JP6132784B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device for an electric motor that drives a sliding door.

  In a motor control device that drives a driven body such as a slide door or a back door provided in an automobile by an electric motor, the electric motor is controlled to rotate in both forward and reverse directions to operate the door in both open and close directions. Such motor control devices are disclosed in, for example, Patent Document 1 and Patent Document 2.

  In the automatic opening / closing device for a vehicle opening / closing body described in Patent Document 1, even when the power supply voltage drops and the controller does not operate, the opening / closing body is gently opened / closed for a certain period of time, and then the clutch device is turned off to open / close manually. The body can be opened and closed.

  In addition, the automatic sliding door device described in Patent Document 2 has a steep slope, improves the usability of the sliding door from a halfway stop state, and allows the opening / closing operation to be easily performed manually.

JP 2001-280002 A Japanese Patent Laid-Open No. 10-266691

  In the automatic opening / closing device for a vehicle opening / closing body described in Patent Document 1 described above, connection control between a mechanical door and an actuator is intermittently performed by a clutch in a state where the sliding door is stopped halfway while stopping on an inclined ground. Thus, control is performed to move the door to the fully open / closed position. However, in this method, since the clutch-on member (motor side) and the rotating member (drum side) are mechanically connected, the impact at the time of clutch connection / disconnection is large, and the user is You may feel uncomfortable. As a method for solving the problem of impact at the time of clutch connection / disconnection, there is an automatic sliding door device using the clutchless mechanism described in Patent Document 2 described above.

  By the way, when using a clutchless mechanism and a power slide door device with a halfway stop function, when the slide door is stopped at a halfway position, or when the operation of the power slide door is stopped by fail-safe etc. When a certain time (for example, 10 minutes) elapses due to electric power, it is necessary to stop the operation of the vehicle control system. For this reason, when the vehicle stops on an inclined land or the like, the door is rapidly opened or closed by the action of gravity, which may cause discomfort to the user.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a sliding door that is stopped on an inclined ground when the sliding door stopped halfway moves in an inclined direction by the action of gravity. An object of the present invention is to provide a motor control device that can be moved smoothly.

The motor control device according to the present invention controls the rotation of an electric motor that opens and closes a sliding door of a vehicle, and controls the electric motor to generate a braking force when a midway stop signal is input during opening and closing of the sliding door. A motor control device having a control unit that performs a midway stop of the slide door, and the control unit, when the slide door stops halfway, a predetermined first specified time elapses after the slide door is stopped halfway until the brake force of the electric motor is maintained at a predetermined braking force, after a predetermined first specified time, the driving circuit for driving the input terminal of the electric motor occupied in the control period of Jo Tokoro the duty ratio of the input signal by a predetermined initial duty ratio Do et low Do controls the braking force, Xu said duty ratio from the initial duty ratio When the duty ratio reaches a predetermined duty threshold that is set in advance, the reduction of the duty ratio is stopped, and thereafter, the braking force is reduced according to the duty ratio of the predetermined duty threshold. It is characterized by controlling .

Further, in the motor control apparatus of the present invention, the control unit, when the middle stop signal is input, to one-phase energization control the drive circuit in accordance with the position of the rotor when the middle stop signal is input in characterized by generating the braking force.

Further, in the motor control apparatus of the present invention, the control unit, when the middle stop signal is input, are short-circuited input terminal of said electric motor to said driving circuit, that generates a regenerative braking force as the brake force Features.

In the motor control device according to the present invention, the control unit causes the electric motor to be moved when a predetermined second specified time has elapsed after starting control for gradually decreasing the duty ratio from the initial duty ratio. The generation of the braking force is terminated.

  In addition, the motor control device of the present invention includes a door opening / closing information generation unit that detects the position and moving speed of the slide door, and the control unit starts control to gradually reduce the duty ratio from the initial duty ratio. Then, when the moving speed of the slide door exceeds a predetermined speed, the reduction of the duty ratio is stopped.

The motor control device according to the present invention further includes a door opening / closing information generation unit that detects a position and a moving speed of the slide door, and the control unit performs control to gradually reduce the duty ratio from the initial duty ratio. After the start, either the case where the predetermined second specified time has elapsed, the case where the fully open position of the slide door is detected, or the case where the fully closed position of the slide door is detected occurred. when, characterized in that to terminate the generating the braking force to the electric motor.

According to the motor control device of the present invention, when the sliding door is stopped halfway, the input terminal of the electric motor is short-circuited to generate a regenerative braking force and the sliding door is stopped halfway. Then, the regenerative braking force is generated in the electric motor at a predetermined initial duty ratio after the sliding door is stopped halfway until the predetermined first specified time elapses, and after the elapse of the first specified time, the duty ratio is increased. Is gradually reduced from the initial duty ratio.
Thereby, in the vehicle stopped on the slope, when the slide door stopped halfway moves in the tilt direction by the action of gravity, the slide door can be smoothly moved.

It is a top view which shows the outline of the door opening / closing apparatus 14 provided with the electric motor driven with the motor control apparatus of this invention. It is explanatory drawing which shows the control system of the door opening / closing apparatus 14 shown in FIG. FIG. 3 is a circuit diagram showing details of a motor control device 41 and an electric motor 21 shown in FIG. 2. It is a figure for demonstrating regenerative brake operation | movement. It is a figure for demonstrating regenerative braking operation | movement and duty ratio control. It is a figure which shows the 1st example of control of the regenerative brake force when the slide door 12 is stopped on the way. It is a figure which shows the 2nd example of control of the regenerative brake force when the slide door 12 is stopped on the way. 7 is a flowchart showing a regenerative brake control procedure in a regenerative brake control unit 55. It is explanatory drawing which shows another example of the control system of the door opening / closing apparatus 14 shown in FIG. It is a figure for demonstrating brake operation | movement. It is a figure which shows the 1st example of control of the braking force when the slide door 12 is stopped on the way. It is a figure which shows the 2nd example of control of the braking force when the slide door 12 is stopped on the way. 3 is a flowchart showing a brake control procedure in a brake control unit 56.

(Configuration of vehicle door opening and closing device)
FIG. 1 is a plan view schematically showing a door opening / closing device 14 including an electric motor driven by a motor control device of the present invention. As shown in FIG. 1, a slide door 12 as a driven body is attached to a side portion of the vehicle 11. The slide door 12 is guided by a guide rail 13 fixed to the vehicle 11, and is movable in the vehicle front-rear direction, that is, can be opened and closed between a fully open position indicated by a solid line and a fully closed position indicated by a chain line in the drawing. .

  The vehicle 11 is provided with a door opening / closing device 14. The door opening / closing device 14 automatically opens and closes the slide door 12. The door opening / closing device 14 has a drive unit 15 fixed to the vehicle 11. The drive unit 15 is provided with a drive cable 16. The cable 16 is stretched over a reversing pulley 17 and a reversing pulley 18 disposed at both ends of the guide rail 13, and is connected to the slide door 12 from the front side and the rear side of the vehicle 11. When either side of the cable 16 is pulled by the drive unit 15, the slide door 12 moves in the opening direction or the closing direction while being pulled by the cable 16.

FIG. 2 is an explanatory diagram showing a control system of the door opening / closing device 14 shown in FIG.
As shown in FIG. 2, the drive unit 15 is provided with an electric motor 21. In the present embodiment, a three-phase (U phase, V phase, and W phase) brushless motor is used as the electric motor 21. The electric motor 21 operates when the applied voltage Vu, the applied voltage Vv, and the applied voltage Vw are respectively supplied from the motor control device 41 to each of the three phases according to the energization pattern. The rotation direction of the electric motor 21 is switched to normal rotation or reverse rotation according to the polarity of the supplied applied voltage.

  A rotor 47 (permanent magnet) is fixed to the rotating shaft 21 a of the electric motor 21. In the vicinity of the rotation trajectory of the rotor 47, three Hall ICs 48u, Hall IC 48v, and Hall IC 48w as position sensors for detecting the rotation position of the rotor 47 are provided at positions of 120 degrees with respect to the rotation shaft 21a. It has been. These three Hall ICs 48u, Hall IC 48v, and Hall IC 48w are arranged such that when the rotating shaft 21a of the electric motor 21 is rotated, the pulse signal Su, the pulse signal Sv, and the pulse signal Sw, which are 120 degrees out of phase with each other, 41 is output.

  A drive gear 24 is fixed to the rotating shaft 21 a of the electric motor 21. A large-diameter spur gear 25 is engaged with the drive gear 24. A small-diameter spur gear 26 that rotates integrally with the large-diameter spur gear 25 is engaged with a driven gear 28 that is fixed to the output shaft 27. As a result, the rotation of the electric motor 21 is decelerated at a predetermined reduction ratio and transmitted to the output shaft 27.

