JP5700663B2 - Control device for vehicle door opening / closing device, control method therefor, and vehicle door opening / closing device - Google Patents

Description

  The present invention relates to a control device for a vehicle door opening / closing device including a clutch that enables selection between manual opening and closing and automatic opening / closing by a motor, a control method thereof, and a vehicle door opening / closing device.

  As a vehicle door opening / closing device, for example, a power sliding door (PSD) device that opens and closes a sliding door is known. The power slide door device automatically opens and closes the slide door by driving a motor, but it is necessary to open and close the slide door manually, so that a device equipped with a clutch has been proposed.

  Here, in the case of using an electromagnetic clutch as a clutch, in consideration of the fact that power is consumed to drive the electromagnetic clutch, and that a drive circuit, a power supply wiring, etc. are required to drive the electromagnetic clutch. It is advantageous to use a mechanical clutch rather than an electromagnetic clutch. Therefore, as a mechanical clutch, for example, as shown in Patent Document 1, a configuration using a centrifugal force has been proposed.

  This mechanical clutch is provided between a rotating shaft of a motor and an output shaft that rotates by the rotating force of the rotating shaft to open and close the sliding door. When the motor is driven to automatically open and close the slide door, the roller member (power transmission member) of the mechanical clutch moves outward due to the centrifugal force generated by the rotation of the rotation shaft, and the rotation shaft and the output shaft. Are connected, the rotational force of the rotating shaft is transmitted to the output shaft, and the sliding door is automatically opened and closed by the drive of the motor.

  On the other hand, when manually opening and closing the sliding door, since the motor is not driven, centrifugal force due to rotation of the rotating shaft does not occur, so the roller member of the mechanical clutch does not move outward and the rotating shaft and output shaft And cut off. That is, since the rotating shaft of the motor, which is a load when viewed from the door side on the drive transmission path, is separated from the output shaft, the sliding door can be manually opened and closed.

JP 2008-133951 A

  By the way, in the power slide door device as described above, a fully open holding latch device that holds and releases the slide door in the fully open position with respect to the vehicle body is provided, and the slide door is disposed in the fully open position by the operation of the latch device. The position of is maintained. When the slide door is automatically closed, the fully-open holding latch device is first operated from the holding to the releasing side by driving a door lock release motor (release motor) based on the closing command. Next, based on the previous closing command, the power sliding door motor (PSD motor) is driven after a certain period of time sufficient to perform reliable operation to the release side of the latch device, and the sliding door closing operation Is started.

  However, if there is a sufficient margin from when the latch device is actually switched to the release side until the PSD motor is driven, the rotating shaft and output shaft of the motor are disconnected in the mechanical clutch described above. In this state, the output shaft is idle, that is, the slide door can run idle. Therefore, when the vehicle is stopped on a sloping ground, the door may operate unexpectedly due to the weight of the sliding door, and when the operating speed is large, when the clutch is connected by the driving of the subsequent PSD motor, There is a concern that the impact (load torque) applied to the motor and the clutch will increase.

  The present invention has been made to solve the above-mentioned problems, and its purpose is to slightly suppress the idling of the door by using a mechanical clutch, and to reduce the impact on the motor and the clutch. It is providing the control apparatus of the vehicle door opening / closing apparatus, its control method, and the vehicle door opening / closing apparatus.

In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that a door for opening and closing an opening provided in a vehicle is opened and closed in accordance with rotation of an output shaft driven by a motor, and the door is automatically opened and closed. When a command occurs, a mechanical clutch is connected with the drive of the motor to transmit the rotational force of the rotating shaft of the motor to the output shaft, and the door is opened and closed by the rotation of the output shaft, When the vehicle is not driven, the clutch is disengaged to disconnect the output shaft and the rotary shaft, and the rotational force of the output shaft from the load side by manual opening and closing of the door is not transmitted to the rotary shaft. in switchgear, wherein a control device for door fully open or the door in cooperation with the latching device for holding the fully closed position automatic opening and closing a vehicle door opening and closing device having a closing control means for, Serial switching control means, during automatic closing operation or during the automatic opening operation of the door, switches the retention of the door by the latching device to release side based on the close command or the open command of the door, after the liberation The operation speed in the closing operation or the opening operation due to the idle running of the door is acquired, and when the acquired operating speed of the door exceeds a predetermined speed, the driving of the motor is started to perform the closing or opening operation of the door. The gist of this is to control.

