JP5909772B2 - Open / close control device for vehicle door - Google Patents

Description

  The present invention relates to a vehicle door opening / closing control device for controlling the opening / closing operation of a vehicle door.

  2. Description of the Related Art Conventionally, in an opening / closing control device for controlling the opening / closing operation of a door for a vehicle, for example, a sliding door supported to be freely opened / closed on the side of a vehicle body, the rotation direction of a motor used as a power source is normally rotated (opening direction). An H bridge (full bridge circuit) having four switching elements is used as a motor drive circuit for switching between reverse and reverse (closed direction).

  For example, the invention described in Patent Document 1 (FIGS. 1 to 4) has a configuration in which four switching elements T1 to T4 configured by FETs (Field Effect Transistors) are used in a motor drive circuit. When the sliding door is opened / closed, that is, when the motor is driven, the switching doors T1 (or T2) and T4 (or T3) are simultaneously turned on so that the sliding door is set at a preset target speed. The motor is PWM controlled so that it can be opened and closed, and when the opening / closing speed of the sliding door exceeds the target speed, the switching elements T3 and T4 (or T1 and T2) are turned off, and the switching elements T1 and PWM control of T2 (or T3 and T4) switches motor control from drive control to regenerative braking control It is configured to.

  Another invention described in Patent Document 1 (FIGS. 5 and 6) is a relay having switching elements T1 and T2 constituted by two FETs in a motor driving circuit and two mechanical movable contacts. In the configuration using R1 and R2, when driving the motor, the sliding door is preset by turning on the relay R1 (or R2) and the switching element T2 (T1). The motor is PWM-controlled so that it can open and close at the target speed. If the opening and closing speed of the sliding door exceeds the target speed, the relays R1 and R2 are turned off and the switching elements T1 and T2 are simultaneously turned on. By performing PWM control, the motor control is configured to be switched from drive control to regenerative braking control.

Japanese Patent Laid-Open No. 10-246061

  However, the invention described in Patent Document 1 (FIGS. 1 to 4) has a problem in that the cost increases because four expensive FETs are used as switching elements.

  In addition, since the other invention described in Patent Document 1 (FIGS. 5 and 6) is configured to use a mechanical relay that is cheaper than two FETs among the four switching elements, Although the cost can be reduced, when the motor control is switched from the drive control to the regenerative braking control and from the regenerative braking control to the drive control, the relay R1 (or R2) is also switched from the on state to the off state, and from the off state to the on state. Therefore, the response of the switching control of the motor control is slightly delayed, and the followability to the target speed of the door is lowered. Furthermore, since switching control of the mechanical relay R1 (or R2) is frequently performed, the contact life of the movable contact may be shortened and noise may be generated, which may lead to early failure.

  In view of the above problems, an object of the present invention is to provide an open / close control device for a vehicle door that can improve the followability to a target speed of the door.

According to the present invention, the above problem is solved as follows.
1st invention can be switched to the ON state which enables the forward rotation drive of the said motor based on the opening operation command of the motor which can output the motive power which opens and closes a door, and the operation switch which can be operated by a passenger | crew An opening switching means, a closing switching means that can be switched to an ON state that enables reverse driving of the motor, and the opening switching means or the closing switching means based on a closing operation command of the operation switch. The driving switching means capable of controlling the rotational speed of the motor by PWM control when in the on state, and the opening switching means and the closing when the opening switching means and the closing switching means are in the off state. A normally open switching means for opening a loop circuit connecting the switching means for the motor and the motor in series; When the switching means for closing or the switching means for closing is in an ON state, the switching for opening is formed in a regenerative braking circuit formed by connecting the opening switching means, the closing switching means and the motor in series. Or a braking switching means for turning on and off the regenerative braking circuit by PWM control while keeping the closing switching means in the ON state.

  According to a second invention, in the first invention, the opening switching means, the closing switching means and the normally open switching means are relays having mechanical movable contacts, and the driving switching means and the braking switching means. Is a field effect transistor.

  According to a third invention, in the first or second invention, the normally open switching means is configured such that when the opening switching means or the closing switching means is in an ON state, the opening switching means or the closing switching is performed. It is possible to switch to an ON state in which a circuit connecting the device and the driving switching device in series is closed.

  According to the present invention, the motor control can be quickly switched from the drive control to the regenerative braking control by only PWM controlling only the braking switching means, and the followability to the target speed of the door can be improved. Furthermore, the motor does not burn out due to the counter electromotive force generated when the door is manually opened and closed during non-energization.

