheet position control device Diagram showing the movable part of the seat Block diagram schematically showing the schematic configuration of the position control device Diagram showing the relationship between motor current and time when the motor is started Diagram showing the movable range Diagram showing inrush current and lock current Diagram showing lock detection area The flowchart which concerns on the process which updates the present position information which concerns on 1st embodiment with lock position information The flowchart which concerns on the process which updates the present position information which concerns on 2nd embodiment with lock position information

Explanation of symbols

1: Position control device 22: Control unit 70: Operating state determination unit 71: Motor current detection unit 72: Rotational speed detection unit 73: Lock state determination unit 74: Current position information update determination unit 75: Current position information update unit 76: Movement start position information storage unit 77: Current position information calculation unit 78: Lock position information storage unit 82: Lock detection area storage unit 84: Stop position correction control unit

Claims (3)

A current position information calculation unit that calculates current position information indicating a current position of a movable member driven by a motor based on a ripple pulse corresponding to a motor current energized to the motor;
A lock position information storage unit that stores, as lock position information, position information of an end portion where the movable member is mechanically locked based on the current position information calculated by the current position information calculation unit; ,
A lock detection area storage unit for storing a lock detection area set at least on the movable range side with respect to the lock position of the end portion stored in the lock position information storage unit,
When the movable member does not start to move from the lock position but starts to move from the lock detection area set on the movable range side to the lock position of the end portion, the lock even within the movable range A position control device in which movement in a position direction is restricted,
When the movable member starts to move from within the lock detection area on the movable range side and moves toward the opposite side of the end portion, the movable member is prohibited from stopping in the lock detection area, and the movable member is A position control apparatus, further comprising a stop position correction control unit that moves the lock detection area to outside the lock detection area. A current position information calculation unit that calculates current position information indicating a current position of a movable member driven by a motor based on a ripple pulse corresponding to a motor current energized to the motor;
A lock position information storage unit that stores, as lock position information, position information of an end portion where the movable member is mechanically locked based on the current position information calculated by the current position information calculation unit; ,
A lock detection area storage unit for storing a lock detection area set at least on the movable range side with respect to the lock position of the end portion stored in the lock position information storage unit,
When the movable member does not start to move from the lock position but starts to move from the lock detection area set on the movable range side to the lock position of the end portion, the lock even within the movable range A position control device in which movement in a position direction is restricted,
The movement of the movable member is an automatic movement that automatically moves from outside the lock detection area to a preset position,
When the current position indicated by the current position information starts to move from outside the lock detection area in response to the movement of the movable member and enters the lock detection area on the movable range side, the movable member is moved to the lock detection area. The position control device further comprises a stop position correction control unit that prohibits the stop and moves to the lock position of the end.   The position control device according to claim 2, further comprising: a current position information update unit that updates the current position information with the lock position information when the movable member is moved to the end by the stop position correction control unit. .

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