  In the present invention, when a door close command or an open command is generated in the opening / closing control, the holding of the door by the latch device is switched to the release side, and when the door operating speed acquired after the release becomes a predetermined speed or more, the motor Then, the door is closed or opened. Thus, even when the latch device is switched from the holding state to the releasing side and the door is idling due to its own weight or the like due to the inclination, it is switched to the automatic operation by driving the motor when the operating speed of the door reaches a predetermined speed. Therefore, even if the door runs idle, the running is slightly suppressed, and the shock applied to the motor and the clutch is reduced.

  According to a second aspect of the present invention, in the control device for a vehicle door opening / closing device according to the first aspect, the vehicle door opening / closing device includes a time measuring unit for measuring a predetermined time from the door closing command or the opening command. When the door is in an operating state such that the time until the motor starts to be driven is longer than the predetermined time counted by the time measuring means, the motor driving is forcibly started when the predetermined time is reached. The gist of the control is to perform the closing or opening operation of the door.

  In the present invention, when a predetermined time is counted from the door close command or the open command, and the door is in an operating state in which the time until the start of driving of the motor is longer than the predetermined time, Upon reaching, the motor is forcibly started, and the door is closed or opened. In other words, if the increase in the door operating speed is slow or the operating speed is maintained at zero, the time until the motor starts can be delayed, so the motor is driven quickly after a predetermined time. The transition to the automatic closing or opening operation of the door is prevented from becoming unnecessarily long.

  According to a third aspect of the present invention, in the control device for a vehicle door opening / closing device according to the first or second aspect, the opening / closing control means has a rotation speed corresponding to an operating speed of the door at the start of driving of the motor. The gist is to control the motor so that

  In this invention, when the motor starts driving, the motor is controlled so that the number of rotations matches the operating speed of the door. Therefore, the difference in rotational speed between the shafts before and after the clutch is small, and the drive transmission system including the clutch is applied. Impact can be kept small.

  According to a fourth aspect of the present invention, in the control device for a vehicle door opening and closing device according to any one of the first to third aspects, the motor includes a motor main body that rotationally drives the rotating shaft, and the motor main body. And a speed reduction mechanism having a worm shaft engaged with the worm shaft and a worm wheel meshed with the worm shaft, and a rotational force passing through the worm shaft and the worm wheel. And a speed reduction unit that outputs from the output shaft coupled to rotate integrally with the worm wheel, and the clutch is provided between the rotation shaft and the worm shaft. The gist.

In the present invention, by providing the clutch between the rotating shaft and the worm shaft, that is, before being decelerated, the clutch can be miniaturized and the entire motor can be miniaturized.
A fifth aspect of the present invention is a vehicle door opening and closing device including the control device according to any one of the first to fourth aspects.

  According to the present invention, by performing the control described in the above claims, even when the door is idle, the idle running is slightly suppressed, and the vehicle door opening / closing device can be provided in which the impact on the motor and the clutch is reduced. .

According to a sixth aspect of the present invention, when a command for opening / closing a door that opens and closes an opening provided in a vehicle is opened / closed with rotation of an output shaft driven by a motor and the door is automatically opened / closed, a mechanical clutch is generated. Is connected with the drive of the motor to transmit the rotational force of the rotary shaft of the motor to the output shaft, and the door is opened and closed by the rotation of the output shaft, while the clutch is disconnected when the motor is not driven. In the vehicle door opening / closing device, the output shaft and the rotating shaft are disconnected from each other, and the rotational force of the output shaft from the load side by manual opening and closing of the door is not transmitted to the rotating shaft. or a method of controlling a vehicle door opening and closing device for opening and closing control for automatic opening and closing operation of the door in conjunction with a latch device for holding the fully closed position, the automatic closing operation or during the automatic opening of the door Acquired during the dynamic switches the retention of the door by the latching device to release side based on the close command or the open command of the door, the operating speed of the empty run closing operation or opening operation by the door after the release The gist of the invention is that when the acquired operating speed of the door is equal to or higher than a predetermined speed, the motor is started to be closed or opened.

