JP5596911B2 - Opening / closing member control device - Google Patents

Description

  The present invention relates to an opening / closing member control device, and more particularly, to an opening / closing member control device capable of detecting a foreign object sandwiched by the opening / closing member.

Currently, in a car opening / closing member control device, when a foreign object is caught during a closing operation, it is detected that the foreign object has been caught due to a change in the speed of a motor that drives the opening / closing member. In such a case, the mainstream is one that has a pinching prevention function that immediately stops the closing operation of the opening and closing member and switches to the opening operation.
As an example of this control, there is known a method in which a threshold is set for detection data (for example, window drive motor rotation speed, etc.) detected corresponding to a load applied to a window, and pinching detection is performed based on this threshold. It has been.
However, in the conventional detection method, the increased pinching load is transmitted via an elastic body such as a regulator, so the motor rotation cycle and speed do not change at the same time, causing a delay in detection and detection load. There was a risk that the damage would be large and damage would be caused.
In order to solve such a problem, the applicant of the present application has proposed a technique for correcting the detection delay to the fluctuation start position of the motor rotation speed when pinching is detected (for example, Patent Document 1). reference).

JP 2007-070949 A

With the technology of Patent Document 1, it is possible to avoid pinching load and a long pinching state by performing pinching determination in consideration of the pinching amount generated before detecting the pinching amount.
That is, the pinching amount that is not directly detected by the pinching amount detection means is estimated by the pinching amount estimation means, and the pinching amount detected by the pinching amount detection means and the pinching amount estimated by the pinching amount estimation means Based on this, the pinch determination means is configured to fix the pinch.
Accordingly, it is possible to reliably detect the pinching and to detect the pinching at an early stage by the amount of pinching estimation, and to prevent the foreign object from being held in the pinching state for a long time.

  However, in the technique of Patent Document 1, when a disturbance occurs while the window glass is moving up (for example, when a door closing operation is performed), compared to a case where correction based on such an estimated amount of pinching is not performed, There was a concern that the possibility of causing erroneous detection of pinching would increase.

  An object of the present invention is to solve the above-described problems, even when a disturbance occurs during driving of the opening and closing member (for example, when the vehicle door is closed while the window glass is being driven up). Another object of the present invention is to provide an opening / closing member control device capable of avoiding erroneous detection of pinching and correcting a delay in load detection.

Above-mentioned problems, the vehicles doors, opening and closing member disposed in the door, a drive unit for opening and closing the closing member, the pinching detecting unit for detecting the entrapment of foreign object by the opening and closing member at the time of opening and closing , a closing member control apparatus having a rotation the entrapment detection unit, Ri indicator der used for determining the start of the trapping of the foreign body, which is the difference between the present rotational speed and a predetermined pulse previous rotational speed The speed difference (Δω) is obtained, and the start of pinching is determined by the pinching start determining means for determining the start of pinching of the foreign matter from the magnitude relationship between the rotational speed difference (Δω) and the fluctuation determination threshold, and the pinching start determining means After the determination, a pinching amount calculation means for calculating a pinching calculation amount of the foreign object by the opening / closing member, and an amount of pinching before the start of the foreign object pinching by the pinching start determination means is determined. A sandwiching amount estimation unit for obtaining a sandwiching estimation amount; and a summation value of the sandwiching amount calculated by the sandwiching amount calculation unit and the sandwiching amount estimation unit estimated by the sandwiching amount estimation unit; A pinch determination means for determining pinching of a foreign object from a magnitude relationship between a value and a pinch detection threshold; and a door open / close state detection means for detecting an open / closed state of the door, wherein the pinch amount calculation means When it is determined that there is no disturbance during the closing drive of the member, and the pinching start determining means determines that there is a pinching start, the pinching calculation amount is calculated, and the pinching amount estimating means Correction according to the open / closed state of the door detected by a signal from the detection means, and the estimated amount of pinching calculated by the correction and the correction The problem is solved by detecting pinching based on the pinching calculation amount .

  In this way, in the present invention, the amount of pinching that is not directly detected is estimated by the pinching amount estimation unit by the pinching amount calculation unit, and the pinching calculation amount calculated by the pinching amount calculation unit and the pinching amount estimation Based on the estimated amount of pinching calculated by the means, the pinching determination unit is configured to determine the pinching of the foreign object. As a result, it is possible to accurately detect (determine) the pinching based on the pinching amount that is approximately proportional to the pinching load actually applied to the foreign material, and that an excessive pinching load is applied to the foreign material being pinched. It can be avoided.

Further, at this time, the pinching amount estimation means is configured to determine whether or not a disturbance has occurred during the closing drive of the opening / closing member, and to correct the pinching estimation amount according to the disturbance.
For this reason, by adding the estimated amount of pinching, it is possible to prevent pinching determination from becoming too sensitive, and to prevent erroneous pinching detection.
That is, it is possible to effectively prevent the pinching determination means from erroneously determining that pinching has occurred due to an error caused by disturbance.
Further, the present invention is configured to correct the pinching amount calculated by the pinching amount calculation means in accordance with the open / closed state of the door.
For this reason, the error which arises by the opening / closing state of a door can be considered, and a false detection can be prevented effectively.

