JP6051428B2 - 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 that is supported on the side of a vehicle body so as to be openable / closable, the rotation direction of a motor used as a power source is normal An H bridge (full bridge circuit) including four switching elements is used as a motor drive circuit for switching to 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.
According to a first aspect of the present invention, an opening operation command for an opening / closing operation switch that is provided in a motor that serves as a power source for opening / closing the vehicle door and an opening drive circuit for forward rotation driving of the motor and commands the opening / closing operation of the vehicle door. Based on the switching means for opening that can be switched to the ON state to turn on the opening drive circuit, and a closing drive circuit for reverse rotation driving of the motor, and based on a closing operation command of the opening / closing operation switch, When the switching device for closing which can be switched to an on state for turning on the closed drive circuit and the switching device for opening are in an on state, the rotational speed of the motor in the normal rotation direction can be controlled by PWM control. , when said closing switching means is in the on state, the controllable drive switching means the rotational speed of the reverse direction of the motor by PWM control, the open When the switching means and the closing switching means are connected in series, and either the opening switching means or the closing switching means is in the on state and the driving switching means is in the off state. A brake that applies a braking force to the inertial operation of the motor by turning on and off the regenerative braking circuit including the driving switching means and any one of the switching means and the motor by PWM control. Switching means. With this configuration, the motor control is driven and controlled by merely turning off the driving switching means and PWM controlling the braking switching means while keeping the opening switching means or the closing switching means in an on state. Can be quickly switched to the regenerative braking control, and the followability to the target speed of the door can be improved.

In a second aspect based on the first aspect, the regenerative braking circuit is an open regenerative braking circuit including the opening switching means and the motor when either one of the switching means is the opening switching means. And the braking switching means applies a braking force to the inertial operation in the forward rotation direction of the motor by turning on and off the open regenerative braking circuit.

In a third aspect based on the first aspect, the regenerative braking circuit is a closed regenerative braking circuit including the closing switching means and the motor when either one of the switching means is the closing switching means. And the braking switching means applies a braking force to the inertial operation in the reverse rotation direction of the motor by turning on and off the closed regenerative braking circuit.

According to a fourth invention, in any one of the first to third inventions, the opening switching means and the closing switching means are relays having mechanical movable contacts, and the driving switching means and the braking switching means. Is a field effect transistor. With this configuration, two mechanical relays that are cheaper than field effect transistors are used, so that the cost can be reduced. Furthermore, when switching the motor drive from drive control to regenerative braking control and from regenerative braking control to drive control, there is no need to switch between the opening switching means and the closing switching means. It is possible to extend the contact life of the switching means for use.

  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.

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.

  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 that it can be opened and closed in the front and rear direction. 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.

  Further, the sliding door 1 is engaged with a striker (not shown) fixed to the vehicle body side, thereby fully closing a door latch device (not shown) for holding the sliding door 1 in a fully closed position. A fully open door latch device (not shown) for holding in the fully open position, 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 operated, when the slide door 1 is in the fully closed position, After releasing the engagement between the fully-closed door latch device and the striker by a fully-closed electric actuator (not shown), the drive device 2 is opened to move the sliding door 1 in the opening direction. When it is in the position, after the engagement between the fully open door latch device and the striker is released by a fully open electric actuator (not shown), the drive device 2 is closed and 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 / closed, the opening / closing operation of the sliding door 1 is opened and transmitted to the armature inside the motor 3 via the closed cables 5 and 6, the rotating drum 4 and the reduction gear. As a result of rotation, the sliding door 1 can be manually opened and closed.

  2 to 6 show an example of the drive circuit of the motor 3. The drive circuit is controlled by an ECU (Electronic Control Unit) 13 mounted on the vehicle body side, and has a movable contact 7c having a movable contact 7c that can be switched from an off state to an on state when the motor 3 is rotated forward (in the opening direction). An opening switching means 7 constituted by a relay, and a closing switching means 8 constituted by a mechanical relay having a movable contact 8c that can be switched from an off state to an on state when reversely rotating (closing direction), A drive switching means 9 composed of an N-type FET (Field Effect Transistor) and a braking switching means 10 composed of a P-type FET (Field Effect Transistor) Is done.

  The ECU 13 is constituted by a so-called microcomputer provided with a CPU (Central Processing Unit) and a memory such as a ROM and a RAM. The input port is provided on the opening / closing operation switch 11, the rotating drum 4 or the reduction gear via various electric wires. The rotation sensor 14 and the main switch 15 provided in the driver's seat are connected, and the output port has an opening switching means 7, a closing switching means 8, a gate G of the driving switching means 9, and a braking switching means 10. Are connected to each other, the rotational speed of the motor 3, that is, the opening / closing speed of the slide door 1 is determined based on the period of the pulse signal output from the rotation sensor 14 as the rotary drum 4 or the reduction gear rotates. It can be detected.