  In this invention, the same effect as that of the invention of the first aspect can be obtained.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of the vehicle door opening / closing apparatus which can suppress the idling of a door by using a mechanical clutch slightly, and can reduce the impact concerning a motor or a clutch, its control method, and a vehicle door An opening / closing device can be provided.

It is sectional drawing of the motor used for the slide door opening / closing apparatus of embodiment. It is a block diagram of the vehicle mounting state of the slide door opening and closing device of the embodiment. It is a block diagram including the control apparatus of the sliding door opening / closing apparatus of embodiment. It is a timing diagram for demonstrating the control aspect in embodiment. It is a timing diagram for demonstrating the control aspect in a comparative example.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings.
A motor 11 shown in FIG. 1 is a motor with a mechanical clutch, and is a power slide door motor (PSD motor) used as a drive source of the slide door opening and closing device 1 mounted on the vehicle shown in FIG. The slide door opening / closing device 1 is disposed in a lower floor of a passenger entrance 2a provided on the side surface of the vehicle body 2, and opens and closes a slide door 3 that opens and closes the passenger entrance 2a. The sliding door 3 is supported by a connecting tool 5 connected to a plurality of guide rails 4 provided on the vehicle body 2, and a driving belt 6 driven by a PSD motor 11 of the sliding door opening / closing device 1 and its connecting tool. 1 of 5 is connected. When the drive belt 6 is driven by the PSD motor 11, the slide door 3 slides in the front-rear direction along the side surface of the vehicle body 2 via the coupling tool 5 to open and close the entrance / exit 2 a. .

  As shown in FIG. 1, the PSD motor 11 is a so-called geared motor including a motor main body 12 and a speed reduction unit 13. The motor body 12 includes a yoke housing 14, a pair of magnets 15, an armature 16, a brush holder 17, and a pair of brushes 18.

  The yoke housing 14 has a bottomed cylindrical shape, and a pair of magnets 15 are fixed to the inner surface thereof. An armature 16 is rotatably accommodated inside the magnet 15, and a base end portion of a rotating shaft 20 provided in the armature 16 is supported by a bearing 19 provided at the center of the bottom of the yoke housing 14. A flange portion 14b extending outward in the radial direction is formed in the opening portion 14a of the yoke housing 14, and the flange portion 14b is fixed to the opening portion 31a of the gear housing 31 of the speed reduction portion 13 by a screw 21. ing. At the time of fixing, the brush holder 17 is interposed between the openings 14 a and 31 a of the yoke housing 14 and the gear housing 31.

  The brush holder 17 holds, in the yoke housing 14, a bearing 22 that pivotally supports a distal end portion of the rotary shaft 20 and a pair of brushes 18 that are in sliding contact with a commutator 23 fixed to the rotary shaft 20. . A plurality of terminals 24 are inserted in the brush holder 17, and one end of each terminal 24 is electrically connected to the brush 18, a rotation sensor 40 described later, and the like. Further, a connector portion 17a for connecting to a vehicle body side connector (not shown) extending from the vehicle body 2 side is formed at a portion of the brush holder 17 that protrudes outside the housings 14 and 31, and the connector portion 17a. The other end of the terminal 24 is exposed in the connection recess 17b. When the vehicle body side connector is connected to the connector portion 17a, the PSD motor 11 and the ECU 51 provided on the vehicle body 2 side are electrically connected.

The speed reduction unit 13 includes a gear housing 31, a speed reduction mechanism 34 including a worm shaft 32 and a worm wheel 33, an output shaft 35, and a clutch 45.
The gear housing 31 has an opening 31a facing the opening 14a of the yoke housing 14, and a clutch housing portion 31b is recessed from the opening 31a in the axial direction. The clutch housing portion 31b has a substantially cylindrical shaft housing tube portion 31c that extends in the axial direction from the bottom portion and houses the worm shaft 32, and a substantially circular shape that houses the worm wheel 33 continuously with the shaft housing tube portion 31c. A wheel accommodating portion 31d is formed.