It is a schematic diagram of the sliding door and drive device concerning this invention. It is a circuit diagram when the drive circuit for controlling a drive device exists in an OFF state. Similarly, it is a circuit diagram when the open drive circuit of the drive circuit is in an ON state. Similarly, it is a circuit diagram when the closed drive circuit of the drive circuit is in an ON state. It is a circuit diagram when the open regenerative braking circuit of a drive circuit is also in an ON state. It is a circuit diagram when the closed regenerative braking circuit of a drive circuit is also in an ON state. It is a circuit diagram when the drive circuit in another Example is in an OFF state.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a slide door 1 that forms a door supported on the side of a vehicle body so as to be openable and closable in the front-rear direction, and a clutchless type drive device 2 for automatically opening and closing the slide door 1 electrically. .

  The sliding door 1 is supported by a front and rear guide rail (not shown) provided on the side surface of the vehicle body so as to be opened and closed in the front and rear direction, and is provided on the side surface of the vehicle body by manual operation and electric operation by the power of the driving device 2. It is possible to move from the fully closed position for closing the mouth (not shown) to the fully opened position moved rearward along the side surface of the vehicle body and vice versa.

  The sliding door 1 is engaged with a striker (not shown) fixed to the vehicle body side to hold the sliding door 1 in a fully closed position, and is a fully closed door latch device (not shown). A fully open door latch device (not shown) for holding the door, an outside handle OH on the outside of the vehicle that is operated when the slide door 1 is opened and closed, an inside handle (not shown) on the inside of the vehicle, and the like are provided.

  When the open / close operation switch 11 of the outside handle OH, the inside handle, the operation switch provided in the driver's seat or the portable wireless remote control switch is opened, the slide door 1 is in the fully closed position First, after the engagement between the fully-closed door latch device and the striker is released by a fully-closed electric actuator (not shown), the drive device 2 is opened to move the slide door 1 in the opening direction. Similarly, when the operation switch 11 is closed, when the operation switch 11 is in the fully open position, the engagement between the fully open door latch device and the striker is released by a fully open electric actuator (not shown), and then the drive device 2 is closed. Then, the slide door 1 is moved in the closing direction.

  The driving device 2 can be wound up and sent out to the outer peripheral surface of the rotating drum 4, a motor 3 disposed on the vehicle body side that can rotate forward and reverse, a rotating drum 4 that can rotate together with a reduction gear that reduces the rotation of the motor 3, and the rotating drum 4. And a power transmission opening cable 5 and a closing cable 6 that are routed along the guide rail and that have ends connected to the slide door 1.

  The motor 3 is a DC motor with a brush, and can rotate in both forward and reverse directions according to the direction of the supplied current. When the motor 3 rotates in the forward direction, the rotating drum 4 rotates in the clockwise direction in FIG. 1, the opening cable 5 is wound around the rotating drum 4 and the closing cable 6 is sent out, so that the sliding door 1 is opened. It is pulled by 5 and is electrically opened. When the motor 3 rotates reversely, the rotating drum 4 rotates counterclockwise in FIG. 1, the closing cable 6 is wound around the rotating drum 4 and the opening cable 5 is sent out, so that the sliding door 1 is closed. It is pulled by the cable 6 and is electrically closed.

  When the sliding door 1 is manually opened and closed, the opening and closing operation of the sliding door 1 is opened and transmitted to the armature inside the motor 3 via the closing cables 5 and 6, the rotating drum 4 and the reduction gear. As the armature rotates, the sliding door 1 can be manually opened and closed.

  2-6 show the Example of the drive circuit of the motor 3. FIG. The drive circuit is controlled by an ECU (Electronic Control Unit) 13 mounted on the vehicle body side, and when the motor 3 is rotated in the forward direction (opening direction), the driving circuit is switched from the OFF state (the state shown in FIG. 2) to the ON state (FIGS. 3, 5). The switching means 7 for opening constituted by a mechanical relay having a movable contact 7c that can be switched to the state shown in FIG. 2) and the reverse state (closed direction) from the off state (state shown in FIG. 2) to the on state (state shown in FIG. 2). 4 and 6), a closing switching means 8 constituted by a mechanical relay having a movable contact 8 c that can be switched to a drive, and a drive constituted by an N-type FET (Field Effect Transistor). Switching means 9, a braking switching means 10 composed of a P-type FET (Field Effect Transistor), and an off state (as shown in FIG. 2) ) Configured to include a normally open switch means 16 constituted by a mechanical relay having a movable contact 16c can be switched on (the state shown in FIGS. 4 and 6) from.

