JP5248303B2 - Opening and closing body control device - Google Patents

Description

  The present invention relates to an opening / closing body control device that prevents the opening / closing body driven by a motor mainly used in a vehicle or the like from being caught.

In the case of an electric sliding door that opens and closes a sliding door (opening / closing body) with a motor used in a vehicle such as an automobile, for the sake of safety, the object is It has a function to detect that it is caught in the door that closes.
For example, there is a technique in which a threshold value is provided according to the position of the sliding door in the closing operation, and pinching is detected according to the load of the motor (Patent Document 1).
JP 2002-106257 A

However, since the load on the motor when driving the slide door changes depending on the inclination of the vehicle, the operating environment using the electric slide door, for example, when the vehicle is stopped on a steep slope, is flat. In an environment where the sliding door is difficult to close due to the influence of gravity compared to when the vehicle is stopped on the road and the motor load is high, it is necessary to set the pinching detection threshold value high so that erroneous pinching detection does not occur.
However, if the threshold used for pinching detection is set high, the load on the motor is generally low when the sliding door is tilted in a direction that closes more easily than gravity on a steep slope, so the object is sandwiched between the closing door and the sliding door Even if the load for closing increases, the motor load may not exceed a preset threshold value, and appropriate pinching determination may not be performed.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an opening / closing body control device that appropriately detects pinching in the closing operation of the opening / closing body even on an inclined ground.

(1) In order to solve the above-described problem, the present invention provides an opening / closing body position detection unit that detects the position of the opening / closing body from a pulse signal output by a position sensor in conjunction with the movement of the opening / closing body driven to open / close by a motor. A load processing unit that calculates a load on the motor from a voltage and a current applied to the motor, and a first threshold value that is a reference value for determining whether or not the object is sandwiched in the closing operation is the opening / closing A normal load threshold map unit stored in association with each body position and a value smaller than the first threshold stored in the normal load threshold map unit are set and associated with each opening / closing body position. A slope load threshold map section in which the second threshold is stored, and the normal load threshold map section and the slope load threshold map section according to the motor load calculated by the load processing section. When either one of them is selected and the normal load threshold value map unit is selected, the first threshold value is compared with the amount of load change calculated by the load processing unit, and the load threshold value map unit during inclination is selected. In this case, the sandwiching processing unit includes a sandwiching processing unit that performs sandwiching determination of the opening and closing body by comparing the second threshold value and the load change amount calculated by the load processing unit, When the average load of the motor calculated by the load processing unit in the closing operation of the opening / closing body is equal to or less than a predetermined second determination value, the load threshold value map unit at the time of inclination is selected, and the load processing unit When the calculated load of the motor is greater than the second determination value, the normal load threshold map unit is selected and compared with the load change amount calculated by the load processing unit. Device.
Depending on the load applied to the motor that drives the opening / closing body, either the normal load threshold map unit storing the threshold used for the pinching determination or the load threshold map during tilting is selected, and the threshold stored in the selected map unit is selected. By using and performing the pinching determination, the pinching determination can be appropriately performed. In addition, it is possible to determine whether or not the moving direction of the opening / closing body is affected by the inclination from the load of the motor in the closing operation, and the normal load threshold value map unit storing the threshold value according to the determination result and the load at the time of inclination By switching to the threshold map unit, it is possible to improve the accuracy of pinching determination.

( 2 ) Further, in the present invention described above, the second determination value is a value for determining whether or not the opening / closing body moves in a closing direction accelerated by an inclination, and the load When the average value calculated by the processing unit is equal to or less than the second determination value, the sandwiching processing unit estimates that the opening / closing body accelerates in a direction to close due to an inclination.
The inclination direction can be detected by predetermining the second determination value and comparing it with the average value of the load estimated values.

( 3 ) Further, the present invention provides an opening / closing body position detection unit that detects the position of the opening / closing body from a pulse signal output by the position sensor in conjunction with the movement of the opening / closing body that is driven to open / close by the motor, and an application to the motor A load processing unit that calculates a load on the motor from the voltage and current to be applied, and a first threshold value that is a reference value for determining whether or not the object is sandwiched in the closing operation corresponds to each position of the opening / closing member A normal load threshold value map unit stored together with a second threshold value set to a value smaller than the first threshold value stored in the normal load threshold value map unit and associated with each position of the opening / closing body. Select one of the stored load threshold map unit at the time of inclination and the normal load threshold map unit and the load threshold map at the time of tilt according to the load of the motor calculated by the load processing unit. When the normal load threshold map unit is selected, the first threshold value is compared with the load change amount calculated by the load processing unit, and when the slope load threshold map unit is selected, the second threshold value map unit is selected. And a sandwiching processing unit that performs the sandwiching determination of the opening and closing body by comparing the load change amount calculated by the load processing unit, the sandwiching processing unit in the opening operation of the opening and closing body When the difference between the average load of the motor calculated by the load processing unit and the average load of the motor in the closing operation of the opening / closing body is equal to or greater than a predetermined third determination value , select load threshold mapper, and an average value of the load of the motor in the opening operation of the closing member, the difference is less than the third determination value and the average value of the load of the motor in the closing operation of the opening and closing member The normal load threshold map part is selected. The opening / closing body control device is characterized by being selected .
Depending on the load applied to the motor that drives the opening / closing body, either the normal load threshold map unit storing the threshold used for the pinching determination or the load threshold map during tilting is selected, and the threshold stored in the selected map unit is selected. By using and performing the pinching determination, the pinching determination can be appropriately performed. In addition, by calculating the load caused by the inclination based on the load difference between the closing operation and the opening operation, it is possible to switch between the normal load threshold value map unit storing the threshold value accurately and the load threshold value map unit during inclination. it can.