  Bearings 36 and 37 are attached to both ends in the axial direction of the shaft housing cylinder 31c, respectively, and the worm shaft 32 inserted into the shaft housing cylinder 31c can be rotated by the bearings 36 and 37. The rotary shaft 20 is supported so as to be coaxial. A worm gear portion 32 a is formed between the support portions of the worm shaft 32 by the bearings 36 and 37. A thrust receiving ball 38 and a thrust receiving plate 39 for receiving the thrust load of the worm shaft 32 are disposed at the tip-facing portion of the worm shaft 32 in the shaft accommodating cylinder portion 31c.

  A disc-shaped worm wheel 33 that meshes with the worm gear portion 32a of the worm shaft 32 is rotatably accommodated in the wheel accommodating portion 31d. An output shaft 35 is coupled to the worm wheel 33 so as to rotate integrally with the worm wheel 33. As shown in FIGS. 2 and 3, the output shaft 35 is coupled to rotate integrally with a drive pulley 7 on which a drive belt 6 for opening and closing the slide door 3 is mounted.

The clutch housing portion 31b houses a mechanical clutch 45 that is disposed between the worm shaft 32 and the rotary shaft 20 and connects and disconnects the worm shaft 32 and the rotary shaft 20.
As shown in FIGS. 1 and 3, the mechanical clutch 45 includes a rotary shaft side movable member (not shown) that rotates integrally with the rotary shaft 20, and a worm shaft side driven member that rotates integrally with the worm shaft 32. A member (not shown) is provided. A power transmission member (not shown) is provided between the rotary shaft side movable member and the worm shaft side driven member. The power transmission member is disposed so as to be immovable in the circumferential direction and movable in the radial direction with respect to the rotary shaft side movable member. The power transmission member is given an elastic force by a spring (not shown) so as not to protrude from the outer peripheral surface of the rotary shaft side movable member.

  And if a rotating shaft side movable member rotates with the rotating shaft 20, a centrifugal force will be provided to a power transmission member by the rotation. The power transmission member to which the centrifugal force is applied moves radially outward against the elastic force of the spring and protrudes from the outer peripheral surface of the rotary shaft side movable member. When the power transmission member protrudes from the outer peripheral surface of the rotating shaft side movable member, the power transmission member engages with a fitting recess formed on the inner surface opposite to the outer peripheral surface of the rotating shaft side movable member of the worm shaft driven member. As a result, the worm shaft driven member (worm shaft 32) is connected to the rotating shaft side movable member (rotating shaft 20) via the power transmission member.

  On the contrary, when the rotating shaft 20 (rotating shaft side movable member) does not rotate, no centrifugal force is applied to the power transmission member. Therefore, the power transmission member cannot protrude from the outer peripheral surface of the rotating shaft side movable member by the elastic force of the spring, and does not engage with the fitting recess formed on the inner surface of the worm shaft driven member. Thereby, the worm shaft driven member (worm shaft 32) and the rotary shaft side movable member (rotary shaft 20) are disconnected. Therefore, the worm shaft side driven member idles with respect to the rotating shaft side movable member (rotating shaft 20) as the worm shaft 32 rotates. As a result, when the worm shaft 32 is rotated from the output shaft 35 side, the rotary shaft 20 serving as a rotational load as viewed from the output shaft 35 side is disconnected from the worm shaft 32. As described above, the mechanical clutch 45 of the present embodiment connects / disconnects the worm shaft 32 and the rotary shaft 20 depending on whether or not the rotary shaft 20 is driven. The details of the mechanical clutch 45 can be easily understood by referring to, for example, the gazette shown in Patent Document 1, and further detailed description is omitted for the sake of convenience.

  By providing such a clutch 45, when the motor body 12 is driven and the rotary shaft 20 rotates, the worm shaft 32 rotates via the clutch 45, and the worm shaft 32 rotates via the worm wheel 33. As a result, the output shaft 35 rotates. Then, by the rotation of the output shaft 35, the slide door 3 operates in the fully open direction or the fully closed direction. On the other hand, when the rotating shaft 20 is not rotating, the clutch 45 disconnects the worm shaft 32 and the rotating shaft 20, so that the rotation from the output shaft 35 becomes easy. That is, a large operating force is not required for manually opening and closing the sliding door 3.