  The ECU 13 is constituted by a so-called microcomputer provided with a CPU (Central Processing Unit) and a memory such as a ROM, a RAM, and the input port has a receiving portion of the operation switch 11, a rotating drum 4 or a reduction gear via various electric wires. Is connected to a rotation sensor 14 provided at the driver's seat, and a main switch 15 provided at the driver's seat. The output port has switching means 7 for opening, switching means 8 for closing, gate G for driving switching means 9, and switching means for braking. 10 gate G and normally-open switching means 16 are connected to each other, so that the rotation speed of the motor 3 based on the period of the pulse signal output from the rotation sensor 14 with the rotation of the rotary drum 4 or the reduction gear, that is, A configuration capable of detecting the opening and closing speed of the slide door 1 is provided.

  In the memory of the ECU 13, a target speed with the opening / closing position of the slide door 1 as a parameter is stored. The ECU 13 controls the rotational speed of the motor 3, that is, the opening / closing speed of the sliding door 1 to be a target speed by controlling the driving switching means 9 by PWM (Pulse Width Modulation), and also opens / closes the sliding door 1. When the speed exceeds the target speed, the braking force is controlled so that the brake switching means 10 is PWM controlled to control the regenerative braking of the motor 3 so that the opening / closing speed of the sliding door 1 is quickly reduced to the target speed. Is granted.

  Further, when the opening / closing speed of the slide door 1 becomes equal to or higher than the target speed, the ECU 13 transmits to the gate G of the braking switching means 10 based on the deviation value of the opening / closing speed with respect to the target speed of the slide door 1 at that time. By calculating the duty ratio and performing PWM control of the braking switching means 10 based on the calculated duty ratio, on / off control of an open regenerative braking circuit d or a closed regenerative braking circuit e, which will be described later, is performed and regenerative braking of the motor 3 is performed. Finely control. When the braking switching means 10 is PWM-controlled, the driving switching means 9 is controlled to be in an off state.

  When the operation switch 11 is opened by an operator such as an occupant, the operation switch 11 transmits an open command signal for opening the slide door 1 to the ECU 13. When the operation switch 11 is also closed, the operation switch 11 is closed for closing the slide door 1. Send command signal. When the ECU 13 receives the open command signal or the close command signal, the ECU 13 transmits a drive signal for forward drive or reverse drive to the drive circuit of the motor 3.

  The main switch 15 can be switched on and off by manual operation. When the main switch 15 is on, the main switch 15 transmits an effective signal to the ECU 13 to enable operation of the operation switch 11, that is, to electrically open and close the slide door 1. If it is also on the off side, an invalid signal for invalidating the operation of the operation switch 11 is transmitted to the ECU 13. Therefore, when the main switch 15 is on the off side, the sliding door 1 cannot be opened / closed electrically by the power of the driving device 2 and can only be manually operated.

  The opening switching means 7 is connected in series to the open-side power supply terminal 31 of the motor 3 and is normally in the off state (the state in which the movable contact 7c is in contact with the off terminal 7a) shown in FIG. When the operation switch 11 is opened when 1 is in the closed position, the switch is switched from the OFF state to the ON state shown in FIG. 3 (the state in which the movable contact 7c is in contact with the ON terminal 7b). Open drive circuit (power supply 12, ON terminal 7b of opening switching means 7, movable contact 7c, open side feeding terminal 31 of motor 3, similarly closed side feeding terminal 32, movable contact 8c of closing switching means 8, OFF terminal 8a , A circuit in which the driving switching means 9 and GND are connected in series) b is turned on. As a result, the battery mounted on the vehicle, that is, the current of the power supply 12 is supplied to the opening switching means 7 in the on state, the motor 3, the closing switching means 8 in the off state, and the drive switching means 9 that is PWM controlled. By flowing to GND via the motor 3, the motor 3 is driven to rotate forward, and the slide door 1 is electrically opened.