( 4 ) Further, in the present invention according to the present invention, the third determination value is a value for determining whether or not the opening / closing body moves in a closing direction accelerated by an inclination, and the average When the difference between the values is equal to or greater than the third determination value, the sandwiching processing unit estimates that the opening / closing body is accelerated and closed by an inclination.
The inclination direction can be detected by setting a third determination value in advance and comparing it with the average value of the estimated load values.

( 5 ) Further, in the invention described above, the present invention relates to the difference between the average values of the loads of the motor in the opening operation and the closing operation calculated by the load processing unit, and in the closing operation calculated by the load processing unit. A temperature determination unit that calculates a friction coefficient in the opening and closing operation of the opening and closing body from the load of the motor, and determines a temperature in the vicinity of the opening and closing body from the calculated friction coefficient, and the second threshold is: Furthermore, it is stored in the load threshold map at the time of inclination in association with the temperature.
By detecting the temperature and changing the threshold value according to the detected temperature, it is possible to perform the pinching determination in consideration of the frictional force that changes according to the temperature.

( 6 ) Further, according to the present invention, in the above-described invention, the average value of the load of the motor calculated by the load processing unit is calculated when the opening / closing body moves in a section where the load of the motor is stable. It is the average value of the applied load.
By predetermining a section in which the load applied to the motor is stable, it is possible to switch between the normal load threshold map unit storing the threshold and the load threshold map during tilting with high accuracy.

  According to this invention, the opening / closing body control device is smaller than the flat ground by performing the pinching determination using the second threshold value that is smaller than the flat ground on the inclined ground in accordance with the load applied to the motor by the sandwiching processing unit. Pinching can be detected even when the load of the motor changes, and appropriate pinching determination can be performed.

  Hereinafter, a motor device and an opening / closing body control device according to an embodiment of the present invention will be described with reference to the drawings. In the following embodiments, a case where an opening / closing body control device provided in a vehicle is applied to an electric slide door (opening / closing body) will be described. Furthermore, the opening / closing operation of the electric sliding door is configured such that the sliding door is opened by moving in one direction on a substantially straight line, and the sliding door is closed by moving in the other direction. Further, in an operation in which the sliding door moves and opens (hereinafter referred to as an opening operation), the sliding door moves toward the rear of the vehicle, and in an operation in which the sliding degree moves and closes (hereinafter referred to as a closing operation). A configuration for moving toward the front of the vehicle will be described.

  FIG. 1 is a schematic block diagram illustrating configurations of the motor device 100 and the opening / closing body control device 1 according to the first embodiment. The motor device 100 includes an opening / closing body control device 1, a driver 2, a motor 3, a current detection circuit 4, an operation switch 5, a door position sensor 6, and a clutch 7. The operation switch 5 outputs a signal for instructing an opening operation and a closing operation of the sliding door to the opening / closing body control device 1. The opening / closing body control device 1 drives the motor 3 by applying a voltage to the motor 3 by PWM control via a driver 2 configured by a switching element in accordance with a signal input from the operation switch 5. The current detection circuit 4 detects a current flowing between the driver 2 and the motor 3 and outputs it to the opening / closing body control device 1. The door position sensor 6 is installed in a sensor that generates a pulse signal for detecting the movement and position of the slide door, for example, a drum that winds a wire that connects the motor 3 and the slide door to drive the slide door. It is comprised by the Hall element etc. which were made. The clutch 7 is used to cut off the connection between the motor 3 and the slide door when the slide door is manually opened and closed.

The opening / closing body control device 1 includes a load processing unit 11, a sandwiching processing unit 12, a door information processing unit 13, a drive control unit 14, and a door speed map unit 15.
The load processing unit 11 includes a load calculation unit 111 and a load average value calculation unit 112. The load calculation unit 111 includes a current value that flows through the motor 3 output from the current detection circuit 4 every predetermined time interval, for example, every 5 ms, and an effective voltage value that the drive control unit 14 applies to the motor 3 by PWM control. From this, an estimated value of the load of the motor 3 (hereinafter referred to as a load estimated value) is calculated, and the calculated load estimated value is output to the load average value calculating unit 112 and the sandwiching processing unit 12. The load average value calculation unit 112 calculates an average value of the estimated load values output by the load calculation unit 111 when the sliding door moves in a predetermined section by the opening operation, and calculates the average value of the calculated load estimation values. Output to the sandwiching processing unit 12. Here, the predetermined section is a section in which the slide door moves stably. For example, the load of the motor 3 is constant due to the structure such as a section in which the rail on which the slide door moves is a straight line. A section or a part of the section, and hereinafter referred to as an average value calculation section.

  The sandwiching processing unit 12 includes a sandwiching determination unit 121, a load threshold selection unit 122, a normal load threshold map unit 123, and a slope load threshold map unit 124. In the closing operation of the sliding door, the pinch determination unit 121 outputs an amount of change (differential value) of the estimated load value of the motor 3 output by the load calculation unit 111 at a predetermined time interval and the load threshold selection unit 122 outputs. When the amount of change is equal to or greater than the load threshold, it is determined that pinching has occurred, and a signal indicating stoppage of the sliding door closing operation and opening operation of the sliding door is output to the drive control unit 14. . When the average value of the estimated load values output by the load average value calculation unit 112 is equal to or greater than a predetermined determination value (first determination value), the load threshold selection unit 122 uses the sliding load threshold map unit 124 as a sliding door. The threshold value corresponding to the position (second threshold value) is read and output to the pinch determination unit 121. When the average value of the estimated load values is smaller than a predetermined determination value, the normal load threshold value map unit 123 slides. The threshold value (first threshold value) corresponding to the door position is read and output to the pinch determination unit 121.