  Incidentally, since the output shaft 35 is linked to the slide door 3, the output shaft 35 rotates according to the operation direction of the slide door 3 both when driven by the motor body 12 and during manual operation, and at the same time, the operation speed of the slide door 3 is increased. The relative rotation speed (rotational speed) is obtained. The rotation amount and the rotation position of the output shaft 35 are opposed to the operation amount and the operation position of the slide door 3. Therefore, the worm shaft 32 that is linked to the output shaft 35 rotates relative to the rotation direction of the output shaft 35 (the operation direction of the slide door 3), and the rotation speed of the output shaft 35 (the operation speed of the slide door 3). ). Further, the rotation amount and rotation position of the worm shaft 32 are opposed to the rotation amount and rotation position of the output shaft 35 (the operation amount and the operation position of the slide door 3).

  A rotation sensor 40 is provided in the vicinity of the bearing 37 provided at the distal end of the shaft accommodating cylinder portion 31c. The rotation sensor 40 has a sensor magnet 41 attached to the worm shaft 32 and two Hall elements 42a and 42b attached to the inner peripheral surface of the shaft accommodating cylinder portion 31c so as to face the sensor magnet 41. ing. The sensor magnet 41 is a ring-shaped magnet in which N and S poles are magnetized at an equal pitch in the circumferential direction, and is attached to the worm shaft 32 so as to rotate integrally with the worm shaft 32. On the other hand, the Hall elements 42a and 42b attached to the inner peripheral surface of the shaft accommodating cylinder portion 31c output pulse signals that change to the H / L level according to the magnetic poles of the sensor magnet 41, respectively. In addition, the Hall elements 42a and 42b are relatively arranged so that the phases of the pulse signals are output with a 90 degree shift.

  The ECU 51 sequentially calculates the rotation direction, rotation speed, rotation amount, and rotation position of the worm shaft 32 based on both or one of the pulse signals output from the hall elements 42a and 42b. That is, the ECU 51 sequentially calculates the operation direction, operation speed, operation amount, and operation position of the slide door 3 from the calculated rotation direction, rotation speed, rotation amount, and rotation position of the worm shaft 32.

  The ECU 51 opens and closes the open command signal So for opening the slide door 3 from the fully closed position to the fully open position and the slide door 3 from the fully open position to the fully closed position by an open / close operation switch (not shown) provided in the slide door 3 and the like. A close command signal Sc for closing is input. When the opening command signal So is input, the ECU 51 drives and controls the motor body 12 to open the sliding door 3 to the fully opened position. When the closing command signal Sc is input, the ECU 51 sets the sliding door 3 to the fully closed position. The motor main body 12 is driven and controlled to be closed. In addition, when the slide door 3 is opened and closed, the ECU 51 performs PWM control on the motor body 12 and also controls the speed of the door 3.

  Further, a pinch detection sensor 52 is provided at a predetermined portion of the slide door 3, and a detection signal from the pinch detection sensor 52 is input to the ECU 51. Here, the pinch detection sensor 52 is provided, for example, over the entire vertical direction of the front end portion of the slide door 3, and holds or holds a foreign object between the slide door 3 that is closed and the entrance 2a of the vehicle body 2. A possible state is detected, and a pinching detection signal is output to the ECU 51. Based on the pinching detection signal from the pinching detection sensor 52, the ECU 51 determines whether or not the foreign object has been pinched by the slide door 3 (whether pinching can occur).

  If it is determined that pinching has occurred (can occur), the ECU 51 reverses the sliding door 3 that is closed (predetermined amount of opening operation), that is, a motor, in order to allow the foreign object pinched by the sliding door 3 to be released. The drive of the main body 12 is switched from normal rotation to reverse rotation. Incidentally, the ECU 51 performs a short circuit between the terminals of the motor body 12 (short circuit between the pair of brushes 18) during the transition from the forward rotation to the reverse rotation of the motor body 12 to generate a brake torque on the rotating shaft 20 of the motor body 12. The brake control for applying the braking force to the operation of the slide door 3 is performed.

  The slide door opening / closing device 1 performs an operation in cooperation with a fully open holding latch device 61 that holds and releases the slide door 3 in the fully open position. The fully open holding latch device 61 operates a latch 63 by driving a door lock release motor (release motor) 62 provided as a drive source, and holds and releases the slide door 3 in the fully open position with respect to the vehicle body 2. Do. When the slide door 3 is automatically closed from the fully open position, the fully open holding latch device 61 is first switched from the holding to the releasing side, and then the PSD motor 11 is operated to close the slide door 3.