  A cylindrical drum 31 having a spiral guide groove (not shown) formed on the outer peripheral surface is fixed to the output shaft 27. The cable 16 guided by the drive unit 15 is wound around the drum 31 a plurality of times along the guide groove. When the electric motor 21 is operated, the drum 31 is driven and rotated by the electric motor 21, whereby the cable 16 is operated and the slide door 12 is opened and closed. That is, by rotating the drum 31 counterclockwise in FIG. 2 by the electric motor 21, the cable 16 on the vehicle rear side is wound around the drum 31, and the slide door 12 is opened while being pulled by the cable 16. Move in the direction. On the contrary, when the drum 31 is rotated clockwise in FIG. 2 by the electric motor 21, the cable 16 on the vehicle front side is wound around the drum 31, and the sliding door 12 is pulled in the closing direction while being pulled by the cable 16. Move to. As described above, the slide door 12 is connected to the electric motor 21 via the cable 16, the drum 31, the output shaft 27, and the like, and is opened and closed by the electric motor 21.

  Tensioners 32 are respectively provided between the drum 31 and the two reversing pulleys 17 and the reversing pulley 18. The tensioner 32 maintains the cable tension within a certain range by removing the slack of the cable 16 between the drum 31 and the slide door 12. Each tensioner 32 has a fixed pulley 32a and a movable pulley 32b. The movable pulley 32b is urged in the rotational direction by a spring member 32c with the fixed pulley 32a as an axis, and the cable 16 is connected to the pulleys 32a and 32b. It is stretched between. Accordingly, when the cable 16 is loosened, the cable 16 is urged by the movable pulley 32b to increase the movement path of the cable 16, thereby maintaining the tension of the cable 16.

The drive unit 15 is a clutchless type in which no clutch mechanism is provided between the electric motor 21 and the output shaft 27. In other words, power can always be transmitted from the electric motor 21 to the output shaft 27, that is, the slide door 12.
Therefore, as will be described later, when regenerative braking force is generated by the electric motor 21, there is air between the stator (stator) of the electric motor 21 and the rotor 47 (magnet rotor) connected to the drum 31. Since there is a gap and it is not in direct mechanical contact, vibration generated when the electric motor 21 generates regenerative braking force is less than vibration (impact) generated by intermittent control of the clutch mechanism.

  The electric motor 21 in the drive unit 15 is driven by a motor control device 41. The motor control device 41 controls the operation of the electric motor 21 so as to open and close the slide door 12 at a preset target speed. In addition, the motor control device 41 generates a regenerative braking force by short-circuiting the input terminals 22u, 22v, and 22w of the electric motor 21.

(Configuration of motor controller)
FIG. 3 is a circuit diagram showing details of the motor control device 41 and the electric motor 21 shown in FIG. The electric motor 21 is a three-phase DC brushless motor. The electric motor 21 is an inner rotor type, and includes a rotor 47 (magnet rotor) configured by embedding a permanent magnet (magnet) including a pair of N poles and S poles. The electric motor 21 includes U-phase, V-phase, and W-phase stator windings 21u, 21v, and 21w that are star-connected.
In addition, in proximity to the rotor 47, rotational position detection elements (Hall IC 48u, Hall IC 48v, and Hall IC 48w) are arranged every 120 degrees. These Hall ICs detect the rotational position of the rotor 47.

  A motor control device 41 for controlling the electric motor 21 includes a drive circuit unit 42, a DC power supply 44, and a control system circuit unit 50.

  The drive circuit unit 42 is connected in antiparallel between the insulated gate bipolar transistors (IGBTs) 42a to 42f as six switching elements connected in a three-phase bridge form, and between the collectors and emitters of the transistors 42a to 42f. Flywheel diodes 43a to 43f. The gates of the six transistors 42 a to 42 f that are bridge-connected are connected to the control system circuit unit 50.

The collectors or emitters of the six transistors 42 a to 42 f are connected to the star-connected stator windings 21 u, 21 v, and 21 w through the input terminals 22 u, 22 v, and 22 w of the electric motor 21. As a result, the six transistors 42a to 42f perform a switching operation by the drive signals (gate signals) G1 to G6 input from the control system circuit unit 50, and the power supply voltage of the DC power supply 44 applied to the drive circuit unit 42. Is supplied to the stator windings U, V, W as applied voltages Vu, Vv, Vw of three phases (U phase, V phase, W phase).
When the drive signal (gate signal) G1 is a high signal (H signal), the corresponding transistor 42a is turned on (ON), and when the drive signal G1 is a low signal (L signal), the corresponding transistor 42a is turned off ( OFF). The same applies to the drive signals (gate signals) G2 to G6.

  The control system circuit unit 50 drives the gates of the transistors 42a to 42f of the drive circuit unit 42 in order to variably control the applied voltages Vu, Vv, and Vw (more precisely, voltage and frequency) to the electric motor 21. The drive signals G1 to G6 are formed as pulse width modulation signals (PWM signals). The control system circuit unit 50 controls applied voltages supplied from the DC power supply 44 to the stator windings 21u, 21v, and 21w by switching the transistors 42a to 42f at high speed.

  The control system circuit unit 50 includes a driver circuit 51, a door opening / closing information generation unit 52, and a control unit 53.

  The control unit 53 includes a rotation control unit 54 and a regenerative brake control unit 55. The rotation control unit 54 drives the electric motor 21 in the normal direction or the reverse direction with respect to the driver circuit 51 based on the speed signal V, the position signal P, and the direction signal D input from the door opening / closing information generation unit 52. PWM command signal (forward rotation command or reverse rotation command) is output. The driver circuit 51 generates drive signals G <b> 1 to G <b> 6 for alternately switching the transistors 42 a to 42 f based on the input PWM command signal, and outputs them to the drive circuit unit 42. As a result, the drive circuit unit 42 applies energization patterns of supply voltages Vu, Vv, and Vw that alternately energize the stator windings 21u, 21v, and 21w to each stator winding, and rotates the rotor 47. It is rotated in the rotation direction indicated by the control unit 54.

  More specifically, an open / close switch 45 is connected to the control unit 53. When the operator operates the opening / closing switch 45 and a signal for instructing the controller 53 to start opening / closing the door is input, the rotation controller 54 receives the speed signal V and the position signal input from the door opening / closing information generator 52. A PWM command signal is generated according to P and the direction signal D, and is output to the driver circuit 51.

The door opening / closing information generating unit 52 includes pulse signals Su, Sv, which are output from the Hall ICs 48u, 48v, and 48w, respectively, the speed signal V, the position signal P, and the direction signal D that the control unit 53 uses to generate the PWM command signal. Generate from Sw.
When the pulse signals Su, Sv, and Sw output from the Hall ICs 48u, 48v, and 48w are input, the door opening / closing information generation unit 52 receives the rotational speed of the electric motor 21, that is, the sliding door, based on the generation interval of the pulse signals. Twelve moving speeds V are calculated.
Further, the door opening / closing information generation unit 52 detects the rotation direction of the electric motor 21, that is, the moving direction of the sliding door 12 based on the appearance timing (the order of appearance) of the pulse signals Su, Sv, and Sw, and the direction signal D Is output.

  The door opening / closing information generation unit 52 detects the position of the slide door 12 by counting (accumulating) switching of the pulse signal starting from the time when the slide door 12 reaches the reference position (for example, the fully closed position). The position signal P is output. The reference position of the slide door 12 is detected by, for example, a fully closed detection switch 46. The fully closed detection switch 46 is a switch for detecting that the door position of the slide door 12 is in the “fully closed position”, for example, a limit switch that is turned on when the door position is “fully closed position”. .

(Sliding door “intermediate stop” and regenerative braking)
By the way, when an occupant or the like operates the open / close switch 45 to instruct the stop of the slide door 12 while the slide door 12 is opened or closed, the control unit 53 applies regenerative braking to the electric motor 21 by the regenerative brake control unit 55. Stop the rotation (by generating regenerative braking force). This regenerative braking is output from the driver circuit 51 as a signal for setting the drive signals G4 to G6 (or drive signals G1 to G3) to a duty ratio (Duty) of 100%, and the drive circuit section 42 corresponds to the corresponding lower transistor 42d. Then, the transistor 42e and the transistor 42f are turned on to short-circuit the stator windings 21u, 21v, and 21w and the input terminals 22u, 22v, and 22w provided to the stator windings 21u, 21v, and 21w, respectively.

FIG. 4 is a diagram for explaining the regenerative braking operation. FIG. 5 is a diagram for explaining the regenerative braking operation and the duty ratio control.
In the regenerative braking, more specifically, as shown in FIG. 4A, the drive signals G1 to G3 output from the driver circuit 51 are set to a low signal (L signal), and the drive signals G4 to G6 are set to a high signal. By setting (H signal), the upper stage (upper arm) transistor 42a, transistor 42b, and transistor 42c are turned off. In addition, the lower (lower arm) transistor 42d, the transistor 42e, and the transistor 42f are turned on.