Here, the determination value is a value for switching whether the threshold applied to the sliding door pinching determination is read out from the normal load threshold map unit 123 or the inclination load threshold map unit 124. It is a value for determining whether or not the sliding door determined by the operation experiment or simulation is inclined in the closing direction accelerated by gravity. When the average load estimated value in the opening operation of the slide door is equal to or greater than the determination value, the pinch determination unit 121 is inclined in a direction in which the slide door is accelerated and closed by gravity, that is, the front of the vehicle is low. It is determined that it is inclined toward the direction.
The threshold stored in the inclination load threshold map unit 124 and associated with each position of the sliding door is a threshold smaller than the threshold stored in the normal load threshold map unit 123 and stored in the normal load threshold map 123. It is set so that the detection sensitivity of the pinching determination is higher than the threshold value.

  In the normal load threshold value map unit 123, a threshold value (first threshold value) for determining whether or not pinching has occurred is stored in association with each position of the sliding door. In the inclination load threshold value map unit 124, a threshold value (second threshold value) for determining whether or not pinching has occurred is stored in association with each position of the sliding door. Here, the threshold stored in the inclination load threshold map unit 124 is set to a value smaller than the threshold stored in the normal load threshold map unit 123. Here, each threshold value is a value determined by simulation, an operation experiment, or the like according to the shape or weight of the slide door.

  The door information processing unit 13 includes a door position detection unit 131 and a door movement direction detection unit 132. The door position detection unit 131 counts the number of switching of the pulse signal output by the door position sensor 6, detects the position of the slide door from the counted number, and outputs a signal indicating the detected position of the slide door to the load processing unit 11, The data is output to the sandwiching processing unit 12 and the drive control unit 14. The door movement direction detection unit 132 detects the movement direction (opening direction or closing direction) of the sliding door from the pulse signal output from the door position sensor 6, and outputs a signal indicating the detected movement direction of the sliding door of the load processing unit 11. It outputs to the load average value calculation part 112.

  When the signal indicating the opening operation is input from the operation switch 5, the drive control unit 14 reads the target speed of the sliding door set for each position of the sliding door stored in the door speed map unit 15, and performs PWM control. Thus, the switching operation of the driver 2 is switched between on and off, a voltage is applied to the motor 3, and the motor 3 performs control to perform an opening operation for moving the sliding door in the direction to open the sliding door at the read target speed. Further, when an instruction for the closing operation is input from the operation switch 5, the drive control unit 14 reads the target speed of the sliding door set for each position of the sliding door stored in the door speed map unit 15, and PWM Control is performed by the motor 3 to perform a closing operation in which the switching element of the driver 2 is switched on and off by applying a voltage to the motor 3 to move the sliding door in the direction to close the sliding door at the read target speed. Further, when the pinch determination unit 121 outputs a signal for stopping and opening the closing operation, the sliding door closing operation is stopped and the opening operation of the sliding door is controlled by the motor 3.

  The door speed map unit 15 stores a target speed of movement of the sliding door associated with each position of the sliding door. Here, the target speed is a speed determined by the characteristic value of the motor 3, the weight of the slide door, and the frictional force generated when the slide door is moved. The door speed map unit 15 may describe not the target speed but the voltage applied to the motor 3 to achieve the target speed.

Next, FIG. 2 is a flowchart showing processing for setting a pinching threshold in the opening / closing body control device 1 according to the embodiment, and a diagram showing an operation and a state of the sliding door corresponding to the flowchart.
First, in the opening / closing body control device 1, the load threshold selection unit 122 selects the normal load threshold map unit 123 in accordance with the opening operation instruction input from the operation switch 5 (step S101).
The load threshold selection unit 122 determines whether or not the position of the slide door output by the door position detection unit 131 is in a fully closed state (step S102).

When the position of the slide door is not in the fully closed state (step S102: No), the load threshold selection unit 122 ends the setting process of the pinching threshold, and the threshold stored in the normal load threshold map unit 123 in the pinching determination Is read.
On the other hand, when the position of the slide door is in the fully closed state (step S102: Yes), the load average value calculation unit 112 estimates the load in the average value calculation section from the load estimation value of the motor 3 calculated by the load calculation unit 111. The average of the values is calculated (step S103).

The load threshold selection unit 122 determines the position of the slide door output from the door position detection unit 131 and waits for the slide door to move to the fully opened position (step S104).
Thereafter, the load threshold selection unit 122 determines whether or not the slide door is in a fully opened position from the position of the slide door output by the door position detection unit 131 according to the closing operation instruction input from the operation switch 5. Determination is made (step S105).
When the sliding door is not in the fully open position (step S105: No), the load threshold selection unit 122 ends the setting operation of the pinching threshold, and sets the threshold stored in the normal load threshold map unit 123 in the pinching determination. read out.
When the slide door is in the fully open position (step S105: Yes), the load threshold selection unit 122 determines that the average value of the load estimated values calculated by the load average value calculation unit 112 in step S104 is a predetermined determination value. It is determined whether or not this is the case (step S106).

When the average value of the estimated load values is smaller than the predetermined determination value (step S106: No), the load threshold value selection unit 122 ends the setting operation of the pinching threshold value, and the normal load threshold value map unit 123 performs the pinching determination. Read the stored threshold value.
When the average value of the estimated load values is equal to or greater than a predetermined determination value (step S106: Yes), the load threshold selection unit 122 determines (estimates) that the slide door is accelerated in the direction of closing due to the inclination, and the normal load threshold map Instead of the unit 123, the in-tilt load threshold map unit 124 is selected (step S107). In addition, the load threshold selection unit 122 reads the threshold stored in the tilt load threshold map unit 124 in the pinch determination.
The load threshold selection unit 122 waits for the position of the slide door output from the door position detection unit 131 to be in the fully closed position (step S108), and when the position of the slide door is in the fully closed position, pinch determination is performed. The threshold setting process is terminated.