  Here, as shown in FIG. 5, the release motor 62 is driven based on the closing command signal Sc, and the counting of the specified time ta preset by the timer of the ECU 51 is started. The specified time ta Assume that driving of the PSD motor 11 (motor main body 12) is started after the time is counted. The specified time ta is set to a time sufficient for the holding of the sliding door 3 by the fully-open holding latch device 61 to be switched to the release side by driving the release motor 62. Accordingly, since the clutch 45 in the PSD motor 11 is in the disengaged state for the remaining specified time ta from when the fully open holding latch device 61 is switched to the release side until the PSD motor 11 is driven, the slide The door 3 is in a movable state (can run idly). At this time, if the dead weight or the like acts on the slide door 3 when the vehicle stops on the slope, the door 3 unexpectedly operates (runs idle).

  Based on this, as shown in FIG. 4, the ECU 51 of the present embodiment drives the release motor 62 based on the input of the close command signal Sc and starts measuring the specified time ta by the timer of the ECU 51. It is detected whether or not the slide door 3 has run idle after the fully-open holding latch device 61 is on the release side. That is, since the operation direction, the operation speed, the operation amount, and the operation position of the slide door 3 are detected along with the operation of the door 3, for example, the operation speed becomes greater than zero or the operation position changes. The ECU 51 can detect the idle running of the slide door 3.

  When the sliding door 3 is unexpectedly closed due to its own weight or the like, and detecting that the operating speed of the door 3 is equal to or higher than the determination speed va, the ECU 51 starts driving the motor body 12 of the PSD motor 11, The automatic closing operation of the sliding door 3 by the driving is started. That is, as the operating speed of the slide door 3 reaches the determination speed va earlier (the higher the speed increases), the time from the input of the closing command signal Sc to the start of driving of the PSD motor 11 (motor body 12) is as shown in FIG. It becomes earlier as time t3, time t2, and time t1. In the present embodiment, the rotational speed (rotational speed) at the start of driving of the PSD motor 11 (motor body 12) is set to a speed commensurate with the determination speed va. The rotational speed difference is small, and the impact on the drive transmission system including the clutch 45 is small.

  Further, in the present embodiment, the measurement of the specified time ta by the timer is also used. That is, when the increase in the operating speed of the slide door 3 is slow and does not reach the judgment speed va easily, or when the door 3 does not run idle and the operating speed of the door 3 is maintained at zero as when the vehicle stops on a flat ground, There is a concern that the time until the drive of the motor 11 (motor body 12) starts is delayed. Therefore, the driving of the PSD motor 11 (motor main body 12) is forcibly started at the time when the measurement of the specified time ta by the timer is completed before the operating speed of the sliding door 3 becomes equal to or higher than the determination speed va. The automatic closing operation 3 is not unnecessarily prolonged. When the increase in the operating speed of the slide door 3 is slow or zero as described above, the time from the input of the close command signal Sc to the start of driving of the PSD motor 11 is the same time t4 as the specified time ta. That is, the time until the drive of the PSD motor 11 does not become longer than the time t4.

  In this way, even when the fully open holding latch device 61 is switched from the holding state to the releasing side and the slide door 3 runs idle due to its own weight action or the like due to the inclination, the PSD is activated when the operating speed of the door 3 reaches the determination speed va. The operation is switched to the automatic closing operation by driving the motor 11. Therefore, even if the slide door 3 runs idle, the idle running is slightly suppressed, and the impact on the motor body 12 and the clutch 45 can be reduced.

Next, characteristic effects of the present embodiment will be described.
(1) In the open / close control in the ECU 51, based on the input of the close command signal Sc, the holding of the slide door 3 by the fully open holding latch device 61 is switched to the release side, and the operation speed of the door 3 acquired after the release is determined. When the speed becomes equal to or higher than va, the driving of the PSD motor 11 (motor body 12) is started and the door 3 is automatically closed. As a result, even if the fully-open holding latch device 61 is switched from the holding to the releasing side and the sliding door 3 runs idle due to its own weight due to the inclination or the like, the PSD motor 11 is turned on when the operating speed of the door 3 reaches the speed va. Switch to automatic closing by driving. Therefore, even if the slide door 3 runs idle, the idle running can be suppressed slightly, and the impact on the motor body 12 and the clutch 45 can be reduced.