  The closing switching means 8 is connected in series to the closing-side power supply terminal 32 of the motor 3, and is normally in an off state (a state in which the movable contact 8c is in contact with the off terminal 8a) shown in FIG. When the operation switch 11 is closed when 1 is in the open position, the operation state is switched from the off state to the on state shown in FIG. 4 (the state in which the movable contact 8c is in contact with the on terminal 8b). Closed drive circuit (power supply 12, ON terminal 8b of closing side switching means 8, movable contact 8c, closing side feeding terminal 32 of motor 3, similarly opening side feeding terminal 31, moving contact 7c of opening side switching means 7, OFF terminal 7a The normally open switching means 16, the drive switching means 9, and the GND connected in series in the ON state) c) are in the ON state. As a result, the current of the power source 12 is turned on by the closing switching means 8 in the ON state, the motor 3, the opening switching means 7 in the OFF state, the normally open switching means 16 in the ON state, and the PWM-controlled driving switching means. By flowing to GND via 9, the motor 3 is driven in reverse and the slide door 1 is electrically closed.

  The normally open switching means 16 is connected in series in a loop circuit a (circuit shown by a dotted line in FIG. 2) formed by connecting the opening switching means 7, the closing switching means 8 and the motor 3 in series. Specifically, the ON terminal 16b is connected to the OFF terminal 7a of the opening switching means 7, and the movable contact 16c is connected to the OFF terminal 8a of the closing switching means 8 and the drain D of the driving switching means 9, and includes a power source 12. 2 is switched to the OFF state (the state in which the movable contact 16c is in contact with the OFF terminal 16a) shown in FIG. 7 and the closing switching means 8 are in the OFF state, the loop circuit a is opened, and the main switch from the ECU 13 is opened. 4 and 6 is switched to an ON state (a state in which the movable contact 16c is in contact with the ON terminal 16b) and the closing switching means 8 is switched to the ON state by the ON state signal of the H15. Close.

  In the driving switching means 9, the drain D is connected to the movable contact 16 c of the normally open switching means 16 and the off terminal 8 a of the closing switching means 8, the source S is connected to GND, and the gate G is connected to the ECU 13. . Thereby, when the ECU 13 receives the open or close command signal from the operation switch 11, the ECU 13 applies the voltage of the calculated duty ratio (PWM control) to the gate G of the drive switching means 9 so that the drive switching means 9 is activated. By performing PWM control, the open drive circuit b indicated by a bold line in FIG. 3 or the closed drive circuit c indicated by a thick line in FIG. 4 is turned on to control the rotation speed of the motor 3 so that the opening / closing speed of the slide door 1 is the target speed. Control to become.

  In the braking switching means 10, the drain D is connected to the ON terminal 7 b of the opening switching means 7 and the ON terminal 8 b of the closing switching means 8, and the source S is connected to the movable contact 16 c of the normally open switching means 16 and the closing switching. The gate 8 is connected to the ECU 13 respectively connected to the off terminal 8 a of the means 8. Thereby, when the opening / closing speed of the sliding door 1 during the electric opening / closing operation becomes equal to or higher than the target, the ECU 13 controls the driving switching means 9 to be turned off and the voltage of the calculated duty ratio (PWM control) is switched for braking. By applying PWM control to the braking switching means 10 by applying it to the gate G of the means 10, as shown in FIG. 5, when the opening switching means 7 is in the ON state, an open regenerative braking circuit (motor 3, the open side feeding terminal 31, the movable contact 7 c and the on terminal 7 b of the opening switching means 7, the drain D and the source S of the braking switching means 10, the off terminal 8 a and the movable contact 8 c of the closing switching means 8, the motor 3. (Closed circuit in which closed-side power supply terminals 32 are connected in series) d is controlled to be turned on and off, and forward rotation of the motor 3 is performed by the regenerative braking circuit d. By canceling the inertial operation f, the braking force is applied in the opening direction of the slide door 1, and when the closing switching means 8 is in the ON state as shown in FIG. Closed regenerative braking circuit (closed power supply terminal 32 of motor 3, movable contact 8c of switching means 8 for closing, ON terminal 8b, drain D and source S of switching means 10 for braking, movable contact 16c of normally open switching means 16, The ON terminal 16b, the OFF terminal 7a of the switching means 7 for opening, the movable contact 7c, and the open side power supply terminal 31 of the motor 3 are connected in series to control ON and OFF, and the closed regenerative braking circuit e By canceling the inertia operation g in the reverse direction of the motor 3, a braking force is applied in the closing direction of the slide door 1.

  For example, when the slide door 1 is in the closed position, when the operation switch 11 is opened and an open command signal is input to the ECU 13, the ECU 13 turns on the opening switching means 7 as shown in FIG. At the same time as switching, the voltage of the calculated duty ratio is applied to the gate G of the drive switching means 9 so that the drive switching means 9 is PWM-controlled (ON state), and the open drive circuit b is turned on as shown in FIG. As a state, the rotational speed of the motor 3 in the forward rotation direction is controlled by PWM control, and the sliding door 1 is electrically opened.