  With the above-described operation, in the opening / closing body control device 1, the load threshold selection unit 122 selects either the normal load threshold map unit 123 or the slope load threshold map unit 124 in which the threshold used for the pinching determination is stored. Then, the pinch determination unit 121 performs pinch determination based on the threshold value stored in the map unit selected by the load threshold value selection unit 122. Thereby, when the front of the vehicle is inclined toward the lower side, that is, when the load applied to the motor 3 is small in the closing operation, the load threshold selection unit 122 is inclined such that the threshold used for the pinching determination is smaller than normal. By selecting the hourly load threshold value map unit 124, it is possible to increase the accuracy of pinching determination and appropriately perform pinching determination.

Next, FIG. 3 is a flowchart showing the pinch determination process performed by the pinch determination unit 121 in the embodiment.
First, the pinch determination unit 121 outputs a signal indicating the sliding door movement direction by the door movement direction detection unit 132 or a change in the signal indicating the sliding door position output by the door position detection unit 131. If there is, it is determined whether or not the sliding door is moving in the closing direction (closing operation) (step S201).
When it is not a closing operation (step S201: No), the pinch determination unit 121 ends the pinch determination process.
When it is a closing operation (step S201: Yes), the pinch determination unit 121 determines whether or not the amount of change in the estimated load value output by the load calculation unit 111 is equal to or greater than the threshold value output by the load threshold selection unit 122. (Step S202).

When the amount of change in the estimated load value is greater than or equal to the threshold (step S202: Yes), the pinch determination unit 121 determines that pinch has occurred and sends a signal for stopping and opening the closing operation to the drive control unit 14. Output (step S203).
When the change amount of the estimated load value is smaller than the threshold value (step S202: No), the pinch determination unit 121 determines whether or not the fully closed state is determined based on the position of the slide door output from the door position detection unit 131 (step S202). S204).
When it is in the fully closed state (step S204: Yes), the pinch determination unit 121 ends the pinch determination process.
When not in the fully closed state (step S204: No), the pinch determination unit 121 repeats the operations of step S202 to step S204.

  With the above-described operation, the opening / closing body control device 1 can estimate whether the pinching determination unit 121 estimates the load on the motor 3 that moves the sliding door and determines whether pinching has occurred from the estimated load. At this time, the threshold used by the sandwiching determination unit 121 for the sandwiching determination is a threshold set by the sandwiching threshold setting process shown in FIG.

  Next, FIG. 4 is a graph showing the estimated load value of the motor 3, the target speed, the amount of change in the estimated load value, and the pinching determination threshold value corresponding to the position of the slide door in the same embodiment. FIG. 4A is a graph showing the estimated load value of the motor 3 in the opening operation, in which the solid line indicates the estimated load value when the front of the vehicle body is tilted in the low direction, and the broken line indicates that the vehicle body is Shows the estimated load when on flat ground. FIG. 4B shows the target speed, the estimated load value, the amount of change in the estimated load value, and the pinching when the sliding door is closed when the front of the vehicle body is inclined in a low direction. It is a graph which shows a detection threshold, and a broken line shows a load estimated value and a pinching detection threshold when the vehicle body is on a flat ground.

As illustrated in FIG. 4A, when the estimated load value in the opening operation is higher than the estimated load value in the flat area in the average value calculation section, the load threshold selection unit 122 selects the in-tilt load threshold map unit 124. To do. Further, as shown in FIG. 4B, when the front of the vehicle body is inclined in a low direction, the load threshold selection unit 122 selects the in-tilt load threshold map unit 124 to change the pinching detection threshold. Let
As described above, when the front of the vehicle body is inclined in a low direction, the opening / closing body control device 1 can easily detect the occurrence of pinching and increase the accuracy of pinching detection by setting the pinching threshold low. It becomes.

(Second Embodiment)
Unlike the first embodiment, the second embodiment is different from the first embodiment in that the load threshold selection unit 122 selects either the normal load threshold map unit 123 or the inclination load threshold map unit 124 in the sliding door opening operation. In this configuration, the estimated load value in the sliding door closing operation is used without using the estimated load value. The configuration of the opening / closing body control device 1 is the same as that of the first embodiment, but the operation of the load average value calculation unit 112 and the setting process of the pinching threshold performed by the load threshold selection unit 122 are different. Hereinafter, different points will be described.

  Unlike the operation of the first embodiment, the load average value calculation unit 112 calculates the average value of the estimated load value when the sliding door is in the closing operation, and the sliding door moves in the average value calculation section by the closing operation. When calculating, the average value of the estimated load values output by the load calculating unit 111 is calculated, and the calculated average value of the estimated load values is output to the sandwiching processing unit 12.

FIG. 5 is a flowchart illustrating a process of setting a pinching threshold in the opening / closing body control device 1 according to the second embodiment, and a diagram illustrating an operation and a state of the sliding door corresponding to the flowchart.
First, in the opening / closing body control device 1, the load threshold selection unit 122 selects the normal load threshold map unit 123 in accordance with the closing operation instruction input from the operation switch 5 (step S301).

The load threshold selection unit 122 determines whether or not the position of the slide door output from the door position detection unit 131 is in a fully open state (step S302).
When the position of the slide door is not in the fully open state (step S302: No), the load threshold selection unit 122 ends the pinching threshold setting process, and reads the threshold stored in the normal load threshold map unit 123 in the pinching determination. .
On the other hand, when the position of the slide door is in the fully open state (step S302: Yes), the load average value calculating unit 112 calculates the load estimated value in the average value calculating section from the load estimated value of the motor 3 calculated by the load calculating unit 111. Is averaged (step S303).