  Further, specifically, the drive source of the drive unit is a motor, and the disturbance is a change in motor drive voltage, and even when other electrical devices such as a starter and a wiper are driven simultaneously with the opening / closing member, The sandwiching amount estimation means corrects the sandwiching estimation amount according to the above event, which is preferable because erroneous detection of the sandwiching detection can be prevented.

  Further, the drive source of the drive unit is a motor, and the disturbance is a change in motor rotation speed due to running vibration, which is caused by vertical movement of the opening / closing member due to vibration during running (such as running on a rough road). Even if the number of rotations of the motor fluctuates, the estimated amount of pinching is corrected according to the above event, which is preferable because erroneous detection of pinching detection can be prevented.

  Further, when the disturbance is the sliding resistance of the opening / closing member, even if a sliding resistance change occurs for each opening / closing member position due to a change over time, etc., in order to correct the estimated pinching amount according to the above-described event, This is preferable because erroneous detection of pinching detection can be prevented.

  Furthermore, the opening / closing member is a window glass disposed on a vehicle door, and the disturbance is an opening / closing operation of the vehicle door. Since the pinching estimation amount is corrected according to the event, erroneous detection of pinching detection can be prevented, and functionality can be further improved.

According to the present invention, it is possible to avoid erroneous detection of pinching even when a disturbance occurs while the window glass is rising (for example, when the vehicle door is closed).
Further, even when a disturbance occurs while the window glass is rising (for example, when the vehicle door is closed), the load detection delay can be corrected.
Accordingly, it is possible to reliably detect the pinching of the opening / closing member regardless of the occurrence of disturbance (for example, the vehicle door opening / closing operation state).

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
Note that the configuration described below does not limit the present invention and can be variously modified within the scope of the gist of the present invention.
In the present embodiment, when a disturbance occurs while the window glass is moving up (for example, when a vehicle door is opened or closed), the load detection delay is corrected according to the disturbance, so that whether or not there is a disturbance. In particular, the present invention relates to an opening / closing member control device that can reliably prevent erroneous detection of the window glass.

  1 to 10 show an embodiment of the present invention. FIG. 1 is an explanatory diagram of a power window device, FIG. 2 is an electrical configuration diagram of the power window device of FIG. 1, and FIG. FIG. 4 is an explanatory diagram showing a rotational speed change when the engine is started, FIG. 5 is an explanatory diagram showing a rotational speed change during a rough road, FIG. 6 is an explanatory diagram showing a change in rotational speed due to sliding resistance, FIG. 7 is an explanatory diagram of pinching determination processing when the pinching estimation amount is taken into account, FIG. 8 is a processing flow of pinching determination, and FIG. 9 is when disturbance occurs. FIG. 10 is a process flow of a correction process for the rotational speed fluctuation amount.

Hereinafter, an embodiment in which the present invention is applied to a power window device of a vehicle S will be described.
FIG. 1 is an explanatory diagram of a power window device 1 according to the present embodiment, and FIG. 2 is an electrical configuration diagram thereof.
The power window device 1 according to the present embodiment is configured to raise and lower (open and close) the window glass 11 as an opening and closing member disposed on the door 10 of the vehicle S by rotational driving of the motor 20. The power window device 1 includes, as main components, an elevating mechanism 2 that drives the window glass 11 to open and close, a control unit 3 that controls the operation of the elevating mechanism 2, and an operation switch 4 that is used by an occupant to command the operation. .

In the present embodiment, the window glass 11 moves up and down between an upper fully closed position and a lower fully opened position along a rail (not shown).
The elevating mechanism 2 according to this embodiment includes a motor 20 having a speed reducing mechanism fixed to the door 10, an elevating arm 21 having a fan-shaped gear 21 a driven by the motor 20, and the elevating arm 21 in a crossing manner. The main component is a driven arm 22 that is pivotally supported, a fixed channel 23 fixed to the door 10, and a glass side channel 24 that is integral with the window glass 11.

  The motor 20 according to the present embodiment is energized to the winding of the rotor by receiving power supply from the control unit 3, thereby causing a magnetic attraction action between the rotor and the stator having the magnet to rotate. The child is configured to rotate forward and backward. In the elevating mechanism 2 of this example, when the elevating arm 21 and the driven arm 22 swing according to the rotation of the motor 20, these end portions are subjected to sliding restriction by the channels 23 and 24 and are driven as X links. Then, the window glass 11 is moved up and down. The elevating mechanism 2 corresponds to the drive unit of the present invention.

The motor 20 according to the present embodiment is integrally provided with a rotation detection device (position detection device) 25 as a moving speed detection means. The rotation detection device 25 outputs a pulse signal (speed detection signal, rotation speed signal, etc.) synchronized with the rotation of the motor 20 to the control unit 3.
The rotation detection device 25 according to the present embodiment is configured to detect a magnetic change of a magnet that rotates together with the output shaft of the motor 20 using a plurality of Hall elements.
With such a configuration, the rotation detection device 25 outputs a pulse signal synchronized with the rotation of the motor 20.
That is, the pulse signal is output for each predetermined movement amount of the window glass 11 or for each predetermined rotation angle of the motor 20.
Thereby, the rotation detection device 25 can output a signal corresponding to the movement of the window glass 11 which is substantially proportional to the rotation speed of the motor 20.
The control part 3 calculates the raising / lowering position of the window glass 11 by this pulse signal.
Moreover, this control part 3 can calculate the rotational speed of the motor 20, or the raising / lowering speed of the window glass 11 corresponding to this with the space | interval of a pulse signal.