  In this state, when the electric motor 21 tries to rotate, for example, if a positive potential is generated in the stator windings 21u and 21v and a negative potential is generated in the stator winding 21w, the electric motor 21 is shown in FIG. Current Iu flows through the stator winding 21u, current Iv flows through the stator winding 21v, and current Iw flows through the stator winding 21w. As a result, braking torque (regenerative braking force) is generated in the electric motor 21 and the rotation of the electric motor 21 is locked. The polarity of the potential generated in the stator windings 21u, 21v, and 21w depends on the relative positional relationship between the stator windings 21u, 21v, and 21w and the rotor 47 and the rotation direction of the rotor 47. Regardless of the positional relationship, the regenerative braking force can be generated in the electric motor 21 by turning on the lower transistors 42d, 42e, and 42f.

  The regenerative braking force is controlled by the regenerative brake control unit 55. As shown in FIG. 5, the regenerative brake control unit 55 has a ratio of time of a high signal (H signal) occupying a predetermined control cycle T in the drive signals G4 to G6, that is, an input terminal of the stator winding. The magnitude of the regenerative braking force can be controlled by changing the duty ratio, which is the ratio of the short circuit time.

  That is, as shown in FIG. 5, the regenerative brake control unit 55 provides a period during which the drive signals G4 to G6 are set to a low signal (L signal) in the period of the predetermined control period T, The duty ratio at which the transistor 42e and the transistor 42f are turned on is changed. That is, the regenerative brake control unit 55 outputs the drive signals G4, G5, and G6 that drive the lower transistors 42d, 42e, and 42f as pulse width modulation (PWM) signals corresponding to the duty ratio. The regenerative brake control unit 55 can control the regenerative braking force generated by the electric motor 21 by adjusting the pulse width (duty ratio) of the PWM signal.

  For example, FIG. 4A described above is a case where the duty ratio is 100%. In the case of the duty ratio of 100% in FIG. 4A, the drive signals G4, G5, and G6 are set to a high signal (H signal) in the entire period of the predetermined control cycle T, and the drive signals G1, G2, and G3 are set. By using a low signal (L signal), a signal with a duty ratio of 100% is output to the driver circuit 51. When the duty ratio is 100%, the drive circuit unit 42 simultaneously turns on the lower transistor 42d, the transistor 42e, and the transistor 42f corresponding to the drive signals G4, G5, and G6 during the entire control cycle T. Let By this. The regenerative brake control unit 55 generates a regenerative braking force by short-circuiting the input terminals 22u, 22v, and 22w of the stator windings 21u, 21v, and 21w.

FIG. 5A shows a case where the duty ratio is medium (for example, 60 to 70%), and FIG. 5B shows a case where the duty ratio is small (for example, 20 to 30%). For example, in FIG. 5A, the lower transistor 42d, the transistor 42e, and the transistor 42f are simultaneously turned on in a period in which the drive signals G4 to G6 are high signals (H signals), and the stator winding 21u, The input terminals 22u, 22v, and 22w of 21v and 21w are short-circuited. Further, during the period in which the drive signals G4 to G6 are low signals (L signals), the lower transistor 42d, the transistor 42e, and the transistor 42f are simultaneously turned off, and the stator windings 21u, 21v, and 21w are input. Terminals 22u, 22v, and 22w are released from the short circuit. The same applies to FIG.
In this way, the regenerative brake control unit 55 can control the magnitude of the regenerative brake force by controlling the duty ratio. That is, the regenerative brake control unit 55 can reduce the regenerative brake force by reducing the duty ratio.

  By the operation of the regenerative brake control unit 55 described above, in the motor control device 41 of the present embodiment, in the power slide door device with a halfway stop function, the slide door is in a state where the vehicle 11 is parked on an inclined place or the like that is not flat. When the door 12 is stopped halfway, the sudden movement of the slide door 12 in the direction in which gravity acts can be avoided.

That is, when the sliding door 12 is stopped halfway, the regenerative brake control unit 55 first generates a regenerative braking force in the electric motor 21 with a duty ratio of 100%, and locks the rotation of the electric motor 21. The movement of the slide door 12 is stopped.
Then, after a predetermined first specified time has elapsed (for example, after 10 minutes have elapsed), the regenerative brake control unit 55 gradually reduces the duty ratio to weaken the regenerative brake force, thereby causing the slide door 12 to move to the gravitational force. Move gradually in the direction of action. The first predetermined time is a time set in advance to shift to the power saving mode for reducing the power consumption in the vehicle 11.

  As described above, in the motor control device 41, the regenerative brake control unit 55 gradually decreases the duty ratio, so that the slide door 12 can be smoothly moved in a direction in which gravity acts on an inclined land or the like. When the closed state of the slide door 12 is detected, for example, when the “fully closed position” of the slide door 12 is detected by the limit switch, the motor control device 41 ends the regenerative braking operation. Further, the motor control device 41 ends the regenerative braking operation when the stop in the open state of the slide door 12 is detected, for example, when the rotation stop of the electric motor 21 is detected by the door opening / closing information generation unit 52. Let

(First example of regenerative braking force control)
Next, a specific control example of the regenerative braking force will be described.
FIG. 6 is a diagram illustrating a first control example of the regenerative braking force when the sliding door 12 is stopped halfway. FIG. 6 shows an example in which the position and moving speed of the slide door 12 are not detected. The time t is elapsed in the horizontal direction, the time change in the duty ratio Du of the regenerative braking operation in the vertical direction, and the slide door 12. These are side-by-side changes of the door speed Sp, which is the moving speed.

In the example shown in FIG. 6, when the user operates the open / close switch 45 to stop the slide door 12 halfway on an inclined ground at time t1, the regenerative brake control unit 55 first regenerates at a duty ratio of 100%. Activate the brake. Thereby, rotation of the electric motor 21 can be locked and the movement of the slide door 12 can be stopped.
The regenerative brake control unit 55 causes the electric motor 21 to perform a regenerative brake operation with a duty ratio of 100% from the time t1 to a time t2 when a predetermined first specified time (for example, 10 minutes) elapses.

  Thereafter, when a predetermined first specified time elapses from time t1 and after time t2, the regenerative brake control unit 55 gradually decreases the duty ratio of the regenerative brake operation after time t2. That is, the regenerative brake control unit 55 gradually decreases the duty ratio Du from the initial value 100% at a predetermined rate every predetermined control cycle T (see FIG. 5), thereby regenerating the electric motor 21 with time. Decrease the braking force gradually.

  Then, at time t2 'after time t1, the sliding door 12 starts moving when the force that causes the sliding door 12 to move in the tilt direction due to the action of gravity becomes greater than the regenerative braking force. Then, after time t2 ', as the regenerative brake control unit 55 weakens the regenerative brake force of the electric motor 21, the door speed Sp of the slide door 12 gradually increases.

  The regenerative brake control unit 55 holds information of “specified duty ratio Du1 (duty threshold)” as a lower limit threshold of the duty ratio. The regenerative brake control unit 55 gradually decreases the duty ratio Du after time t2, and when the duty ratio Du reaches the specified duty ratio Du1 (duty threshold) at time t3, the duty ratio is set to the specified duty after time t3. The ratio Du1 (duty threshold) is not lowered. That is, after this time t3, the regenerative brake control unit 55 keeps the duty ratio constant so that the duty ratio becomes the specified duty ratio Du1.

  Then, after time t3, the slide door 12 continues to move, and when time t4 is reached and the door position reaches the “fully open position” or “fully closed position”, the movement of the slide door 12 stops due to physical restrictions. The door speed becomes 0 (zero). Note that the door speed Sp from the time t3 to the time t4 is not necessarily a constant speed, and the magnitude of the force for moving the slide door 12 in the tilt direction and the magnitude of the regenerative braking force of the electric motor 21. Depending on the situation, the speed may increase gradually.

  And regenerative brake control part 55 continues control of regenerative brake until time t5 after time t4. This is because the regenerative brake control unit 55 does not detect the door speed Sp of the slide door 12, and therefore cannot detect that the door speed Sp has become 0 (zero), and the time t4 when the door speed Sp becomes 0 (zero). Thereafter, regenerative braking control of the electric motor 21 is performed until time t5.

  This time t5 is set based on the time estimated that the slide door 12 will reach the “fully open position” or the “fully closed position” from the “halfway stop position”. It is set according to the inclination angle and the moving distance of the sliding door 12. That is, the time (second specified time) from the time t2 at which the control for reducing the duty ratio is started to the time t5 at which the regenerative brake control is ended is based on the assumed moving time in the opening / closing direction of the slide door 12. These are set with a predetermined margin time (for example, set to 5 minutes).

  As described above, in the motor control device 41 of the present embodiment, the regenerative brake control unit 55 gradually decreases the duty ratio and weakens the regenerative brake force, so that the slide door 12 can be moved smoothly. For this reason, in the motor control apparatus 41, it can avoid that a sliding door moves suddenly and generate | occur | produces an impact, and the anxiety given to a user can be eliminated.

  In the example shown in FIG. 6, the regenerative brake control unit 55 sets the duty ratio (initial duty ratio) at time t1 to t2 to 100%, but is not limited to this, and the initial duty ratio is a desired value ( For example, 90% or the like can be set (the same applies to FIG. 7 described later).