  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 switching means 10 is PWM-controlled to control the regenerative braking of the motor 3 and quickly apply the braking force so that the opening / closing speed of the sliding door 1 becomes the target speed. To do.

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. calculating a duty ratio by PWM controlling the braking switching means 10 by the duty ratio as the calculated regenerative braking open the regenerative braking circuit c or closed production brake circuit d and by on-off control the motor 3 will be described later 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 opening / closing operation switch 11 is opened by an operator such as an occupant, an opening command signal for opening the slide door 1 is transmitted to the ECU 13. When the opening / closing operation switch 11 is also closed, the ECU 13 closes the slide door 1. Send a close 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. When the main switch 15 is on, the main switch 15 transmits an effective signal to the ECU 13 to enable the operation of the opening / closing operation switch 11, that is, the electric opening / closing of the slide door 1, If it is 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 shown in FIG. 2 (the movable contact 7c is in the solid line position in FIG. 2). When the open / close operation switch 11 is opened when 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 the dotted line position in FIG. 2). Open drive circuit (power supply 12, ON terminal 7b of switching means 7 for opening, open side power supply terminal 31 of motor 3, similarly close side power supply terminal 32, OFF terminal 8a of switching means 8 for closing, switching means 9 for driving, GND Are connected in series) a is turned on. As a result, the battery mounted on the vehicle, that is, the current of the power source 12 is switched 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. , 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 the off state shown in FIG. 2 (the movable contact 8c is in the solid line position in FIG. 2). When the opening / closing operation switch 11 is closed when is in the open position, the switch is switched from the OFF state to the ON state shown in FIG. 4 (the state in which the movable contact 8c is in the dotted line position in FIG. 2). Closed drive circuit (power supply 12, on-terminal 8b of closed-side switching means 8, closed-side feed terminal 32 of motor 3, similarly open-side feed terminal 31, off-terminal 7a of open-side switching means 7, drive switching means 9, GND B) are connected in series. As a result, the current of the power supply 12 flows to GND via the closing switching means 8 in the on state, the motor 3, the opening switching means 7 in the off state, and the driving switching means 9 under PWM control. Thus, the motor 3 is driven in reverse and the slide door 1 is electrically closed.

  In the driving switching means 9, the drain terminal D is connected to the off terminal 7a of the opening switching means 7 and the off terminal 8a of the closing switching means 8, the source terminal S is connected to GND, and the gate terminal G is connected to the ECU 13. Connected. Thus, when the ECU 13 receives the open or close command signal, the ECU 13 applies the calculated duty ratio (PWM control) voltage to the gate G of the drive switching means 9 to perform PWM control of the drive switching means 9. The open drive circuit a indicated by the arrow line in FIG. 3 or the closed drive circuit b indicated by the arrow 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 becomes the target speed. To control.

  In the braking switching means 10, the drain terminal D is connected to the off terminal 7 a of the opening switching means 7 and the off terminal 8 a of the closing switching means 8, and the source terminal S is connected to the on terminal 7 b of the opening switching means 7 and closed. The switching means 8 is connected to the ON terminal 8b, and the gate terminal G is connected to the ECU 13. Thereby, the ECU 13 applies the voltage of the calculated duty ratio (PWM control) to the gate G of the braking switching means 10 when the opening / closing speed of the sliding door 1 during the electric opening / closing operation exceeds the target. By performing PWM control of the braking switching means 10, as shown in FIG. 5, when the opening switching means 7 is in the ON state, an open regenerative braking circuit c (open side power supply terminal 31 of the motor 3) indicated by an arrow line. A closed circuit in which the ON terminal 7b of the opening switching means 7, the source S and drain D of the braking switching means 10, the OFF side terminal 8a of the closing switching means 8, and the closing power supply terminal 32 of the motor 3 are connected in series. Is controlled to turn on and off, and the regenerative braking circuit c cancels the inertia operation e in the forward direction of the motor 3, thereby controlling the sliding door 1 in the opening direction. A force to impart. Further, as shown in FIG. 6, when the closing switching means 8 is in the ON state, the regenerative braking circuit d (closed power supply terminal 32 of the motor 3 and the ON terminal 8b of the closing switching means 8 indicated by the arrow line). , A closed circuit in which the source S and drain D of the braking switching means 10, the off-side terminal 7 a of the opening switching means 7, and the open-side power supply terminal 31 of the motor 3 are connected in series) A braking force is applied to the sliding door 1 in the closing direction by canceling out the inertial operation f in the reverse direction of the motor 3 by the braking circuit d.