  In the present embodiment, the rotation detection device 25 using a Hall element is employed. However, the present invention is not limited to this, and any known detection device such as an encoder can be used as long as the rotation speed of the motor 20 can be detected. Alternatively, the rotational speed may be detected by detecting torque ripple during rotation of the motor 20.

The control unit 3 according to this embodiment includes a controller 31 and a drive circuit 32. The controller 31 and the drive circuit 32 are supplied with electric power necessary for operation from a battery 5 mounted on the vehicle. The control unit 3 corresponds to the pinching detection unit of the present invention.
The controller 31 according to the present embodiment is configured by a microcomputer including a memory (not shown) such as a CPU, ROM, and RAM, an input circuit, an output circuit, and the like. In the CPU, a memory (not shown), an input circuit, and an output circuit are connected to each other via a bus. The controller 31 is not limited to this, and may be configured by a DSP or a gate array.

The controller 31 normally opens and closes the window glass 11 by rotating the motor 20 forward and backward via the drive circuit 32 based on the operation signal from the operation switch 4.
In addition, the controller 31 receives a pulse signal from the rotation detection device 25, and based on this pulse signal, it is possible to detect the inclusion of a foreign object between the upper end portion of the window glass 11 and the window frame. When it is detected that a foreign object is caught, the controller 31 rotates the motor 20 in the opening direction via the drive circuit 32 to drive the window glass 11 to open.
Further, the controller 31 receives a door opening / closing signal 6.
The door opening / closing signal 6 is a signal transmitted from a door courtesy switch or the like. Based on the door opening / closing signal 6, the controller 31 determines the door opening / closing state.
This door opening / closing signal 6 is used in the correction process of the fluctuation amount S of the rotational speed ω in consideration of the estimated amount of pinching in the delay period Td before the start of pinching described later is determined.
This process will be described in detail later.

The drive circuit 32 according to the present embodiment is configured by an IC including an FET, and switches the polarity of power supply to the motor 20 based on an input signal from the controller 31.
That is, when receiving a forward rotation command signal from the controller 31, the drive circuit 32 supplies power to the motor 20 so as to rotate the motor 20 in the forward rotation direction, and receives a reverse rotation command signal from the controller 31. Supplies electric power to the motor 20 so as to rotate the motor 20 in the reverse rotation direction.
The drive circuit 32 may be configured to switch the polarity using a relay circuit. Alternatively, the drive circuit 32 may be incorporated in the controller 31.

The controller 31 detects a rising portion or falling portion (pulse edge) of the pulse signal from the input pulse signal, and the rotation speed (rotation cycle) of the motor 20 based on the interval (cycle, pulse width) of the pulse edge. And the rotational direction of the motor 20 is detected based on the phase difference of each pulse signal.
That is, the controller 31 indirectly calculates the movement speed of the window glass 11 based on the rotation speed (rotation period) of the motor 20 and specifies the movement direction of the window glass 11 based on the rotation direction of the motor 20. .
The controller 31 counts pulse edges. This pulse count value is added or subtracted with the opening / closing operation of the window glass 11. The controller 31 specifies the opening / closing position of the window glass 11 based on the magnitude of the pulse count value.

The operation switch 4 according to the present embodiment is configured by a swing type switch that can be operated in two steps, and has an open switch, a close switch, and an auto switch. When the occupant operates the operation switch 4, a command signal for opening and closing the window glass 11 is output to the controller 31.
Specifically, when the operation switch 4 is operated one step toward one end, the opening switch is turned on, and a normal opening command signal for causing the window glass 11 to perform a normal opening operation (that is, an opening operation only during the operation). Is output to the controller 31. Further, when the operation switch 4 is operated one step to the other end side, the closing switch is turned on, and a normal close command signal for causing the window glass 11 to be normally closed (that is, only closed during operation) is a controller. To 31.

  Further, when the operation switch 4 is operated in two steps toward one end, both the opening switch and the auto switch are turned on, and the auto switch for automatically opening the window glass 11 (that is, opening to the fully opened position even if the operation is stopped). An open command signal is output to the controller 31. Further, when the operation switch 4 is operated in two steps to the other end side, both the closing switch and the auto switch are turned on, and the window glass 11 is automatically closed (that is, closed to the fully closed position even if the operation is stopped). Is output to the controller 31.

While receiving the normal opening command signal from the operation switch 4 (while the operation switch 4 is being operated), the controller 31 drives the motor 20 via the drive circuit 32 to normally open the window glass 11. Let On the other hand, the controller 31 drives the motor 20 via the drive circuit 32 while receiving the normal close command signal from the operation switch 4 (while the operation switch 4 is being operated), so that the window glass 11 is normally operated. Close operation.
When the controller 31 receives an auto-open command signal from the operation switch 4, the controller 31 drives the motor 20 via the drive circuit 32 to automatically open the window glass 11 to the fully open position. On the other hand, when receiving an auto close command signal from the operation switch 4, the controller 31 drives the motor 20 via the drive circuit 32 to cause the window glass 11 to automatically close to the fully closed position.