(Second example of regenerative braking force control)
FIG. 7 is a diagram illustrating a second control example of the regenerative braking force when the slide door 12 is stopped halfway. The example shown in FIG. 7 is an example in which the position and moving speed of the slide door 12 are detected. The time t has elapsed in the horizontal direction, the time change of the duty ratio Du in the vertical direction, The change with time of the door speed Sp, which is the moving speed, is shown side by side.

  In the example shown in FIG. 7, the regenerative brake control unit 55 holds information on “specified duty ratio Du1” as a lower limit threshold (duty threshold) of the duty ratio and “specified speed Sp1” as a speed threshold. It is an example. When the duty ratio Du or the door speed Sp reaches the respective threshold values, the regenerative brake control unit 55 performs control so as not to further decrease the duty ratio.

  In the example shown in FIG. 7, when the regenerative brake control unit 55 gradually decreases the duty ratio after time t2, time t2 ′ after time t1 is reached, and the slide door 12 moves in the tilt direction due to the action of gravity. The force to be increased becomes greater than the regenerative braking force, and the sliding door 12 starts moving. Then, after time t2 ', as the regenerative brake control unit 55 weakens the regenerative brake force of the electric motor 21, the door speed Sp of the slide door 12 gradually increases.

  Then, at time t6 after time t2 ', the door speed Sp reaches the "specified speed Sp1". That is, the door speed Sp reaches the “specified speed Sp1” before the duty ratio Du reaches the “specified duty ratio Du1” as the duty threshold. For this reason, the regenerative brake control unit 55 stops reducing the duty ratio Du and restricts the door speed Sp so as not to greatly exceed the “specified speed Sp1”.

When the sliding door 12 moves and reaches time t7 after time t6, the sliding door 12 reaches the “fully open position” or “fully closed position” and stops, and the door speed Sp becomes 0 (zero). Become. The regenerative brake control unit 55 detects that the movement of the slide door 12 has stopped, and ends the regenerative brake control operation.
Thereby, the regenerative brake control unit 55 can detect the moving speed of the slide door 12 and prevent the moving speed from becoming too fast. Further, the regenerative brake control unit 55 can detect that the slide door 12 has reached the “fully open position” or the “fully open position”, and terminate the regenerative brake control operation.

  FIG. 8 is a flowchart showing the regenerative brake control procedure in the regenerative brake control unit 55 described above. Hereinafter, the processing flow will be described with reference to the flowchart of FIG.

  First, an “intermediate stop” of the slide door 12 is instructed by operating the open / close switch 45 (step ST1). The regenerative brake control unit 55 causes the electric motor 21 to generate a regenerative braking force to stop the slide door 12 halfway (step ST2) (see time t1 in FIG. 6). When the slide door 12 is stopped halfway, the regenerative brake control unit 55 turns on the lower transistors (IGBT) 42d, 42e, and 42f with a duty ratio (Duty) of 100%, and the upper transistors (IGBT) 42a, 42b. , And 42c are turned off.

After generating the regenerative braking force at the duty ratio of 100% (initial duty ratio) in the electric motor 21 in step ST2, the regenerative brake control unit 55 performs a predetermined first specified time (for the vehicle to shift to the power saving mode). It is determined whether or not a preset time has elapsed (step ST3). In the determination process of step ST3, when it is determined that the predetermined first specified time has not elapsed (step ST3: No), the regenerative brake control unit 55 applies the regenerative braking force to the electric motor 21 with a duty ratio of 100%. Keep giving.
Note that the processing performed between times t1 and t2 in FIGS. 6 and 7 corresponds to the processing in steps ST1 and ST3 in FIG.

  On the other hand, in the determination process of step ST3, when it is determined that the predetermined first specified time has elapsed (step ST3: Yes), the regenerative brake control unit 55 detects the position sensors (Hall IC 48u, Hall IC 48v, and Hall IC 48w). Whether or not a failure has occurred is determined (step ST4). The failure of the position sensors (Hall IC 48u, Hall IC 48v, and Hall IC 48w) can be detected in advance when the electric motor 21 is driven to open and close the slide door 12, and the failure information can be retained.

  When it is determined in step ST4 that the position sensor has failed (step ST4: Yes), the regenerative brake control unit 55 performs processing at the time of position sensor failure (step ST5 to step ST8 side). Process). In FIG. 6, the process performed between times t2 and t5 corresponds to the process of steps ST5 to ST8.

  When the process proceeds to step ST5, the regenerative brake control unit 55 determines whether or not a regenerative brake control end condition is satisfied (step ST5). As an end condition in this step ST5, it exceeds a second specified time (preset time) assumed to be required for the slide door 12 to move from the halfway stop position to the “fully closed position” or “fully closed position”. It is determined whether or not. The second specified time used for the determination in step ST5 corresponds to, for example, the time between time t2 and time t5 shown in FIG.

If it is determined in step ST5 that the end condition is satisfied (step ST5: Yes), the regenerative brake control unit 55 ends the regenerative brake control operation (step ST14).
On the other hand, in the process of step ST5, when it is determined that the end condition is not satisfied (step ST5: No), the regenerative brake control unit 55 sets the current duty ratio (Duty) to the specified duty ratio (specified duty). It is determined whether or not it has reached (step ST6). For example, in FIG. 6, it is determined that the specified duty ratio Du1 has been reached at time t3.

  When it is determined in step ST6 that the specified duty ratio has been reached (step ST6: Yes), the regenerative brake control unit 55 returns to step ST5, and the regenerative brake control end condition is satisfied. It is determined whether or not (step ST5).

On the other hand, when it is determined in step ST6 that the specified duty ratio has not been reached (step ST6: No), the regenerative brake control unit 55 reduces the duty ratio (see the control cycle T in FIG. 5). It is determined whether or not the duty timer (Duty Timer) for determining the time is up (measurement is completed) (step ST7).
If it is determined in step ST7 that the duty timer has not timed up (measurement completed) (step ST7: No), the regenerative brake control unit 55 returns to step ST5 and the regenerative brake control end condition is reached. Is determined (step ST5).

  On the other hand, if it is determined in step ST7 that the duty timer has timed up (measurement completed) (step ST7: Yes), the regenerative brake control unit 55 resets the measured value of the duty timer and The duty ratios of the transistors 42d, 42e, and 42f are reduced (decreased) by a predetermined amount (step ST8), and then the process returns to step ST5.

  Next, returning to the process of step ST4, when it is determined that no failure has occurred in the position sensor in the process of step ST4 (step ST4: No), the regenerative brake control unit 55 performs the process when the position sensor is normal. The process proceeds to (step ST9 to step ST13 side processing). Note that the processing performed between times t2 and t7 in FIG. 7 corresponds to the processing in steps ST9 to ST13.

  When the process proceeds to step ST9, the regenerative brake control unit 55 determines whether or not the regenerative brake control end condition is satisfied (step ST9). In the determination process of the end condition in step ST9, when the slide door 12 moves to the “fully closed position” or “fully closed position”, the slide door 12 moves from the halfway stop position to the “fully closed position” or “fully closed”. A case where a second specified time (preset time) assumed to be required to move to “position” is exceeded, a case where power generation of the electric motor 21 is stopped after the movement of the slide door 12 is started, When either of the cases occurs, it is determined that the end condition is satisfied.

  The “fully closed position” of the slide door 12 can be detected by a fully closed detection switch 46 (for example, a limit switch) that detects that the slide door 12 is completely closed. The “fully opened position” is detected by the door opening / closing information generation unit 52. In addition, the power generation stoppage of the electric motor 21 can be detected by measuring the current flowing through the coil of the electric motor 21, and whether or not the output signals of the position sensors (Hall IC 48u, Hall IC 48v, and Hall IC 48w) have changed. Can be detected.

If it is determined in the determination process of step ST9 that the end condition is satisfied (step ST9: Yes), the regenerative brake control unit 55 ends the regenerative brake control operation (step ST14).
On the other hand, in the determination process of step ST9, when it is determined that the end condition is not satisfied (step ST9: No), the regenerative brake control unit 55 determines that the moving speed of the slide door 12 is the specified speed (the specified speed in FIG. 7). It is determined whether or not (see SP1) is exceeded (step ST10).

Then, in the determination process of step ST10, when it is determined that the door speed of the slide door 12 exceeds the specified speed (step ST10: Yes), the regenerative brake control unit 55 performs control to reduce the duty ratio. If not, the process returns to step ST9 to determine whether or not the regenerative brake control end condition is satisfied.
In the example shown in FIG. 7, at time t6, the door speed Sp reaches the specified speed Sp1, and the duty ratio at this time becomes the duty ratio Du2. The regenerative brake control unit 55 maintains the duty ratio Du at a constant duty ratio Du2 from time t6 to time t7.