The load threshold selection unit 122 determines whether or not the average load estimation value output from the load average value calculation unit 112 is equal to or less than a predetermined determination value (second determination value) (step S304).
When the average of the estimated load values is larger than the determination value (step S304: No), the load threshold selection unit 122 ends the process of setting the pinch threshold and is stored in the normal load threshold map unit 123 in the pinch determination. Read the threshold value.
On the other hand, when the average of the estimated load values is equal to or less than the determination value (step S304: Yes), the load threshold selection unit 122 determines (estimates) that the slide door is accelerated in the direction of closing due to the inclination, and the normal load threshold map unit 123 Instead, the load threshold map part 124 at the time of inclination is selected (step S305). In addition, the load threshold selection unit 122 reads out the threshold stored in the tilt load threshold map unit 124 in the sandwiching determination process.

The load threshold selection unit 122 waits for the position of the slide door output from the door position detection unit 131 to be fully closed, and when the position of the slide door is in the fully closed state, the setting of the pinching threshold is terminated ( Step S306).
Here, the determination value used in step S304 is read from either the normal load threshold map unit 123 or the tilt load threshold map unit 124 as the threshold applied by the load threshold selection unit 122 to the pinching determination of the sliding door. This is a value for determining whether or not the slide door determined by an experiment or simulation of the slide door is inclined in a direction to be accelerated and closed by gravity. When the average value of the estimated load values is equal to or less than the determination value, the load threshold selection unit 122 is inclined in a direction in which the slide door is accelerated and closed by gravity, that is, the front of the vehicle is inclined toward the lower side. It is determined that

Next, FIG. 6 is a graph showing the estimated load value of the motor 3, the target speed, the amount of change in the estimated load value, and the pinching determination threshold value corresponding to the position of the sliding door in the same embodiment. The solid line load estimation value indicates a case where the front of the vehicle is inclined toward the lower side, and the broken line load estimation value indicates a case where the vehicle is on a flat ground. The solid line pinching detection threshold indicates a case where the front of the vehicle body is inclined in a low direction, and the load estimation value indicated by a broken line indicates a case where the vehicle is on a flat ground.
As shown in the figure, in the average value calculation section, when the estimated load value in the closing operation is lower than the estimated load value on the flat ground, that is, the load of the motor 3 for closing the slide door when the front of the vehicle body is inclined in the lower direction. Is low, the load threshold selection unit 122 selects the sloped load threshold map unit 124.

Thus, when the front of the vehicle is tilted in a low direction, the opening / closing body control device 1 can easily detect the occurrence of pinching and increase the accuracy of pinching detection by setting the pinching threshold low. It becomes.
Moreover, since the opening / closing body control apparatus 1 in the embodiment performs the setting process of the pinching threshold only by the closing operation of the sliding door, the setting process of the pinching threshold is performed by the opening / closing body control apparatus 1 of the first embodiment. Compared with, processing can be reduced.

(Third embodiment)
FIG. 7 is a schematic block diagram showing configurations of the motor device 300 and the opening / closing body control device 1A in the third embodiment. The motor device 300 includes an opening / closing body control device 1A, a driver 2, a motor 3, a current detection circuit 4, an operation switch 5, a door position sensor 6, and a clutch 7. Compared with the motor device 100 of the first embodiment shown in FIG. 1, the motor device 300 has the same configuration except for the opening / closing body control device 1 </ b> A. Omitted.

  The opening / closing body control device 1A includes a load processing unit 11A, a sandwiching processing unit 12A, a door information processing unit 13, a drive control unit 14, a door speed map unit 15, an inclination processing unit 16, and a temperature processing unit 17. The opening / closing body control device 1A has the same configuration as the opening / closing body control device 1 of the first embodiment shown in FIG. 1 except for the load processing unit 11A, the sandwiching processing unit 12A, the inclination processing unit 16, and the temperature processing unit 17. The corresponding components are denoted by the same reference numerals (13 to 15), and the description thereof is omitted.

The load processing unit 11A includes a load calculation unit 111, a load average value calculation unit 112, an open load average value storage unit 113, and a closed load average value storage unit 114. Here, the open load average value storage unit 113 and the closed load average value storage unit 114, which are different configurations from the load processing unit 11 of the first embodiment and the second embodiment, will be described, and the load calculation having the same configuration will be described. Description of the unit 111 and the load average value calculation unit 112 is omitted.
The opening load average value storage unit 113 stores an average value of estimated load values when the sliding door calculated by the load average value calculation unit 112 moves through the average value calculation section by the opening operation. The closed load average value storage unit 114 stores an average value of estimated load values when the sliding door calculated by the load average value calculation unit 112 moves through the average value calculation section by the closing operation.

The sandwiching processing unit 12A includes a sandwiching determination unit 121, a load threshold selection unit 122, a normal load threshold map unit 123, and a slope load threshold map unit 125. Here, the inclination load threshold map unit 125 having a different configuration from the sandwiching processing unit 12 of the first embodiment and the second embodiment will be described, and the sandwiching determination unit 121, the load threshold selection unit 122, which have the same configuration, And the description with respect to the normal load threshold value map part 123 is abbreviate | omitted.
The slope load threshold map unit 125 includes a plurality of slope load threshold map units, and includes a slope load threshold map unit 125a for normal and high temperatures and a slope load threshold map unit 125b for low temperatures. . The inclination load threshold value map unit 125 is provided in two ways, normal temperature / high temperature and low temperature, when the temperature in the vicinity of the electric sliding door is low, the difference in expansion rate between the vehicle body and the sliding door, the motor 3 Because the frictional force increases due to changes in viscosity such as grease used in the drive system that transmits power, compared to normal and high temperatures, setting the threshold value for pinching detection higher than normal and high temperatures This is to reduce false detection.