When the window glass 11 is closed (normally closed or auto-closed), the controller 31 monitors whether the window glass 11 is caught. That is, when the pinching occurs, the moving speed of the window glass 11 and the rotational speed of the motor 20 are reduced in relation to this (the rotational cycle becomes longer). For this reason, the controller 31 of this example constantly monitors fluctuations in the rotational speed of the motor 20.
The controller 31 according to the present embodiment detects the start of pinching based on the fluctuation of the rotational speed, and then pinches when the rotation speed is detected to have changed by a predetermined amount after the start of pinching is detected. Is determined (confirmed).

When the pinching is confirmed, the controller 31 controls the motor 20 to reverse so as to release the foreign matter pinched by the window glass 11 and to open the window glass 11 by a predetermined amount.
In addition, when it determines with pinching, even if it controls so that the operation | movement of the motor 20 is stopped and the further closing operation | movement of the window glass 11 is stopped, the foreign material pinched by the window glass 11 can be released. Good.

Next, an outline process of the pinch determination in the power window device 1 according to the present embodiment will be described.
In the power window device 1 according to the present embodiment, the rotational speed ω of the motor 20 is calculated based on the pulse signal received from the rotation detection device 25.
In the calculation processing according to the present embodiment, the rotational speed ω is calculated from these pulse widths on the basis of the pulse signal received at that time and the n pulse signals consecutive including the pulse signal previously received. . When the rotational speed ω is calculated from a plurality of pulse signals in this way, the error variation can be canceled out in data processing.

The fluctuation state of the rotational speed ω calculated in this way is grasped, but when pinching is detected, the rotational speed ω of the motor 20 is decelerated halfway due to the pinching.
In the power window device 1 according to the present embodiment, every time a pulse signal is received, the rotation that is the difference between the current rotational speed ω and the rotational speed ω before k pulses (4 pulses before in the present embodiment). A speed difference Δω is calculated.
First, it is determined whether or not the rotational speed difference Δω calculated in this way exceeds a fluctuation determination threshold value α. When the fluctuation determination threshold value α is exceeded, it is determined that the pinching has started.
However, since the pinching has not been confirmed at this time, the motor 20 continues to rotate and the window glass 11 continues to rise. This fluctuation determination threshold value α is set to such a magnitude that the rotational speed difference Δω caused by this even when the power window device 1 sandwiches a soft object, exceeds this value.

In the present embodiment, the rotational speed difference Δω is a difference between the rotational speed ω calculated based on a plurality of continuous pulse signals and the rotational speed ω before the k pulses, and thus is greater than the actual rotational speed difference Δω. A delay of a predetermined pulse signal (delayed pulse signal) occurs in the time variation.
That is, the start of pinching is detected in data processing after a predetermined delay time from the actual start of pinching.
For this reason, when the rotational speed difference Δω exceeds the fluctuation determination threshold value α, the pinching has already occurred before the delayed pulse signal, and the pinching load is applied to the pinched foreign matter.

Further, in the present embodiment, once the start of pinching is detected, the cumulative value ΣΔω _α of the rotational speed difference Δω from this point in time (ie, the fluctuation amount of the rotational speed ω. Hereinafter, the “rotational speed fluctuation amount ΣΔω _α ”)) is calculated.
Specifically, the rotational speed variation Shigumaderutaomega _alpha, the start of pinching is calculated as the sum of the rotational speed difference Δω from being detected.
In the present embodiment, a state from when it is determined that the pinching has started since the rotational speed difference Δω is affected by the pinching of the foreign object until the pinching load increases and is detected (confirmed) (pinching state) ) or as pinching calculation amount for determining the degree of entrapment, rotational speed variation Shigumaderutaomega _alpha is used.

Furthermore, in the present embodiment, an estimation process of the cumulative value ΣΔω _β (hereinafter referred to as “rotational speed fluctuation amount ΣΔω _β ”) of the rotational speed difference Δω corresponding to the number of delayed pulses is performed.
Specifically, an average rotational speed difference Δω _ave from the current rotational speed difference Δω to the rotational speed difference Δω before the p pulse signal is calculated, and this average rotational speed difference Δω _ave is calculated as the rotational speed difference during the delay period. I reckon. The rotational speed fluctuation amount ΣΔω _β during the delay period is calculated by multiplying the average rotational speed difference Δω _ave by the number of delayed pulse signals.
In the present embodiment, correction in consideration of the disturbance which affects the rotational speed variation Shigumaderutaomega _beta in this delay period.

In other words, various disturbances that affect the rotational speed fluctuation amount ΣΔω _β are considered to be normal disturbances such as sliding resistance and aging, vehicle speed, operation of electric devices such as starters and wipers, and traveling vibration. However, the correction is performed by selecting and multiplying the number of delayed pulse signals corresponding to the disturbance.
Note that the state of speed change due to these disturbances is shown in FIGS. 3 to 6 in comparison with the case with and without the delay load correction.
FIG. 3 shows a change in the rotational speed when the vehicle door is closed while the window glass 11 is raised, FIG. 4 shows when the engine is started, FIG. 5 shows that the vehicle is traveling on a rough road, and FIG.
In each figure, (a) shows the case where the delayed load correction is performed, and (b) shows the case where the delayed load correction is not performed.