  On the other hand, in the determination process of step ST10, when it is determined that the door speed of the slide door 12 does not exceed the specified speed (step ST10: No), the regenerative brake control unit 55 sets the current duty ratio (Duty). It is determined whether or not the duty ratio Du1 (duty threshold) has been reached (step ST11).

  When it is determined in step ST11 that the specified duty ratio Du1 has been reached (step ST11: Yes), the regenerative brake control unit 55 returns to the process in step ST9, and the regenerative brake control end condition is satisfied. It is determined whether it is established.

  Further, when it is determined in step ST11 that the specified duty ratio Du1 has not been reached (step ST11: No), the regenerative brake control unit 55 determines the timing (control cycle T) for reducing the duty ratio. It is determined whether or not the timer has timed up (measurement completed) (step ST12).

  When it is determined in the determination process of step ST12 that the duty timer has not timed up (measurement completed) (step ST12: No), the regenerative brake control unit 55 maintains the current duty ratio and performs step ST9. Returning to the processing, it is determined whether or not the regenerative brake control end condition is satisfied.

  On the other hand, when it is determined in step ST12 that the duty timer has timed up (measurement completed) (step ST12: Yes), the regenerative brake control unit 55 determines the duty ratio of the lower transistors 42d, 42e, and 42f. Is lowered (decreased) by a predetermined amount (step ST13), and then the process returns to step ST9 to determine whether or not the regenerative brake control termination condition is satisfied.

  As described above, according to the motor control device 41 of the present invention, when the sliding door 12 is stopped halfway when the vehicle stops on an inclined ground, the sliding door 12 tends to move in the tilting direction due to the action of gravity. However, the regenerative brake control unit 55 causes the electric motor 21 to generate a regenerative braking force to stop the slide door 12 halfway, and after the halfway stop, the “fully closed position” or “fully open position” of the slide door 12. Can be moved smoothly.

Although the embodiment of the present invention has been described above, the motor control device 41 according to the embodiment of the present invention includes a drive circuit unit 42, a DC power supply 44, a driver circuit 51, a door opening / closing information generation unit, as shown in FIG. 52 and a control unit 53.
In the above embodiment, the motor control device 41 according to the present invention controls the rotation of the electric motor 21 that opens and closes the slide door 12 of the vehicle 11 and electrically stops the slide door 12 that is being opened and closed halfway. The motor control device 41 includes a control unit 53 that short-circuits an input terminal of the motor 21 to generate a regenerative braking force and stops the slide door 12 halfway, and the control unit 53 includes an input terminal that occupies a predetermined control cycle T. The duty ratio, which is the ratio of the short circuit time, is maintained at a predetermined initial duty ratio until the predetermined first specified time elapses after the sliding door 12 is stopped halfway, and after the predetermined first specified time has elapsed. The regenerative braking force is controlled by gradually decreasing the duty ratio from the initial duty ratio every predetermined control cycle T.
With the motor control device having such a configuration, when the slide door 12 is stopped halfway, the input terminals 22u, 22v, and 22w of the electric motor 21 are short-circuited to generate a regenerative braking force and the slide door 12 is stopped halfway. Let Then, the regenerative braking force is generated in the electric motor 21 with a predetermined initial duty ratio until the predetermined first specified time elapses after the sliding door 12 is stopped halfway, and after the elapse of the first specified time, The regenerative braking force is gradually weakened by gradually decreasing the duty ratio from the initial duty ratio.
Thereby, in the vehicle 11 stopped on the slope, the slide door 12 can be smoothly moved when the slide door 12 stopped halfway moves in the tilt direction by the action of gravity.

Further, in the above embodiment, the control unit 53 reduces the duty ratio when the duty ratio reaches a predetermined duty threshold when the duty ratio is gradually decreased from the initial duty ratio. After that, the regenerative braking force is controlled by the duty ratio of a predetermined duty threshold.
With the motor control device 41 having such a configuration, when the duty ratio is gradually reduced, if the duty ratio reaches a predetermined duty threshold, the reduction of the duty ratio is stopped. Thereby, the motor control device 41 can prevent the moving speed of the slide door 12 from becoming too fast when the slide door 12 moves in the tilt direction from the stop position.

In the above embodiment, the control unit 53 generates a regenerative braking force in the electric motor 21 when a predetermined second specified time has elapsed after starting the control of gradually decreasing the duty ratio from the initial duty ratio. To end.
Thereby, the motor control device 41 can set the time for ending the regenerative brake control in consideration of the time estimated that the slide door 12 will reach the “fully open position” or the “fully closed position”. it can.

Moreover, in the said embodiment, the door opening / closing information generation part 52 which detects the position and moving speed of the slide door 12 is provided, and after the control part 53 starts the control which reduces a duty ratio gradually from an initial duty ratio, it slides. When the moving speed of the door 12 exceeds a predetermined specified speed, the reduction of the duty ratio is stopped.
Thereby, the motor control apparatus 41 can stop decreasing the duty ratio when the moving speed of the slide door 12 exceeds the specified speed when the duty ratio is gradually decreased. For this reason, the motor control device 41 can prevent the moving speed of the slide door 12 from becoming too fast.

Moreover, in the said embodiment, the motor control apparatus 41 is provided with the door opening / closing information generation part 52 which detects the position and moving speed of the slide door 12, and the control part 53 reduces a duty ratio gradually from an initial duty ratio. One of a case where a predetermined second specified time has elapsed after the control is started, a case where the fully open position of the slide door 12 is detected, and a case where the fully closed position of the slide door 12 is detected occur. The generation of the regenerative braking force in the electric motor 21 is terminated.
As a result, the motor control device 41 considers the time when the slide door 12 is estimated to reach the “fully open position” or the “fully closed position”, and finishes the regenerative brake control (second specified time). ) Can be set. Further, when the slide door 12 reaches the “fully closed position” or the “fully opened position”, the regenerative brake control can be immediately terminated.

Next, another example of the control system of the door opening / closing device 14 will be described. In this control system, the input terminal of the electric motor as described above is not short-circuited to generate a regenerative braking force as a braking force, but the drive circuit unit 42 is controlled in one-phase energization according to the position of the rotor (details). As will be described later, the electric motor is energized one phase to generate a braking force.
FIG. 9 is an explanatory diagram showing another example of the control system of the door opening and closing device 14 shown in FIG. 9, the same parts as those in FIG. 3 are denoted by the same reference numerals, and the description thereof is omitted. 9 controls each of the transistors 42a to 42f of the drive circuit unit 42 in order to variably control the applied voltages Vu, Vv, and Vw (more precisely, voltage and frequency) to the electric motor 21. Drive signals G1 to G6 for driving the gate are formed as pulse width modulation signals (PWM signals). The control system circuit unit 50a controls applied voltages supplied from the DC power supply 44 to the stator windings 21u, 21v, and 21w by switching the transistors 42a to 42f at high speed.
The control system circuit unit 50a includes a driver circuit 51, a door opening / closing information generation unit 52, and a control unit 53a.

  The control unit 53a includes a rotation control unit 54a, a brake control unit 56, and a ROM (Read Only Memory) 57. The rotation control unit 54 a drives the electric motor 21 in the normal direction or the reverse direction with respect to the driver circuit 51 based on the speed signal V, the position signal P, and the direction signal D input from the door opening / closing information generation unit 52. PWM command signal (forward rotation command or reverse rotation command) is output. The driver circuit 51 generates drive signals G <b> 1 to G <b> 6 for alternately switching the transistors 42 a to 42 f based on the input PWM command signal, and outputs them to the drive circuit unit 42. As a result, the drive circuit unit 42 (drive circuit) applies energization patterns of the supply voltages Vu, Vv, and Vw that alternately energize the stator windings 21u, 21v, and 21w to the respective stator windings. 47 is rotated in the rotation direction indicated by the rotation control unit 54a.

  More specifically, the open / close switch 45 is connected to the controller 53a. When the operator operates the opening / closing switch 45 and a signal for instructing the controller 53a to start opening / closing the door is input, the rotation controller 54a receives the speed signal V and the position signal input from the door opening / closing information generator 52. A PWM command signal is generated according to P and the direction signal D, and is output to the driver circuit 51.

The calculation of the duty (the ratio of the on period to the cycle of the drive signal output by the driver circuit 51) by the rotation control unit 54a is executed as follows. That is, the rotation control unit 54a performs proportional control and integral control based on the moving speed of the slide door 12 (speed of the speed signal V) and the target speed Vc set in advance in an experiment or design and stored in the ROM 57. To calculate the duty. The rotation control unit 54a calculates the duty of the drive signals G1 to G6 based on the PI (proportional integration) calculation based on the moving speed V of the sliding door 12 and the target speed Vc, x = kp (V−Vc) + kiΣ (V−Vc). ) Is calculated. That is, the rotation control unit 54 a calculates the output x by referring to a duty setting control map (not shown) stored in the ROM 57. Here, kp represents a proportional gain, and ki represents an integral gain. According to this PI control, since the difference between the moving speed V and the target speed Vc becomes 0 due to the accumulation of the difference between the moving speed V of the sliding door 12 and the target speed Vc, the output x does not become 0. Control becomes possible.
The rotation controller 54 a outputs a PWM command signal in the same direction as the rotation direction indicated by the direction signal D to the driver circuit 51. Note that the control map in the ROM 57 stores the target speed Vc in association with the position of the slide door 12 indicated by the position signal P and the moving direction of the slide door 12 indicated by the direction signal D.