  The inclination processing unit 16 includes an inclination load calculation unit 161, an inclination determination threshold storage unit 162, and an inclination determination unit 163. The gradient load calculation unit 161 is a load generated by the gradient using the average value of the estimated load values stored in the load average value storage unit 113 and the load average value storage unit 114 at the time of opening of the load processing unit 11A. A certain slope load is calculated. The calculation method is as follows.

When the front side of the vehicle is tilted at a tilt angle θ in the lower direction, the load Fop applied to the motor 3 in the opening operation is represented by mg (sin θ + μcos θ). Here, m is the mass of the door, g is the acceleration of gravity, and μ is the coefficient of friction. The load Fcl applied to the motor 3 in the closing operation is expressed by mg (−sin θ + μ cos θ), similarly to the load Fop.
Here, the difference between the load Fop and the load Fcl is
(Fop−Fcl) = mg (sin θ + μcos θ) −mg (−sin θ + μcos θ) = 2 mg · sin θ
Thus, by multiplying the difference between the load Fop and the load Fcl by 1/2, the load caused by the inclination can be calculated.

The inclination determination threshold value storage unit 162 stores a threshold value (third determination value) for determining whether or not the front of the vehicle is inclined in a lower direction with respect to the inclination load calculated by the inclination load calculation unit 161. Yes. Here, the threshold value is used for switching whether the load threshold selection unit 122 reads out the threshold value applied to the sliding door pinching determination from the normal load threshold map unit 123 or the tilt load threshold map unit 124. It is a value for determining whether or not the sliding door determined by the sliding door operation experiment or simulation is inclined in a direction to close by gravity. When the average value of the estimated load values is equal to or greater than the determination value, the load threshold selection unit 122 is inclined in a direction in which the sliding door is accelerated and closed by gravity, that is, the front of the vehicle is inclined toward the lower side. It is determined that
The inclination determination unit 163 compares the inclination load calculated by the inclination load calculation unit 161 with the inclination threshold stored in the inclination determination threshold storage unit 162, and determines whether the front of the vehicle is inclined in a low direction. The determination result is output to the load threshold selection unit 122.

  The temperature processing unit 17 includes a temperature determination unit 171 and a temperature determination threshold value storage unit 172. Since the temperature determination unit 171 can calculate θ from the gradient load mg · sin θ calculated by the gradient load calculation unit 161, the temperature determination unit 171 calculates the friction coefficient μ from the load Fop or the load Fcl. Here, since the friction coefficient has a correlation with the temperature, it is determined whether or not the temperature is significantly lower than the normal temperature, for example, below freezing point, based on the calculated friction coefficient μ. At this time, whether or not the temperature in the vicinity of the sliding door is low is determined by comparing the threshold stored in the temperature determination threshold storage unit 172 with the calculated friction coefficient μ, and the determination result is loaded. The data is output to the threshold selection unit 122. Here, the threshold value used for temperature determination is a value determined in advance from experiments or simulations.

Next, FIG. 8 is a flowchart illustrating processing for setting a pinch determination threshold in the opening / closing body control apparatus 1A according to the embodiment, and a diagram illustrating an operation and a state of the sliding door corresponding to the flowchart.
First, in the opening / closing body control apparatus 1A, the load threshold selection unit 122 selects the normal load threshold map unit 123 in accordance with the opening operation instruction input from the operation switch 5 (step S401).

Subsequently, the load threshold selection unit 122 determines whether or not the position of the slide door output by the door position detection unit 131 is in a fully closed state (step S402).
When the position of the slide door is not in the fully closed state (step S402: No), the load threshold selection unit 122 finishes the pinching threshold setting process, and the threshold stored in the normal load threshold map unit 123 in the pinching determination Is read.
On the other hand, when the position of the slide door is in the fully closed state (step S402: Yes), the load average value calculation unit 112 is configured to load the load calculation unit 111 when the movement direction output by the door movement direction detection unit 132 is the open direction. Is calculated from the estimated load value of the motor 3, and the average value of the estimated load value in the average value calculation section in the opening operation is calculated, and the calculated average value of the estimated load value is output to the open load average value storage unit 113. (Step S403).

The load threshold selection unit 122 determines the position of the slide door output from the door position detection unit 131 and waits for the slide door to move to the fully opened position (step S404).
Thereafter, the load threshold selection unit 122 determines whether or not the slide door is in a fully opened position from the position of the slide door output by the door position detection unit 131 according to the closing operation instruction input from the operation switch 5. Determination is made (step S405).
When the position of the slide door is not in the fully open state (step S405: No), the load threshold selection unit 122 ends the setting process of the pinching threshold, and the threshold stored in the normal load threshold map unit 123 is determined in the pinching determination. read out.
On the other hand, when the position of the slide door is in the fully open state (step S405: Yes), the load average value calculation unit 112 determines that the load calculation unit 111 determines that the movement direction output by the door movement direction detection unit 132 is the closing direction. From the calculated estimated load value of the motor 3, the average value of the estimated load value in the average value calculation section in the closing operation is calculated, and the calculated average value of the estimated load value is output to the closed load average value storage unit 114. Store (step S406).

Subsequently, the gradient load calculation unit 161 reads the average value of the estimated load values from the open load average value storage unit 113 and the closed load average value storage unit 114, respectively, and calculates the gradient load (step S407).
The tilt determination unit 163 determines whether or not the tilt load calculated by the tilt load calculation unit 161 is equal to or greater than the threshold value (third determination value) read from the tilt determination threshold value storage unit 162 (step S408).
When the inclined load is smaller than the threshold (step S408: No), the load threshold selection unit 122 ends the pinching determination threshold setting process, and reads the threshold stored in the normal load threshold map unit 123 in the pinching determination. .
When the gradient load is equal to or greater than the threshold (step S408: Yes), the temperature determination unit 171 includes the gradient load calculated by the gradient load calculation unit 161, the load average value storage unit 113 at opening time, and the load average value storage unit 114 at close time, respectively. The friction coefficient μ is calculated from the average value of the stored load estimated values, and it is determined whether or not the calculated friction coefficient μ is equal to or greater than the threshold value read from the temperature determination threshold value storage unit 172 (step S409).