In this way, when the delayed load correction is uniformly performed, when a disturbance occurs, the margin for erroneous pinching detection is reduced, and pinching erroneous detection is likely to occur. That is, it becomes easy to react to the pinching more than necessary. For this reason, by selecting and multiplying the number of delayed pulse signals corresponding to this disturbance, the margin for erroneous pinching detection is increased, and occurrence of erroneous pinching detection is effectively prevented.
For this reason, for example, even when the vehicle door is opened and closed during the closing operation of the power window device 1, it is possible to effectively prevent erroneous pinching.

In the present embodiment, the rotational speed fluctuation amount ΣΔω _β is used as a pinching estimation amount for estimating the pinching state or the degree of pinching before the rotational speed fluctuation amount ΣΔω _α that is the pinching calculation amount can be calculated. .
That is, the rotational speed variation Shigumaderutaomega _beta, is based on the operating state occurring prior to calculating the rotational speed variation Shigumaderutaomega _alpha discernible based on the operating state, a direct unidentifiable pinching amount.
Note that the calculated average rotational speed difference Δω _ave varies depending on properties such as the hardness and ease of deformation of the sandwiched foreign matter, and therefore the rotational speed fluctuation amount ΣΔω _β that is the estimated amount of sandwiching is also the property of the foreign matter. It is set appropriately according to the above.

In this embodiment, the estimated amount of pinching (rotational speed fluctuation amount ΣΔω _β ) and the start of pinching that would have actually affected the rotational speed ω before the start of pinching is detected. A pinching amount (rotational speed fluctuation amount ΣΔω _t ) obtained by adding a pinching calculation amount (rotational speed fluctuation amount ΣΔω _α ) calculated after detection is used for pinching determination.
That is, in this embodiment, the rotational speed variation Shigumaderutaomega _t is judged whether or not exceeds the determination threshold β entrapment, rotational speed variation Shigumaderutaomega _t is sandwiched when exceeding the pinching determination threshold β Is detected (confirmed).

In the present embodiment, the rotational speed fluctuation amount ΣΔω _β , which is the estimated amount of pinching, is calculated by multiplying the average rotational speed difference Δω _ave from before the p pulse signal by the number of pulse signals corresponding to the delay period. However, the present invention is not limited to this, and the sandwiching estimation amount may be calculated by an appropriate method in accordance with the actual situation.
For example, may be set stepwise rotational speed variation Shigumaderutaomega _beta according to the magnitude of the average rotational speed difference [Delta] [omega _ave, number of pulse signals to be multiplied according to the magnitude of the average rotational speed difference [Delta] [omega _ave May be set differently.
In the present embodiment, the fluctuation amount of the rotational speed ω is used as the pinching amount. However, the present invention is not limited to this, and other fluctuation amounts may be used as the pinching amount. For example, a variation amount of the moving speed of the window glass 11 or a movement variation amount of the mechanism portion may be used.

FIG. 7 shows the rotational speed ΣΔω (cumulative value of the rotational speed difference Δω) and the fluctuation of the sandwiching load applied to the foreign matter sandwiched.
Lines A and B indicate the rotational speed ΣΔω and the change in pinching load, respectively.
As shown in FIG. 7, the trapping is started at the time of the pulse count P1, and the influence of the decrease in rotational speed due to the trapping appears in the calculated rotational speed ΣΔω at the time of the pulse count P2 when the delay period Td has elapsed.
However, in the example of FIG. 7, a pulse count P3 point of pulse count P2 point forward, the rotational speed variation Shigumaderutaomega obtained by adding the rotational speed variation Shigumaderutaomega _beta is estimated quantity pinching the rotational speed variation Shigumaderutaomega _alpha at that time _It is determined whether or not pinching has occurred based on _t .
Therefore, at the time of the pulse count P3, the sum of the pinching detection load F _α corresponding to the rotational speed fluctuation amount ΣΔω _α and the delay load (pinching estimation amount) F _β corresponding to the rotational speed fluctuation amount ΣΔω _β is defined as the pinching load F _t. It is considered to be hanging on a foreign object.

Thus, the rotational speed variation Shigumaderutaomega after pulse count P2 when the influence appears in engine speed reduction _α by sandwiching performs pinching determination in consideration of the rotational speed variation Shigumaderutaomega _beta it is earlier jamming estimator In this case, it is possible to determine the pinching by the pinching amount corresponding to a value close to the pinching load actually applied to the foreign matter, so that the pinching load on the foreign matter can be prevented from becoming excessive. It is.

Further, when a soft object is sandwiched, the foreign object is deformed at the beginning of the insertion of the foreign object, so that the sandwiching load hardly increases, and the sandwiching load starts to increase after the foreign object is deformed to some extent. That is, at the beginning of the pinching, the influence of the pinching does not appear on the rotational speed ΣΔω.
Further, since the lifting mechanism 2 that raises and lowers the window glass 11 has play and backlash, at the beginning of the pinching, the play and backlash absorbs the decrease in the rotational speed ΣΔω, and there is a time when the effect of the pinching appears on the rotational speed ΣΔω. Be late.