FIG. 10 is a diagram for explaining the brake operation. FIG. 10 shows signals of respective parts in an example of a control system of the door opening / closing device 14. FIG. 10A shows an operation time chart of each part when the motor control device 41 shown in FIG. 9 drives the electric motor 21 to rotate forward. 10B and 10C show the rotor position sequence Sn, the direction signal D (position signal pattern), and the electric motor 21 when the electric motor 21 is driven forward or backward. The relationship with the energization pattern is shown.
In the operation of driving the electric motor 21 to rotate forward, the Hall ICs 48u, 48v, and 48w output a high signal (H signal) or a low signal (L signal) as shown in FIG. 10 as the pulse signals Su, Sv, and Sw, respectively. To do. The door opening / closing information generation unit 52 detects the rotation direction of the rotor 47 from these signals, and outputs it to the rotation control unit 54a as a direction signal D (position signal pattern). For example, when the rotor 47 is at the rotational position S1 of the rotor position sequence Sn, the pulse signals Su, Sv, and Sw are an H signal, an L signal, and an H signal, respectively. That is, since the detection is performed by three Hall ICs, the position signal pattern is H-L-H (indicated by signals in which the pulse signals Su, Sv, and Sw are arranged in parallel). The position signal pattern is “A”. When the rotor position sequence Sn is S2, the position signal pattern is HLL and the position signal pattern is “B”.
That is, the direction signal D (position signal pattern) output by the door opening / closing information generation unit 52 corresponds to “A” to “F” corresponding to the rotor position sequences S1 to S6 in which the rotor position rotates 360 °. Thus, when the rotor 47 of the electric motor 21 is driven in the normal rotation direction, which is the setting direction from the opening / closing switch 45, the door opening / closing information generation unit 52 performs the sequence S1 to S6 of the rotor position sequence Sn. Correspondingly, the direction signal D (position signal patterns A to F) is output to the rotation control unit 54a.

On the other hand, the rotation control unit 54 a outputs, to the driver circuit 51, a PWM command signal that causes the electric motor 21 to rotate forward based on the direction signal D of the door opening / closing information generation unit 52. The driver circuit 51 outputs drive signals G1 to G6 that are pulse width modulation signals (PWM signals) for driving the gates of the transistors 42a to 42f of the drive circuit unit 42 based on the PWM command signal. These drive signals G1 to G6 are shown in FIG. In FIG. 10, hatched portions indicate that the transistors 42a to 42f are on-off driven under PWM control.
The drive circuit unit 42 performs switching control of the transistors 42a to 42f by the drive signals G1 to G6, and applies applied voltages Vu, Vv, and Vw as shown in FIG. 10 to the stator windings 21u, 21v, and 21w. To do. Thereby, the rotor 47 of the electric motor 21 rotates forward. In this embodiment, as shown in FIG. 10, the energization patterns of the applied voltages Vu, Vv, and Vw are referred to as energization patterns G to L for convenience, corresponding to the direction signal D (position signal patterns A to F) described above. To do. For example, the drive circuit unit 42 outputs an energization pattern G of (0) − (− V) − (+ V) corresponding to the position signal pattern A.
In this way, the driver circuit 51 receives the PWM command signal for driving the electric motor 21 from the rotation control unit 54a in the normal direction, and performs pulse width modulation on the drive signals G1 to G6 that drive the transistors 42a to 42f ( (PWM) signal. In the driver circuit 51, the pulse width (duty) of the PWM signal is adjusted according to the target speed Vp by the rotation control unit 54a. Thereby, the applied voltages Vu, Vv, and Vw of the electric motor 21 are variably controlled, and the rotation speed of the rotating shaft 21a of the electric motor 21 is adjusted.

  As described with reference to FIG. 10, there are six pulse signals Su, Sv, and Sw output from the Hall ICs 48 u, 48 v, 48 w corresponding to the rotational positions S <b> 1 to S <b> 6 of the rotor 47. In addition, the direction signal D output from the door opening / closing information generation unit 52, that is, the position signal pattern has six types of position signal patterns A to F. As a result, the drive signals G1 to G6 output from the driver circuit 51 have six patterns, and as a result, the energization patterns to the armature windings U, V, and W of each phase also have six patterns G to L. . A summary of such relationships as a time table is shown in FIGS. 10 (B) and 10 (C).

FIG. 10B shows the relationship between the rotor position sequences S1 to S6 defined during normal rotation of the electric motor 21, the position signal patterns A to F, and the energization patterns G to L.
With respect to the order S1 to S6 of the rotor position sequence Sn during forward rotation (meaning the order of S1, S2, S3, S4, S5, and S6), the order of the position signal pattern is A to F (A to B). → C → D → E → F). The order of the energization patterns output based on the position signal pattern is G to L (meaning the order of G → H → I → J → K → L).
Similarly, as shown in FIG. 10C, with respect to the order S6 to S1 of the rotor position sequence Sn during reverse rotation (meaning the order of S6 → S5 → S4 → S3 → S2 → S1). The order of the signal patterns is F to A (meaning the order of F → E → D → C → B → A). The order of energization patterns output based on the position signal pattern is L to G (meaning L → K → J → I → H → G).

  As described above, in the motor control device 41, the duty of the on period of the transistors 42a to 42f of the drive circuit unit 42 is changed, and the on period of each of the transistors 42a to 42f is superimposed in a predetermined combination, The electric motor 21 can be rotated in both forward and reverse directions. Thus, when an occupant or the like operates the open / close switch 45 to instruct opening / closing of the slide door 12, the motor control device 41 opens or closes the slide door 12 automatically (at the open OPEN) or at the target speed Vp. (Door CLOSE)

(Sliding door “stop” and brake operation)
By the way, when an occupant or the like operates the open / close switch 45 to instruct the stop of the slide door 12 while the slide door 12 is open / closed, the open / close switch 45 outputs a midway stop signal. When a midway stop signal is input from the open / close switch 45, the control unit 53a causes the brake control unit 56 to energize the electric motor 21 in one phase to generate a braking force and stop its rotation. In this one-phase energization, the controller 53a outputs the output of the energization pattern (one of the energization patterns G to L) corresponding to the position signal pattern when the halfway stop signal is input from the open / close switch 45. It is performed by maintaining regardless of the change of.

  For example, when the position signal pattern when the stop of the slide door 12 is instructed is the position signal pattern A (see FIG. 10), the energization pattern is the energization pattern G. The brake control unit 56 outputs the drive signals G1 and G5 from the driver circuit 51 while maintaining the duty ratio of the drive signals G1 and G5 output from the driver circuit 51 (while maintaining the predetermined initial duty ratio). The brake control unit 56 maintains the drive signals G2 to G4 and G6 output from the driver circuit 51 at low (L signal). Thus, the drive signals G2 to G4 and G6 output from the driver circuit 51 are set to low (L signal), and the drive signals G1 and G5 are set to PWM-controlled signals, whereby the upper stage (upper arm) transistor 42b. The transistor 42c, the lower (lower arm) transistor 42d, and the transistor 42f are turned off. Further, the upper (upper arm) transistor 42a and the lower (lower arm) transistor 42e are turned on / off.

  In this state, when the electric motor 21 tries to rotate, current flows in the direction of the input terminals 22u to 22v through the series-connected windings of the stator winding 21u and the stator winding 21v of the electric motor 21. . Thereby, a braking force is generated in the electric motor 21 and the rotation of the electric motor 21 is locked. Even when the energization pattern is a pattern other than the energization pattern G, any one of the upper-stage transistors 42a, 42b, and 42c and the lower-stage transistors 42d, 42e, and 42f By turning on any one of the transistors, a current flows as follows. That is, a current flows in a winding in which two of the stator windings are connected in series from any one of the input terminals to the other, generating a braking force in the electric motor 21. Can be made.

  FIG. 9 shows a case where the stator winding is Y-connected (star connection), but when Δ (delta) connection is made (stator winding between the input terminals 22u and 22v of the electric motor 21). Line 21u, stator winding 21v between input terminals 22v and 22w, and stator winding 21w between input terminals 22w and 22u), current flows as follows: Brake force can be generated. That is, when the energization pattern is the energization pattern G, the current flows in the directions of the input terminals 22u to 22v in the paths of the stator winding 21u and the paths of the stator windings 21v and 21w connected in series. To generate a braking force. Even when the energization pattern is a pattern other than the energization pattern G, any one of the upper-stage transistors 42a, 42b, and 42c and the lower-stage transistors 42d, 42e, and 42f By turning on any one of the transistors, a current flows as follows, and a braking force can be generated. That is, a current flows from one of the input terminals to the other one of the input terminals to one stator winding and a winding obtained by connecting two of the stator windings in series. Brake force can be generated.