When the calculated friction coefficient μ is equal to or greater than the threshold (step S409: Yes), the load threshold selection unit 122 selects the low temperature gradient load threshold map unit 125b instead of the normal load threshold map unit 123 (step S410). In the pinching determination, the threshold value is read from the low temperature gradient load threshold value map unit 125b.
When the calculated friction coefficient μ is smaller than the threshold (step S409: No), the load threshold selection unit 122 selects the normal load / high temperature gradient load threshold map unit 125a instead of the normal load threshold map unit 123 (step S409). In step S411, in the sandwiching determination, the threshold value is read from the load threshold map unit 125a for normal temperature / high temperature inclination.
The load threshold selection unit 122 determines the position of the slide door output by the door position detection unit 131, waits for the slide door to move to the fully closed position (step S412), and the position of the slide door is fully closed. When the position is reached, the process for setting the pinch detection threshold is terminated.

Further, the opening / closing body control device 1 </ b> A performs the pinching determination similarly to the opening / closing body control device 1 of the first embodiment and the second embodiment shown in FIG. 3.
With the above-described operation, in the opening / closing body control apparatus 1A, the load threshold selection unit 122 stores the normal load threshold map unit 123 in which the threshold used for the pinching determination is stored, the normal load / high temperature gradient load threshold map unit 125a, and One of the low-temperature slope load threshold map units 125b is selected, and the pinch determination unit 121 performs pinch determination based on the threshold value stored in the map unit selected by the load threshold selection unit 122. . Thereby, when the front of the vehicle is inclined toward the lower side, that is, when the load applied to the motor 3 is reduced in the closing operation, the load threshold selection unit 122 accelerates in the direction in which the sliding door is closed by the inclination. Instead of the normal load threshold value map unit 123, the normal load threshold value map unit 125a is used for the normal temperature / high temperature inclination threshold value map 125a or the low temperature inclination load threshold map unit 125b. This makes it possible to increase the accuracy of pinching determination and appropriately perform pinching determination. Further, the temperature determination unit 171 calculates the friction coefficient and detects a significant temperature change, so that the accuracy of the pinching determination can be increased by dealing with the change in the friction coefficient.

  In the embodiment, the temperature determination is divided into “normal temperature / high temperature” and “low temperature”, but may be “normal temperature”, “high temperature”, and “low temperature”. In this case, since the friction coefficient decreases at a high temperature, the threshold value for the high temperature is set smaller than the threshold value for the normal temperature. In addition, although only the load threshold map unit 125 at the time of inclination is selectively used according to the temperature, the normal load threshold map unit 123 may be configured to include a plurality of maps divided according to temperature.

  In the first to third embodiments described above, in the setting process of the pinching threshold value, it is determined whether or not it is in the fully open state (steps S302 and S405), and whether or not it is in the fully closed state. The determination (steps S <b> 102 and S <b> 402) only needs to allow the load average value calculation unit 112 to calculate the average value of the estimated load value, and therefore may be determination as to whether or not the slide door is before passing through the average value calculation section. Moreover, although the direction in which the sliding door opens is described as the rear of the vehicle and the direction in which the sliding door closes is described as the front of the vehicle, the sliding door may be opened and closed in any direction with respect to the vehicle. You may open and close in the horizontal direction. Moreover, you may use for the door of a double door which opens and closes rotating with respect to arbitrary axial directions.

In addition, although the opening-and-closing body control apparatus 1 and 1A demonstrated the control which made object the slide door, you may apply to the opening-and-closing body driven by a motor like not only a slide door but an electric roof. .
Further, in the opening / closing body control apparatus 1A, the configuration for setting the pinching threshold value according to the inclination of the vehicle body has been described, but the pinching threshold value setting process may be performed only by determining the temperature.

  In the first to third embodiments described above, the opening operation from the fully closed state (step S102, step S402) or the closing operation from the fully open state (step S102) is performed as a condition for calculating the average value of the estimated load values. However, the present invention is not limited to this. For example, it may be set to a predetermined region including the fully open position or a predetermined region including the fully closed position. By doing so, it is possible to detect the inclination of the vehicle and change the pinching threshold even from a state where the sliding door is stopped halfway within a predetermined range from the fully closed position and the fully open position.

  The opening / closing body control devices 1 and 1A described above may have a computer system therein. In this case, the setting process of the sandwiching threshold and the process of sandwiching detection described above are stored in a computer-readable recording medium in the form of a program. Will be done. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