Therefore, even if a foreign object is pinched, the start of pinching is not detected until a certain amount of time has passed, including the period during which the foreign object is deformed and the period during which the decrease in the rotational speed ΣΔω is absorbed by play and play. It takes a relatively long time for the rotational speed fluctuation amount ΣΔω _α to exceed the pinching determination threshold value β after the pinching starts, and during this time, the foreign matter remains held in the pinching state. .
However, in the present embodiment, the rotational speed fluctuation amount ΣΔω _β , which is the sandwiching amount immediately before the start of the sandwiching is detected, is estimated, and based on the sum of the rotational speed fluctuation amount ΣΔω _α and the rotational speed fluctuation amount ΣΔω _β. since it is configured to determine a pinching (confirmed), so that the early pinching determination by the amount obtained by adding the rotational speed variation Shigumaderutaomega _beta is performed.
That is, the rotational speed variation Shigumaderutaomega _beta, is based on the operating state occurring prior to calculating the rotational speed variation Shigumaderutaomega _alpha discernible based on the operating state, a direct unidentifiable pinching amount.
Thereby, in this embodiment, it can release | release from the pinching state at an early stage, without hold | maintaining a foreign material for a comparatively long time.

Next, the pinching determination process of the controller 31 of this example will be described with reference to FIGS.
In addition, disturbances that affect the delay correction amount calculation of the pinching determination process of the power window device 1 include sliding resistance and secular changes that are normal disturbances, vehicle speed, operation of electric devices such as starters and wipers, and traveling vibration. Although various things are conceivable, in the present embodiment, an example based on an opening / closing operation of a vehicle door is illustrated.
First, the controller 31 according to the present embodiment updates the rotation speed data of the motor 20 based on the pulse signal received from the rotation detection device 25 (step S1).
Specifically, the controller 31 first detects a pulse edge by performing signal processing on the pulse signal received from the rotation detection device 25. Each time a pulse edge is detected, a pulse width (time interval) T between the pulse edge detected last time and the pulse edge detected this time is calculated and sequentially stored in the memory.

In the present embodiment, the pulse width T is updated in order every time a new pulse edge is detected, and the latest four pulse widths T (0) to T (3) are stored.
In other words, when a pulse edge is detected, a new pulse width T (0) is calculated, and the previous pulse widths T (0) to T (2) are shifted by 1 to respectively change the pulse widths T (1) to T (T). Store as (3) and erase the previous pulse width T (3).

Then, the controller 31 calculates the rotational speed ω from the reciprocal of the sum (pulse period P) of the pulse width T of n pulse edges that are continuous in time. This rotational speed ω is a value proportional to the actual rotational speed.
In the present embodiment, the (average) rotational speed ω (0) is calculated from the pulse widths T (0) to T (3) from the current pulse edge to the previous four pulse edges. When the next pulse edge is detected, the rotational speed ω (0) is updated with the newly calculated pulse widths T (0) to T (3). At this time, the previous rotational speed ω (0) is stored as the rotational speed ω (1).

In this way, the latest eight rotation speeds ω (0) to ω (7) that are updated each time a pulse edge is detected (every predetermined movement amount or every predetermined rotation angle) are stored in the controller 31. Always remembered. In this way, by calculating the rotational speed ω using a plurality of pulse widths T, it is possible to cancel the variation in the sensor duty of each received pulse signal output and calculate the rotational speed in which the error variation is canceled.
In the present embodiment, the rotational speed ω is calculated based on the pulse widths T (0) to T (3). Further, the m continuous rotational speeds calculated in this way are averaged to obtain a more average value. The converted rotation speed ω may be calculated.

Next, the controller 31 calculates a rotational speed difference (rotational speed change rate) Δω (0) from the rotational speed ω (step S2).
Specifically, the rotational speed ω (0) to ω (3) is the current block data, the rotational speed ω (4) to ω (7) is the previous block data, and the process of subtracting the sum of the data in each block is performed. ing.
That is, the rotational speed difference Δω is calculated by subtracting the sum of the rotational speeds ω (0) to ω (3) from the sum of the rotational speeds ω (4) to ω (7), and every time a pulse edge is detected ( The rotation speed difference Δω (0) to Δω (q) (where q ≧ p) is updated by forward feed for each predetermined movement amount or for each predetermined rotation angle.
Note that the calculated value may be divided by the number of data (4 in this example). Thus, the phase difference between the rotational speeds ω can be canceled by calculating the rotational speed difference Δω using a plurality of rotational speeds ω.

Then, the controller 31 of the present embodiment calculates the rotational speed fluctuation amount ΣΔω by adding the calculated rotational speed difference Δω (0) with the predetermined position of the window glass 11 as a reference (step S3). In this manner, the difference in the rotational speed ω with respect to the reference position is calculated by accumulating the rotational speed difference Δω (0) every time it is updated.
Next, it is determined whether or not the calculated rotational speed difference Δω (0) exceeds the disturbance determination threshold value γ on the positive side (step S4).
When the vehicle rides on a step or the window glass 11 is closed, an impact is applied to the window glass 11 due to such disturbance, and as a result, the rotational speed of the motor 20 may be affected.
In the present embodiment, this processing prevents erroneous detection of pinching due to disturbance.