  (2) When the specified time ta is counted by the timer from the input of the close command signal Sc, and the door 3 is in an operating state such that the time until the start of driving of the PSD motor 11 is longer than the measured specified time ta. The forcible drive of the PSD motor 11 (motor main body 12) is forcibly started when the specified time ta is reached, and the slide door 3 is automatically closed. In other words, when the operating speed of the slide door 3 is slow to increase or when the operating speed is maintained at zero (when parked on a flat ground or the like), the time until the start of driving of the PSD motor 11 can be delayed, so the time is counted. After the specified time ta, the PSD motor 11 is driven promptly, and the transition to the automatic closing operation of the door 3 can be prevented from becoming unnecessarily long.

  (3) At the start of driving of the PSD motor 11, the motor 11 (motor main body 12) is controlled so that the number of rotations matches the operating speed of the slide door 3. Therefore, the difference in rotational speed between the shafts 20 and 32 before and after the clutch 45 can be reduced, and the impact applied to the drive transmission system including the clutch 45 can be reduced.

  (4) The clutch 45 is provided between the rotating shaft 20 of the motor body 12 and the worm shaft 32 of the speed reduction mechanism 34. That is, by providing the clutch 45 at a position before being decelerated by the speed reduction mechanism 34, it is possible to reduce the size of the motor 11 because it does not receive a large torque, and to reduce the size of the entire motor 11.

In addition, you may change embodiment of this invention as follows.
Although not specifically mentioned in the above embodiment, when a fully-closed holding latch device that holds the sliding door 3 in the fully-closed position is provided, the open command signal So is input as in the case of the above-described closing operation. Based on this, the door 3 may be opened in cooperation with the fully-closed holding latch device.

In the above embodiment, one determination speed va is used for comparison with the operation speed of the door 3, but two or more determination values may be used.
In the above embodiment, the drive start timing of the PSD motor 11 is determined based on the operating speed of the door 3, but the motor 11 is controlled based on other operating states such as a change in the operating position of the door 3 and a change in the operating amount. The drive start timing may be determined.

In the above embodiment, the clutch 45 is provided between the rotation shaft 20 of the motor body 12 and the worm shaft 32 of the speed reduction mechanism 34, but may be provided on a drive transmission path other than this.
In the above embodiment, the operation state of the slide door 3 is detected based on the detection of the rotation state of the worm shaft 32. However, the operation state of the door 3 is detected using other members on the drive transmission path as detection targets. You may make it do.

In the above embodiment, the present invention is applied to a vehicle door opening / closing device that opens and closes the slide door 3, but may be applied to other vehicle doors, for example, a door opening / closing device such as a back door.
Next, a technical idea that can be grasped from the above embodiment and another example will be added below.

(A) When a command for opening / closing a door that opens / closes an opening provided in a vehicle is opened / closed in accordance with rotation of an output shaft driven by a motor, and the door is automatically opened / closed, a mechanical clutch is driven together with driving of the motor. It is connected to transmit the rotational force of the rotating shaft of the motor to the output shaft, and the door is opened / closed by rotation of the output shaft, while the clutch is disconnected when the motor is not driven, In a vehicle door opening and closing device that disconnects the rotating shaft and does not transmit the rotational force of the output shaft from the load side by manual opening and closing of the door to the rotating shaft, the door is held in the fully open or fully closed position. A control device for a vehicle door opening / closing device comprising an opening / closing control means for performing an opening / closing operation of the door in cooperation with a latch device,
The opening / closing control means switches the holding of the door by the latch device to a release side based on the door close command or the open command, detects an operating state of the door after the release, and detects the detected door A control device for a vehicle door opening and closing device, wherein when the operating state becomes a predetermined state, the driving of the motor is started and the door is closed or opened.