It is a schematic block diagram which shows the structure of the motor apparatus in 1st Embodiment, and an opening-closing body control apparatus. It is the figure which showed the operation | movement and state of a slide door corresponding to the flowchart which shows the process of the setting of the pinching | holding threshold value in the opening-closing body control apparatus in the embodiment, and the said flowchart. It is a flowchart figure which shows the process of the clamping determination which the clamping determination part in the same embodiment performs. It is the graph which showed the load estimated value of the motor corresponding to the position of the slide door in the same embodiment, the target speed, the variation | change_quantity of a load estimated value, and the pinching determination threshold value. It is a figure which shows the operation | movement and state of a slide door corresponding to the flowchart which shows the process of the setting of the pinching | holding threshold value in the opening-and-closing body control apparatus in 2nd Embodiment, and the said flowchart. It is the graph which showed the load estimated value of the motor corresponding to the position of the slide door in the same embodiment, the target speed, the variation | change_quantity of a load estimated value, and the pinching determination threshold value. It is a schematic block diagram which shows the structure of the motor apparatus in 3rd Embodiment, and an opening-closing body control apparatus. It is the figure which showed the operation | movement and state of a slide door corresponding to the flowchart which shows the process of the setting of the pinch | judgement determination threshold value in the opening / closing body control apparatus in the embodiment, and the said flowchart.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100, 300 ... Motor apparatus 1, 1A ... Opening / closing body control apparatus, 2 ... Driver, 3 ... Motor, 4 ... Current detection circuit, 5 ... Operation switch, 6 ... Door position sensor, 7 ... Clutch 11, 11A ... Load processing part 111 ... Load calculation unit 112 ... Load average value calculation unit 113 ... Open load average value storage unit 114 ... Closed load average value storage unit 12, 12A ... Pinch processing unit 121 ... Pinch determination unit, DESCRIPTION OF SYMBOLS 122 ... Load threshold value selection part, 123 ... Normal load threshold value map part, 124, 125, 125a, 125b ... Load threshold value map part at the time of inclination 13 ... Door information processing part, 131 ... Door position detection part, 132 ... Door movement direction detection part DESCRIPTION OF SYMBOLS 14 ... Drive control part, 15 ... Speed map part 16 ... Inclination process part, 161 ... Inclination load calculation part, 162 ... Inclination judgment threshold value memory | storage part, 163 ... Inclination judgment part 17 ... Temperature processing part, 171 ... Temperature judgment Fixed unit, 172... Temperature determination threshold storage unit

Claims (6)

An opening / closing body position detector for detecting the position of the opening / closing body from a pulse signal output by the position sensor in conjunction with the movement of the opening / closing body driven to open and close by the motor;
A load processing unit that calculates a load on the motor from the voltage and current applied to the motor;
A normal load threshold value map unit in which a first threshold value, which is a reference value for determining whether or not the opening / closing body sandwiches an object in a closing operation, is stored in association with each position of the opening / closing body;
An inclination load threshold value map unit that is set to a value smaller than the first threshold value stored in the normal load threshold value map unit and stores a second threshold value associated with each position of the opening and closing body;
When one of the normal load threshold map unit and the slope load threshold map unit is selected according to the load of the motor calculated by the load processing unit, and the normal load threshold map unit is selected, When the first threshold value and the load change amount calculated by the load processing unit are compared and the load threshold map unit at the time of inclination is selected, the second threshold value and the load calculated by the load processing unit are selected. A pinching processing unit that compares the amount of change and performs pinching determination of the opening and closing body ,
The sandwiching processing unit
When the average value of the load of the motor calculated by the load processing unit in the closing operation of the opening / closing body is equal to or less than a predetermined second determination value, the load threshold value map unit at the time of inclination is selected, and the load processing When the load of the motor calculated by the unit is larger than the second determination value, the normal load threshold map unit is selected and compared with the load change amount calculated by the load processing unit. Control device. The second determination value is a value for determining whether or not the opening / closing body is accelerated and closed in a tilting direction, and the average value calculated by the load processing unit is the second determination value. the following cases, opening and closing member control device according to claim 1, wherein the nip processing unit and estimating the acceleration in the direction in which the closing body is closed by tilting. An opening / closing body position detector for detecting the position of the opening / closing body from a pulse signal output by the position sensor in conjunction with the movement of the opening / closing body driven to open and close by the motor;
A load processing unit that calculates a load on the motor from the voltage and current applied to the motor;
A normal load threshold value map unit in which a first threshold value, which is a reference value for determining whether or not the opening / closing body sandwiches an object in a closing operation, is stored in association with each position of the opening / closing body;
An inclination load threshold value map unit that is set to a value smaller than the first threshold value stored in the normal load threshold value map unit and stores a second threshold value associated with each position of the opening and closing body;
When one of the normal load threshold map unit and the slope load threshold map unit is selected according to the load of the motor calculated by the load processing unit, and the normal load threshold map unit is selected, When the first threshold value and the load change amount calculated by the load processing unit are compared and the load threshold map unit at the time of inclination is selected, the second threshold value and the load calculated by the load processing unit are selected. A pinching processing unit that compares the amount of change and performs pinching determination of the opening and closing body ,
The sandwiching processing unit
A third determination value in which a difference between an average value of the load of the motor calculated by the load processing unit in the opening operation of the opening and closing body and an average value of the load of the motor in the closing operation of the opening and closing body is predetermined. In the above case, the slope load threshold map unit is selected, and the difference between the average value of the load of the motor in the opening operation of the opening / closing body and the average value of the load of the motor in the closing operation of the opening / closing body is When it is smaller than the third determination value, the normal load threshold value map unit is selected . The third determination value is a value for determining whether or not the opening / closing body accelerates due to an inclination and moves in a closing direction, and when the difference between the average values is equal to or greater than the third determination value, The opening / closing body control device according to claim 3 , wherein the sandwiching processing unit estimates that the opening / closing body is accelerated and closed by an inclination. The friction coefficient in the opening / closing operation of the opening / closing body from the difference between the average values of the load of the motor in the opening operation and the closing operation calculated by the load processing unit and the load of the motor in the closing operation calculated by the load processing unit. And a temperature determination unit that determines the temperature in the vicinity of the opening / closing body from the calculated friction coefficient,
The second threshold is further associated with the temperature, the opening and closing member control device according to claim 3 or claim 4, characterized in that it is stored in the inclination under load threshold map unit. Mean value of the load of the motor which the load processing unit is calculated, according to claim 1 in which the load of the motor is characterized in that an average value of the load which is calculated when the closing body section is moved to stable The opening / closing body control device according to any one of claims 5 to 6.

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