  Further, when the operation switch 11 is closed and the close command signal is input to the ECU 13 when the slide door 1 is in the open position, as shown in FIG. 4, the ECU 13 includes the closing switching means 8 and the normally open switching. The means 16 is controlled to be turned on, and the voltage of the calculated duty ratio is applied to the gate G of the drive switching means 9 to perform PWM control (on state) of the drive switching means 9 so that the closed drive circuit c is In the on state, the rotational speed of the motor 3 in the reverse direction is controlled by PWM control, and the sliding door 1 is electrically closed.

  When the voltage of the calculated duty ratio is applied to the gate G of the driving switching means 9, no voltage is applied to the gate G of the braking switching means 10, and the regenerative braking circuit d and the closed regenerative circuit are applied. The braking circuit e is controlled so as to be always in the off state.

  When the opening switching means 7 is switched to the ON state and the sliding door 1 is electrically opened, the opening speed of the sliding door 1 becomes equal to or higher than the target speed, as shown in FIG. The switching means for driving 9 is controlled to be OFF while the switching means for opening 7 is maintained in the ON state, and the voltage of the calculated duty ratio is applied to the gate G of the switching means for braking 10 at a predetermined timing. By controlling on / off of the regenerative braking circuit d, the braking force is applied so that the opening speed of the sliding door 1 is reduced to the target speed by canceling the inertia operation f of the motor 3. When the opening speed of the slide door 1 is reduced to the target speed, the ECU 13 controls the braking switching means 10 to the off state while maintaining the opening switching means 7 in the on state, thereby switching the driving. A voltage having a predetermined duty ratio is again applied to the gate G of the means 9.

  When the closing switching means 8 is switched on and the sliding door 1 is electrically closed, the closing speed of the sliding door 1 becomes equal to or higher than the target speed, as shown in FIG. The ECU 13 controls the driving switching unit 9 to be turned off while keeping the closing switching unit 8 and the normally open switching unit 16 in the on state, and controls the voltage of the calculated duty ratio to the gate G of the braking switching unit 10. The braking force is applied so that the closing speed of the sliding door 1 is reduced to the target speed by canceling the inertia operation g of the motor 3 by controlling the regenerative braking circuit e on and off at a predetermined timing. Is granted. Then, when the closing speed of the slide door 1 is reduced to the target speed, the ECU 13 controls the braking switching means 10 to the off state while keeping the closing switching means 8 and the normally open switching means 16 on. At the same time, a voltage having a predetermined duty ratio is applied to the gate G of the driving switching means 9 again.

  At the time of de-energization and manual operation (main switch 15 is in the off state), as shown in FIG. 2, the loop circuit a is opened with the normally open switching means 16 in the off state. For this reason, even if the motor 3 rotates in conjunction with the manual opening / closing operation of the slide door 1, the counter electromotive force due to the rotation of the motor 3 is not regenerated. Therefore, the sliding door 1 can be manually opened and closed with light force, and even if the sliding door 1 is opened and closed with force, it is possible to prevent the motor 3 from being burned out due to the back electromotive force. .

  FIG. 7 shows another embodiment according to the present invention. In this embodiment, the normally open switching means 16 is connected in series to the closing switching means 8 in place of the normally open switching means 16 connected to the opening switching means 7 in series. . Since other configurations are the same as those in the above-described embodiment, the same reference numerals as those in the above-described embodiment are used and description thereof is omitted.

  In the other embodiments, the normally open switching means 17 is configured such that the movable contact 17c comes into contact with the off terminal 17a when deenergized and manually operated (the main switch 15 is in an off state). A loop circuit in which the normally open switching means 17 and the closing switching means 8 are connected in series is opened, and the motor 3 rotates in conjunction with the manual opening / closing operation of the slide door 1 as in the above-described embodiment. The electromotive force is not regenerated. When the opening switching means 7 is switched to the on state, the normally open switching means 17 is switched to the on state (the movable contact 17 c is in contact with the on terminal 17 b), and the main switch 15 from the ECU 13 is switched. By the off state signal, the normally open switching means 17 is held and controlled in an off state (a state in which the movable contact 17c is in contact with the off terminal 17a), and the closing switching means 8 is switched to the on state.