  In this configuration, when the door close command or the open command is generated in the opening / closing control, the holding of the door by the latch device is switched to the release side, and when the door operating state detected after the release becomes a predetermined state, Driving is started and the door is closed or opened. As a result, even if the latch device is switched from the holding state to the releasing side and the door runs idle due to its own weight due to the inclination, etc., the door operating state (door operating speed, operating position change, operating amount change, etc.) is predetermined. When it reaches the state, it switches to automatic operation by driving the motor. Therefore, even if the door runs idle, the idle running can be suppressed slightly, and the impact on the motor and the clutch can be reduced.

  DESCRIPTION OF SYMBOLS 3 ... Slide door (door), 11 ... Motor, 12 ... Motor main body, 13 ... Deceleration part, 20 ... Rotating shaft, 32 ... Worm shaft, 33 ... Worm wheel, 34 ... Deceleration mechanism, 35 ... Output shaft, 45 ... Clutch 51 ... ECU (opening / closing control means, timing means), ta ... prescribed time (predetermined time), t1-t4 ... time.

Claims (6)

When a command for opening / closing a door that opens / closes an opening provided in a vehicle is opened / closed with rotation of an output shaft driven by a motor and the door is automatically opened / closed, a mechanical clutch is connected together with the driving of the motor. The rotational force of the rotating shaft of the motor is transmitted to the output shaft, and the door is opened and closed by the rotation of the output shaft, while the clutch is disconnected when the motor is not driven, and the output shaft and the rotating shaft In a vehicle door opening and closing device that does not transmit the rotational force of the output shaft from the load side by manual opening and closing of the door to the rotational shaft, the latch device holds the door in a fully open or fully closed position A control device for a vehicle door opening and closing device provided with an opening and closing control means for automatically opening and closing the door in cooperation with
The opening / closing control means switches the holding of the door by the latch device to the release side based on the door closing command or opening command at the time of automatic closing operation or automatic opening operation of the door, and The operation speed in the closing operation or the opening operation due to the idle running of the door is acquired, and when the acquired operating speed of the door exceeds a predetermined speed, the driving of the motor is started to perform the closing or opening operation of the door. A control device for a vehicle door opening and closing device. The control device for a vehicle door opening and closing device according to claim 1,
A time measuring means for measuring a predetermined time from the door close command or the open command;
When the door operation state is such that the time until the motor starts to be driven is longer than the predetermined time counted by the time measuring means, the opening / closing control means is forced to reach the predetermined time. A control apparatus for a vehicle door opening / closing device, wherein the driving of the motor is started and the door is closed or opened. In the control device for a vehicle door opening and closing device according to claim 1 or 2,
The control device for a vehicle door opening / closing device, wherein the opening / closing control means controls the motor so that the number of rotations corresponds to the operation speed of the door at the start of driving of the motor. In the control device of the vehicle door opening and closing device according to any one of claims 1 to 3,
The motor includes a motor main body that rotationally drives the rotary shaft, a worm shaft that is integrally assembled with the motor main body and that transmits the rotational force of the rotary shaft, and a worm wheel meshed with the worm shaft. A reduction mechanism that includes a reduction mechanism that outputs the output from the output shaft that is coupled so as to rotate integrally with the worm wheel.
The control device for a vehicle door opening and closing device, wherein the clutch is provided between the rotating shaft and the worm shaft.   A vehicle door opening and closing device comprising the control device according to claim 1. When a command for opening / closing a door that opens / closes an opening provided in a vehicle is opened / closed with rotation of an output shaft driven by a motor and the door is automatically opened / closed, a mechanical clutch is connected together with the driving of the motor. The rotational force of the rotating shaft of the motor is transmitted to the output shaft, and the door is opened and closed by the rotation of the output shaft, while the clutch is disconnected when the motor is not driven, and the output shaft and the rotating shaft In a vehicle door opening and closing device that does not transmit the rotational force of the output shaft from the load side by manual opening and closing of the door to the rotational shaft, the latch device holds the door in a fully open or fully closed position A control method for a vehicle door opening and closing device that performs opening and closing control for automatically opening and closing the door in cooperation with
During automatic closing operation or during the automatic opening operation of the door, it switches the retention of the door by the latching device to release side based on the close command or the open command of the door, by the air run of the door after the release The operation speed in the closing operation or the opening operation is acquired, and when the acquired operation speed of the door becomes equal to or higher than a predetermined speed, the driving of the motor is started and the door is closed or opened. Control method for a vehicle door opening and closing device.

Images