  For example, when the sliding door 1 is in the closed position, when the opening / closing operation switch 11 is opened and an opening command signal is input to the ECU 13, the ECU 13 turns on the opening switching means 7 as shown in FIG. And switching the driving switching means 9 by applying a voltage with the calculated duty ratio to the gate G of the driving switching means 9 to turn on the open switching circuit a as shown in FIG. In the on 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.

  When the slide door 1 is in the open position, when the opening / closing operation switch 11 is closed and a close command signal is input to the ECU 13, the ECU 13 turns on the closing switching means 8 as shown in FIG. In addition, 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 and the closed drive circuit b is turned on to reverse the motor 3 The rotational speed in the 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 c and the closed regenerative circuit are applied. The braking circuit d 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. While the opening switching means 7 is kept on, the drive switching means 9 is turned off, and the voltage of the calculated duty ratio is applied to the gate G of the braking switching means 10 so that the open regenerative braking is performed. The circuit c is turned on and off, and the braking force is applied so that the opening speed of the sliding door 1 becomes the target speed by canceling the inertia operation e of the motor 3 by the open regenerative braking circuit c. When the opening speed of the sliding door 1 is reduced to the target speed, the ECU 13 controls the braking switching means 10 to the off state while keeping the opening switching means 7 in the on state, and the driving switching means. A voltage having a predetermined duty ratio is applied to the gate G of No. 9 again.

  Further, when the closing switching means 8 is switched to the ON state 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 in the on state, and applies the voltage of the calculated duty ratio to the gate G of the braking switching unit 10 to close the driving unit 9. The regenerative braking circuit d is turned on and off, and the inertia force f of the motor 3 is canceled by the closed regenerative braking circuit d, so that the braking force is applied so that the closing speed of the slide door 1 becomes the target speed. 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 in the on state, and also switches the driving switching means. A voltage having a predetermined duty ratio is applied to the gate G of No. 9 again.

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. the, while maintaining the open switching means 7 or closing the switching means 8 to the oN state, only by controlling a voltage of the calculated duty ratio only braking switching means 10, the drive control of the motor 3 controlled Therefore, the regenerative braking control by PWM control can be quickly switched, so that the followability of the sliding door 1 to the target speed can be improved. Furthermore, when the motor 3 drive 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 and the movable contact 8c of the closing switching means 8 need to be switched. Therefore, the contact life of the opening switching means 7 and the closing switching means 8 can be extended. 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.

Although one embodiment of the present invention has been described above, the following various modifications and changes can be made to the above embodiment without departing from the spirit of the present 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.

DESCRIPTION OF SYMBOLS 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 contact means 8a Off terminal 8b On terminal 8c Movable contact 9 Switching means for driving (FET) 10 Switching means for braking (FET)
11 Open / Close Operation Switch 12 Power Supply 13 ECU 14 Rotation Sensor 15 Main Switch 31 Open Side Feed Terminal 32 Close Side Feed Terminal OH Outside Handle

Claims (4)

A motor as a power source for opening and closing the vehicle door;
An opening that is provided in an opening drive circuit for forward driving of the motor and that can be switched to an ON state that turns on the opening drive circuit based on an opening operation command of an opening / closing operation switch that commands opening / closing operation of the vehicle door Switching means for
A closing switching means provided in a closed drive circuit for reverse rotation driving of the motor and capable of switching to an ON state for turning on the closed drive circuit based on a closing operation command of the opening / closing operation switch;
When the opening switching means is in the ON state, the rotational speed of the motor in the normal rotation direction can be controlled by PWM control. When the closing switching means is in the ON state, the reverse rotation of the motor by PWM control is possible. Switching means for driving capable of controlling the rotational speed in the direction ;
The switching means for opening and the switching means for closing are respectively connected in series, and either the switching means for opening or the switching means for closing is in an on state, and the switching means for driving is in an off state. In this case, a braking force is applied to the inertial operation of the motor by turning on / off the regenerative braking circuit including the driving switching means and any one of the switching means and the motor by PWM control. A vehicular door opening / closing control device comprising braking switching means to be applied . The regenerative braking circuit is an open regenerative braking circuit including the opening switching means and the motor when the one of the switching means is the opening switching means.
2. The opening / closing of a vehicle door according to claim 1, wherein the braking switching means applies braking force to the inertial operation in the forward rotation direction of the motor by turning on and off the regenerative braking circuit. Control device. The regenerative braking circuit is a closed regenerative braking circuit including the closing switching unit and the motor when any one of the switching units is the closing switching unit.
2. The vehicle door opening / closing control according to claim 1, wherein the braking switching means applies a braking force to an inertial operation in a reverse direction of the motor by turning on and off the closed regenerative braking circuit. apparatus. 4. The opening switching means and the closing switching means are relays having mechanical movable contacts, and the driving switching means and the braking switching means are field effect transistors . The vehicle door opening / closing control device according to any one of the above.

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