  As described above, in the control system shown in FIG. 9, the drive circuit unit 42 is controlled by one-phase energization according to the position of the rotor, thereby energizing the electric motor by one phase and generating a braking force. The magnitude of this braking force is controlled by the brake control unit 56. The brake control unit 56 increases the braking force by changing the duty ratio, which is a time ratio of the high signal (H signal) occupying the predetermined control cycle T, in the drive signal to be PWM controlled among the drive signals. Can be controlled. That is, the brake control unit 56 can reduce the braking force by reducing the duty ratio, and can increase the braking force by increasing the duty ratio.

  By the operation of the brake control unit 56 described above, in the motor control device 41 of the present embodiment, in the power slide door device with a midway stop function, the slide door 12 is in a state where the vehicle 11 is parked on an inclined place that is not a flat place. It is possible to prevent the slide door 12 from moving suddenly in the direction in which gravity acts when the operation is stopped halfway.

That is, when the sliding door 12 is stopped halfway, the brake control unit 56 initially applies the braking force to the electric motor 21 while maintaining the duty ratio (initial duty ratio, for example, 20 to 30%) when the sliding door 12 is stopped halfway. And the movement of the slide door 12 is stopped by locking the rotation of the electric motor 21.
Then, after a predetermined first specified time has elapsed (for example, after 10 minutes have elapsed), the brake control unit 56 gradually reduces the duty ratio to weaken the braking force, thereby causing the sliding door 12 to act on gravity. Move gradually in the direction. The first predetermined time is a time set in advance to shift to the power saving mode for reducing the power consumption in the vehicle 11.

  As described above, in the motor control device 41, the brake control unit 56 gradually lowers the duty ratio from the initial duty ratio when the first specified time has elapsed, so that the slide door 12 is moved in a direction in which gravity acts on an inclined land or the like. It can be moved smoothly. When the closed state of the slide door 12 is detected, for example, when the “fully closed position” of the slide door 12 is detected by the limit switch, the motor control device 41 ends the brake operation. Further, the motor control device 41 terminates the brake operation when the stop in the open state of the slide door 12 is detected, for example, when the door opening / closing information generation unit 52 detects the rotation stop of the electric motor 21. .

(First example of brake force control)
Next, a specific control example of the braking force will be described.
FIG. 11 is a diagram illustrating a first control example of the braking force when the sliding door 12 is stopped halfway. FIG. 11 shows an example in which the position and moving speed of the slide door 12 are not detected. The time t has elapsed in the horizontal direction, the time change of the duty ratio Du in the vertical direction, and the moving speed of the slide door 12. The time change of a certain door speed Sp is shown side by side.

In the example shown in FIG. 11, when the user operates the open / close switch 45 to stop the slide door 12 halfway at time t0, the open / close switch 45 sends a halfway stop signal to the control unit 53a. First, the brake control unit 56 operates the brake with the duty ratio A% (initial duty ratio, for example, 20 to 30%) in the energization pattern when the midway stop signal is generated. Thereby, the rotation of the electric motor 21 is locked, the door speed Sp of the slide door 12 is set to 0 at time t1, and the movement of the slide door 12 can be stopped.
The brake control unit 56 causes the electric motor 21 to perform a braking operation with a duty ratio A% from the time t0 to a time t2 when a predetermined first specified time (for example, 10 minutes) elapses.

  Thereafter, when a predetermined first specified time elapses from time t0 and after time t2, the brake control unit 56 gradually decreases the duty ratio of the brake operation after time t2. That is, the brake control unit 56 gradually decreases the braking force of the electric motor 21 over time by gradually decreasing the duty ratio Du from the initial value A% at a predetermined rate every predetermined control period T. .

  Then, at time t2 'after time t2, the sliding door 12 starts moving when the force that the sliding door 12 tries to move in the tilt direction due to the action of gravity becomes greater than the braking force. Then, after time t2 ', the door speed Sp of the slide door 12 gradually increases as the brake control unit 56 weakens the braking force of the electric motor 21.

  The brake control unit 56 holds information of “specified duty ratio Du1 (duty threshold)” as a lower limit threshold of the duty ratio. The brake control unit 56 gradually decreases the duty ratio Du after time t2, and when the duty ratio Du reaches the specified duty ratio Du1 (duty threshold) at time t3, the duty ratio is changed to the specified duty ratio after time t3. Do not lower than Du1 (duty threshold). That is, after this time t3, the brake control unit 56 keeps the duty ratio constant so that the duty ratio becomes the specified duty ratio Du1.

  Then, after time t3, the slide door 12 continues to move, and when time t4 is reached and the door position reaches the “fully open position” or “fully closed position”, the movement of the slide door 12 stops due to physical restrictions. The door speed becomes 0 (zero). The door speed Sp from time t3 to time t4 is not necessarily a constant speed, and the magnitude of the force that moves the sliding door 12 in the tilt direction and the magnitude of the braking force of the electric motor 21 Depending on the speed, the speed may increase gradually.

  And the brake control part 56 continues control of a brake until time t5 after time t4. This is because the brake control unit 56 does not detect the door speed Sp of the slide door 12 and therefore cannot detect that the door speed Sp has become 0 (zero), and after the time t4 when the door speed Sp becomes 0 (zero). Also, the brake control of the electric motor 21 is performed until time t5.

  This time t5 is set based on the time estimated that the slide door 12 will reach the “fully open position” or the “fully closed position” from the “halfway stop position”. It is set according to the inclination angle and the moving distance of the sliding door 12. That is, the time (second specified time) from the time t2 at which the control for reducing the duty ratio is started to the time t5 at which the brake control is ended is based on the assumed moving time in the opening / closing direction of the slide door 12. It is set by looking at a predetermined margin time (for example, set to 5 minutes).

  Thus, in the motor control device 41 of the present embodiment, the brake control unit 56 gradually decreases the duty ratio and weakens the braking force, so that the slide door 12 can be moved smoothly. For this reason, in the motor control apparatus 41, it can avoid that a sliding door moves suddenly and generate | occur | produces an impact, and the anxiety given to a user can be eliminated.

  In the example shown in FIG. 11, the brake control unit 56 sets the duty ratio (initial duty ratio) at time t0 to t2 to A%, but is not limited to this, and the initial duty ratio is set to a desired value. (It is the same in FIG. 12 described later).

(Second example of brake force control)
FIG. 12 is a diagram illustrating a second control example of the braking force when the sliding door 12 is stopped halfway. The example shown in FIG. 12 is an example in the case of detecting the position and moving speed of the slide door 12, shows the passage of time t in the horizontal direction, the time change of the duty ratio Du in the vertical direction, The change with time of the door speed Sp, which is the moving speed, is shown side by side.

  In the example shown in FIG. 12, the brake control unit 56 holds information on “specified duty ratio Du1” as a lower limit threshold (duty threshold) of the duty ratio and “specified speed Sp1” as a speed threshold. It is. When the duty ratio Du or the door speed Sp reaches the respective threshold values, the brake control unit 56 performs control so as not to further decrease the duty ratio.

  In the example shown in FIG. 12, when the brake control unit 56 gradually decreases the duty ratio after time t2, time t2 ′ after time t2 is reached, and the slide door 12 moves in the tilt direction due to the action of gravity. Becomes larger than the braking force, and the sliding door 12 starts moving. Then, after time t2 ', the door speed Sp of the slide door 12 gradually increases as the brake control unit 56 weakens the braking force of the electric motor 21.

  Then, at time t6 after time t2 ', the door speed Sp reaches the "specified speed Sp1". That is, the door speed Sp reaches the “specified speed Sp1” before the duty ratio Du reaches the “specified duty ratio Du1” as the lower limit threshold of the duty ratio. For this reason, the brake control unit 56 stops reducing the duty ratio Du after time t6 and restricts the door speed Sp so as not to greatly exceed the “specified speed Sp1”.

When the sliding door 12 moves and reaches time t7 after time t6, the sliding door 12 reaches the “fully open position” or “fully closed position” and stops, and the door speed Sp becomes 0 (zero). Become. The brake control unit 56 detects that the movement of the slide door 12 has stopped, and ends the one-phase energization control operation of the brake.
Thereby, the brake control part 56 can detect the moving speed of the slide door 12, and can prevent that this moving speed becomes too fast. Further, the brake control unit 56 can detect that the slide door 12 has reached the “fully open position” or the “fully open position” and can end the one-phase energization control operation of the brake.

  FIG. 13 is a flowchart showing a brake control procedure in the brake control unit 56. In FIG. 13, the same parts as those in FIG. Hereinafter, the processing flow will be described with reference to the flowchart of FIG.