  In the above-described embodiments and other embodiments, the normally open switching means 16 (or 17) is switched to the on state when the closing switching means 8 (or the opening switching means 7) is switched to the on state. However, when the opening switching means 7 (or the closing switching means 8) is switched to the on state, it may be switched to the on state. However, even in this case, a change occurs in the current flow. Since it is not a thing, it is more preferable to control like a present Example from a viewpoint of power consumption.

  As described above, in the embodiment of the present invention, when the sliding door 1 is electrically opened / closed, the opening / closing speed of the sliding door 1 becomes higher than the target speed, and it becomes necessary to apply a braking force to the sliding door 1. In this case, the control of the motor 3 is driven only by applying the voltage of the calculated duty ratio to the braking switching means 10 while the opening switching means 7 or the closing switching means 8 is kept on. Since the control can be quickly switched from the control to the regenerative braking control by the PWM control, the followability of the slide door 1 to the target speed can be improved. Furthermore, when the drive of the motor 3 is switched from drive control to regenerative braking control, and from regenerative braking control to drive control, the movable contact 7c of the opening switching means 7, the movable contact 8c of the closing switching means 8, and the normally open switching means. Since there is no need to switch the 16 (or 17) movable contacts 16c (or 17c), the contact life of the opening switching means 7, the closing switching means 8 and the normally open switching means 16 (or 17) can be extended. It becomes possible. Furthermore, since the opening switching means 7 and the closing switching means 8 are mechanical relays that are less expensive than FETs, the cost can be reduced.

  Further, by providing the normally open switching means 16 (or 17) in the loop circuit a formed by connecting the motor 3, the opening switching means 7 and the closing switching means 8 in series, the slide door 1 Even if the motor 3 rotates in conjunction with the manual opening / closing operation, the back electromotive force is not regenerated. Therefore, the sliding door 1 can be manually opened / closed with light force, and the sliding door 1 can be opened / closed vigorously. Even in such a case, it is possible to prevent the motor 3 from being burned out by the counter electromotive force.

As mentioned above, although the Example of this invention was described, it is possible to give the following various deformation | transformation and change with respect to the said Example within the range which does not deviate from the summary of this invention.
(1) Although the sliding door 1 is used as a door, the present invention is not limited to this, and a side door pivotably attached to a side portion of a vehicle body via a hinge, and a rear end portion of the vehicle body can be opened and closed via a hinge. Other doors such as back doors attached to

(2) The driving switching means 9 and the braking switching means 10 use FETs, but are not limited to this, and use other switching elements capable of PWM control.

1 Sliding door (door)
2 driving device 3 motor 4 rotating drum 5 opening cable 6 closing cable 7 opening switching means 7a off terminal 7b on terminal 7c movable contact 8 closing switching means 8a off terminal 8b on terminal 8c movable contact 9 driving switching means ( FET)
10 Braking switching means (FET)
11 Operation switch 12 Power supply 13 ECU
14 Rotation sensor 15 Main switch 16, 17 Normally open switching means 16a, 17a Off terminal 16b, 17b On terminal 16c, 17c Movable contact 31 Open side feed terminal 32 Closed side feed terminal OH Outside handle

Claims (3)

A motor capable of outputting power to open and close the door;
Based on an opening operation command of an operation switch that can be operated by an occupant, an opening switching means that can be switched to an ON state that enables forward rotation of the motor;
Based on a closing operation command of the operation switch, a switching means for closing that can be switched to an ON state that enables reverse driving of the motor;
When the opening switching means or the closing switching means is in the ON state, the driving switching means capable of controlling the rotational speed of the motor by PWM control;
When the opening switching means and the closing switching means are in an off state, a normally open switching means that opens a loop circuit connecting the opening switching means, the closing switching means, and the motor in series;
When the opening switching means or the closing switching means is in an ON state, the opening switching means, the closing switching means, and the motor are connected in series with each other in the regenerative braking circuit. A vehicle door opening / closing control device comprising: braking switching means for turning on and off the regenerative braking circuit by PWM control while keeping the switching means for closing or the closing switching means in an on state.   The opening switching means, the closing switching means, and the normally open switching means are relays having mechanical movable contacts, and the driving switching means and the braking switching means are field effect transistors. Item 2. The vehicle door open / close control device according to Item 1.   When the opening switching means or the closing switching means is in an ON state, the normally open switching means connects between the circuit for connecting the opening switching means or the closing switching means and the driving switching means in series. The vehicle door opening / closing control device according to claim 1, wherein the vehicle door opening / closing control device can be switched to an on state.

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