As shown in FIG. 9, when a disturbance is applied, the rotational speed difference Δω normally takes a large value in positive and negative directions.
The fact that the rotational speed difference Δω swings to the positive side means that the rotation of the motor 20 is accelerated in the direction in which the window glass 11 is closed, and conversely, the fact that the rotational speed difference Δω swings to the negative side means that the motor 20 It means that the rotation is decelerated.
Therefore, the fluctuation of the rotational speed difference Δω on the negative side simulates pinching. Here, the disturbance determination threshold value γ is a value set on the positive side. In the controller 31 according to the present embodiment, when the rotational speed difference Δω exceeds the disturbance determination threshold value γ on the positive side. It is determined that a disturbance has occurred.

When it is determined that a disturbance has occurred (step S4; present), the controller 31 increases the pinching determination threshold value β to the negative side (step S7), and then proceeds to step S8.
As a result, even if the rotation speed difference Δω is swung to the negative side due to disturbance and the start of pinching is detected, the cumulative value of the subsequent rotation speed difference Δω exceeds the pinching determination threshold value. Therefore, it is possible to prevent erroneous determination of pinching.
In this example, the disturbance determination threshold value γ is set regardless of the fluctuation determination threshold value α. For example, the disturbance determination threshold value γ is a value obtained by reversing the positive / negative sign of the fluctuation determination threshold value α. May be set.

If it is not determined in step S4 that a disturbance has occurred (step S4; no), the controller 31 performs a pinching start determination process (step S5).
Specifically, when the rotation speed difference Δω (0) exceeds the fluctuation determination threshold value α on the negative side, it is determined that the pinching has started, and when it has not exceeded, it is not determined that the pinching has started.
If it is determined that the pinching has started (step S5; present), the process proceeds to step S8.
On the other hand, if it is not determined that the pinching has started (step S5; no), an accumulated value of the rotational speed difference Δω and an initial value for the pinching determination threshold value β are set in step S6.
Specifically, the rotational speed variation ΣΔω calculated in step S3, along with being set to an initial variation amount S ₀ of the rotation speed omega, pinching determination threshold β is returned to a normal value that is not increased.
In this way, when it is determined that the disturbance period has ended, the pinching determination threshold value β is returned to the normal value, and normal processing is performed.

In step S8, the cumulative value is calculated. This process is a calculation process of the fluctuation amount S of the rotational speed ω, and here, the amount corresponding to the pinching amount (rotational speed fluctuation amount ΣΔω _α ) after the start of the pinching is determined is calculated.
Specifically, the controller 31 calculates the rotational speed calculated in step S3 from the initial fluctuation amount S ₀ (cumulative value of the rotational speed difference Δω) of the rotational speed ω set in step S6 immediately before it is determined that the pinching is started. The fluctuation amount S of the rotational speed ω is calculated by subtracting the accumulated value of the difference Δω.
Therefore, if it is not determined in step S5 that the pinching has started, the fluctuation amount S of the rotational speed ω calculated in step S8 is zero, but if it is determined in step S5 that the pinching has started, step S8. The fluctuation amount S of the rotational speed ω calculated in (1) is the fluctuation amount of the rotational speed ω from the start of the pinching.
Thus, the controller 31 of the control unit 3 functions as a sandwiching amount calculation unit.

In this embodiment, the difference in the amount of change from the reference value is calculated to calculate the amount of change in rotational speed ω after the start of pinching (rotational speed change amount ΣΔω _α ). When the start of pinching is not detected, the accumulated value of the rotational speed difference Δω is initialized. When the start of pinching is detected, the accumulated value of the rotation speed difference Δω is accumulated only for the portion after the start of pinching. Thus, the fluctuation amount of the rotational speed ω (rotational speed fluctuation amount ΣΔω _α ) may be calculated.

Next, in step S9, the correction process of the variation amount S of the rotational speed ω is performed in consideration of the estimated amount of pinching in the delay period Td before the start of pinching is determined (see FIG. 10).
In this process, first, an average rotational speed difference Δω _ave that is an average value from the current rotational speed difference Δω (0) to the rotational speed difference Δω (p) before the p pulse edge is calculated, and this average rotational speed difference Δω _ave is calculated. Is the rotational speed difference during the delay period Td (step S21).
Next, in step S22, it is determined whether or not the door is open.
This determination is made based on the door opening / closing signal 6 input to the controller 31.
The door opening / closing signal 6 is a signal transmitted from, for example, a door courtesy switch or the like. Based on the door opening / closing signal 6, the controller 31 can determine the door opening / closing state.
If the door is closed, a door closing delay pulse value is selected in step S23, and a delay correction amount is calculated in step S25.
If the door is open, a door opening delay pulse value is selected in step S24, and a delay correction amount is calculated in step S25.
In step S25, the average rotational speed difference Δω _ave calculated in step S21 is multiplied by the number of set delayed pulse signals selected in step S23 or step S24, so that the rotational speed fluctuation amount that is the estimated amount of pinching during the delay period Td. _ΣΔω β is calculated.
As described above, the controller 31 of the control unit 3 functions as a pinching amount estimation unit.

When the rotational speed fluctuation amount ΣΔω _β is calculated, a correction process is performed in which the rotational speed fluctuation amount ΣΔω _β is added to the rotational speed fluctuation amount S calculated in step S8 (step S26). As a result, the substantial change in the rotational speed due to the pinching (that is, the pinching load) can be reliably calculated.

Next, the controller 31 determines whether or not the fluctuation amount S of the rotational speed ω calculated in step S9 has exceeded the pinching determination threshold value β (step S10).
Thus, the controller 31 of the control unit 3 functions as a pinch determination unit.
When it is determined that the fluctuation amount S of the rotational speed ω has exceeded the pinching determination threshold value β (step S10; present), the controller 31 performs the pinching release processing (step S11) and ends the processing.
Specifically, in the sandwiching release process, the controller 31 reverses the motor 20 to release the foreign matter as described above, and opens the window glass 11 by a predetermined amount.
On the other hand, when it is determined that the fluctuation amount S of the rotational speed ω does not exceed the pinching determination threshold value β (step S10; no), the processing is ended as it is.

In the above embodiment, the variation determination threshold value α, the sandwiching determination threshold value β, and the disturbance determination threshold value γ are constant values regardless of the position of the window glass 11. However, the present invention is not limited to this. It may be set so as to vary depending on the position of 11.
Moreover, in the said embodiment, although the example which applied the opening-and-closing member control apparatus of this invention to the power window apparatus 1 of the vehicle was shown, it opens and closes opening-and-closing members, such as not only this but a sunroof opening-and-closing apparatus and a sliding door opening-and-closing apparatus The present invention may be applied to all devices.

As described above, in the present embodiment, correction of the threshold value with respect to the disturbance is performed, and correction of the rotational speed is also performed in order to correct the delay of the rotational speed.
In this way, since a system that performs strict correction has been established, more reliable pinching detection can be performed.

It is explanatory drawing of the power window apparatus which concerns on one Embodiment of this invention. It is an electrical block diagram of the power window apparatus of FIG. It is explanatory drawing which shows the rotational speed change at the time of closing operation of a vehicle door during a window glass raise. It is explanatory drawing which shows the rotational speed change at the time of engine starting. It is explanatory drawing which shows the rotational speed change during a rough road driving | running | working. It is explanatory drawing which shows the rotational speed change by sliding resistance. It is explanatory drawing of the pinching determination process at the time of considering the pinching estimation amount. It is a processing flow of pinching determination. It is explanatory drawing of the rotational speed difference when a disturbance arises. It is a processing flow of a correction process of the rotational speed fluctuation amount.

Explanation of symbols

1. Power window device 2. Lifting mechanism 3. Control unit 4. Operation switch
5. Battery, 10. Door, 11. Window glass, 20. Motor,
21... Lifting arm, 21a... Gear, 22 .. Follower arm, 23.
24 ... Glass side channel, 25 ... Rotation detection device, 31 ... Controller 32 ... Drive circuit

Claims (5)

Opening / closing provided with a door of a vehicle, an opening / closing member disposed on the door, a drive unit for driving to open / close the opening / closing member, and a pinching detection unit for detecting pinching of foreign matter by the opening / closing member at the time of opening / closing driving A member control device comprising:
The pinching detection unit is
Ri indicator der used for determining the start of the trapping of the foreign body, the rotational speed difference is a difference between the present rotational speed and a predetermined pulse previous rotational speed seek ([Delta] [omega), the variation determination with the rotational speed difference ([Delta] [omega) Sandwiching start determining means for determining the start of the trapping of a foreign object from the magnitude relationship with a threshold value;
A pinching amount calculating means for calculating a pinching calculation amount of a foreign object by the opening and closing member after the pinching start determining means has determined the start of pinching;
A pinching amount estimation unit that estimates a pinching amount by estimating a pinching amount before the start of the pinching of a foreign object is determined by the pinching start determination unit;
A total value of the pinching calculation amount calculated by the pinching amount calculation unit and the pinching amount estimation unit estimated by the pinching amount estimation unit is obtained, and the size of the foreign object is determined from the magnitude relationship between the total value and the pinching determination threshold value. Pinching determination means for confirming pinching;
Door opening / closing state detection means for detecting the opening / closing state of the door,
The pinching amount calculation means calculates the pinching calculation amount when it is determined that there is no disturbance during the closing drive of the opening and closing member, and when the pinching start determination means determines that there is a pinching start,
The pinching amount estimation means corrects the opening / closing state of the door detected by a signal from the door opening / closing state detection means , and based on the pinching estimation amount and the pinching calculation amount calculated by the correction. An opening / closing member control device for detecting pinching . The drive source of the drive unit is a motor,
The opening / closing member control apparatus according to claim 1, wherein the disturbance is a fluctuation of a motor driving voltage. The drive source of the drive unit is a motor,
The opening / closing member control apparatus according to claim 1, wherein the disturbance is a change in a motor rotation speed due to running vibration.   The opening / closing member control apparatus according to claim 1, wherein the disturbance is a sliding resistance of the opening / closing member. The opening / closing member is a window glass disposed on a vehicle door,
The opening / closing member control apparatus according to claim 1, wherein the disturbance is an opening / closing operation of the vehicle door.

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