  When an occupant or the like operates the open / close switch 45 and instructs to open / close the slide door 12 when the slide door 12 is in the fully closed or fully open position, the motor control device 41 opens the slide door 12 automatically at the target speed Vp ( The automatic opening / closing operation is started so as to close (door OPEN) or close (door CLOSE) (step ST0_1).

The rotation control unit 54a determines whether or not the door position of the slide door 12 has reached the “fully closed position” or the “fully opened position” after the automatic opening / closing operation is started (step ST0_2). When the fully closed detection switch 46 detects that the door position of the slide door 12 has reached the “fully closed position”, the rotation control unit 54 a determines that the position is in the “fully closed position”. In addition, when the door opening / closing information generation unit 52 detects that it has reached the “fully opened position”, the rotation control unit 54 a determines that it is in the “fully opened position”.
When the rotation control unit 54a determines that the door position of the slide door 12 has reached the “fully closed position” or the “fully opened position” (step ST0_2—Yes), the drive circuit 51 stops driving the electric motor 21. To output a PWM command signal. The energization of the electric motor 21 is finished, and the automatic opening / closing operation of the slide door 12 is finished (step ST0_3).

  On the other hand, when the rotation control unit 54a determines that the door position of the slide door 12 has not reached the “fully closed position” or the “fully opened position” (step ST0_2-No), the brake control unit 56 opens and closes the occupant or the like. It is determined whether or not a midway stop signal for the slide door 12 by the operation of the switch 45 is input (step ST0_4).

When the brake control unit 56 determines that the midway stop signal of the slide door 12 is not input (step ST0_4: No), the process returns to step ST0_2, and the door position of the slide door 12 is “fully closed position” or “fully opened position”. Is determined.
On the other hand, when the brake control unit 56 determines that an intermediate stop signal of the slide door 12 is input (step ST0_4: Yes), the brake control unit 56 starts a duty timer (step ST0_5).

  The brake control unit 56 starts one-phase energization control. That is, the brake control unit 56 has an initial duty ratio A%, one transistor of the lower transistors (IGBT) 42d, 42e, and 42f, and one transistor of the upper transistors (IGBT) 42a, 42b, and 42c. The PWM command signal is output to the driver circuit 51 so that the PWM signal is driven by the drive signal. The driver circuit 51 outputs a drive signal with a constant duty in a switching pattern corresponding to the sensor signal when the midway stop signal is input (step ST0_6). Thereby, the brake control unit 56 causes the electric motor 21 to generate a braking force and stops the slide door 12 halfway.

The brake control unit 56 determines whether or not the input of the halfway stop signal of the slide door 12 is released by the occupant or the like operating the open / close switch 45 (step ST0_7).
When the brake control unit 56 determines that the midway stop signal of the slide door 12 is released (step ST0_7: Yes), the process returns to step ST0_2, and the door position of the slide door 12 is “fully closed position” or “fully opened position”. Is determined.

  On the other hand, when the brake control unit 56 determines that the midway stop signal of the slide door 12 is not released (step ST0_7: No), the brake control unit 56 sets the predetermined first specified time (the vehicle enters the power saving mode). It is determined whether or not a preset time for transition has elapsed (step ST0_8). When it is determined in step ST0_8 that the predetermined first specified time has not elapsed (step ST0_8: No), the brake control unit 56 returns to step ST0_6 and sets the electric motor at the initial duty ratio A%. The brake force is continuously applied to 21. Note that the processing performed between times t0 and t2 in FIGS. 11 and 12 corresponds to the processing in steps ST0_5 to ST0_8 in FIG.

  On the other hand, in the determination process of step ST0_8, when it is determined that the predetermined first specified time has elapsed (step ST0_8: Yes), the brake control unit 56 detects the position sensor (Hall IC 48u, Hall IC 48v, and Hall IC 48w). It is determined whether or not a failure has occurred (step ST4). The failure of the position sensors (Hall IC 48u, Hall IC 48v, and Hall IC 48w) can be detected in advance when the electric motor 21 is driven to open and close the slide door 12, and the failure information can be retained.

  If it is determined in step ST4 that the position sensor has failed (step ST4: Yes), the brake control unit 56 performs processing at the time of position sensor failure (step ST5-step ST8 side processing). ). In FIG. 11, the process performed between times t2 and t5 corresponds to the process of steps ST5 to ST8.

  Then, when the process proceeds to step ST5, the brake control unit 56 determines whether or not a brake control end condition is satisfied (step ST5). As an end condition in this step ST5, it exceeds a second specified time (preset time) assumed to be required for the slide door 12 to move from the halfway stop position to the “fully closed position” or “fully closed position”. It is determined whether or not. The second specified time used for the determination in step ST5 corresponds to, for example, the time between time t2 and time t5 shown in FIG.

When it is determined in step ST5 that the end condition is satisfied (step ST5: Yes), the brake control unit 56 ends the brake control operation (step ST14).
On the other hand, in the process of step ST5, when it is determined that the end condition is not satisfied (step ST5: No), the brake control unit 56 determines that the current duty ratio (Duty) reaches the specified duty ratio (specified duty). It is determined whether or not (step ST6). For example, in FIG. 11, it is determined that the specified duty ratio Du1 has been reached at time t3.

  If it is determined in step ST6 that the specified duty ratio has been reached (step ST6: Yes), the brake control unit 56 returns to step ST5, and whether the brake control end condition is satisfied. It is determined whether or not (step ST5).

On the other hand, if it is determined in step ST6 that the specified duty ratio has not been reached (step ST6: No), the brake control unit 56 times up a duty timer (Duty Timer) that determines the timing for reducing the duty ratio. It is determined whether (measurement is completed) or not (step ST7).
If it is determined in step ST7 that the duty timer has not timed up (measurement completed) (step ST7: No), the brake control unit 56 returns to step ST5 and the brake control end condition is satisfied. It is determined whether or not (step ST5).

  On the other hand, when it is determined in step ST7 that the duty timer has timed up (measurement completed) (step ST7: Yes), the brake control unit 56 resets the measured value of the duty timer and sets the upper transistor The duty ratio between one of the transistors 42a, 42b, and 42c and one of the lower transistors 42d, 42e, and 42f is decreased (decreased) by a predetermined amount (step ST8), and then the step is performed. The process returns to ST5.

  Next, returning to the process of step ST4, when it is determined in the process of step ST4 that no failure has occurred in the position sensor (step ST4: No), the brake control 65 performs the process when the position sensor is normal (step The process proceeds to ST9 to step ST13. In addition, the process performed between the time t2-t7 of FIG. 12 is corresponded to the process of step ST9-step ST13.

  When the process proceeds to step ST9, the brake control unit 56 determines whether or not a brake control end condition is satisfied (step ST9). In the determination process of the end condition in step ST9, when the slide door 12 moves to the “fully closed position” or “fully closed position”, the slide door 12 moves from the halfway stop position to the “fully closed position” or “fully closed”. A case where a second specified time (preset time) assumed to be required to move to “position” is exceeded, a case where power generation of the electric motor 21 is stopped after the movement of the slide door 12 is started, When either of the cases occurs, it is determined that the end condition is satisfied.

  The “fully closed position” of the slide door 12 can be detected by a fully closed detection switch 46 (for example, a limit switch) that detects that the slide door 12 is completely closed. The “fully opened position” is detected by the door opening / closing information generation unit 52. In addition, the power generation stoppage of the electric motor 21 can be detected by measuring the current flowing through the coil of the electric motor 21, and whether or not the output signals of the position sensors (Hall IC 48u, Hall IC 48v, and Hall IC 48w) have changed. Can be detected.

When it is determined in the determination process of step ST9 that the end condition is satisfied (step ST9: Yes), the brake control unit 56 ends the brake control operation (step ST14).
On the other hand, in the determination process of step ST9, when it is determined that the end condition is not satisfied (step ST9: No), the brake control unit 56 determines that the moving speed of the slide door 12 is the specified speed (the specified speed SP1 in FIG. 12). It is determined whether it exceeds (see step ST10).

And in the determination process of step ST10, when it determines with the door speed of the slide door 12 exceeding the regulation speed (step ST10: Yes), the brake control part 56 does not perform control which reduces a duty ratio. Returning to the process of step ST9, it is determined whether or not the brake control end condition is satisfied.
In the example shown in FIG. 12, at time t6, the door speed Sp reaches the specified speed Sp1, and the duty ratio at this time becomes the duty ratio Du2. The brake control unit 56 maintains the duty ratio Du at a constant duty ratio Du2 from time t6 to time t7.

  On the other hand, in the determination process of step ST10, when it is determined that the door speed of the slide door 12 does not exceed the specified speed (step ST10: No), the brake control unit 56 determines that the current duty ratio (Duty) is the specified duty. It is determined whether or not the ratio Du1 (duty threshold) has been reached (step ST11).

  When it is determined in step ST11 that the specified duty ratio Du1 has been reached (step ST11: Yes), the brake control unit 56 returns to the process in step ST9, and the brake control end condition is satisfied. It is determined whether or not.

  If it is determined in step ST11 that the specified duty ratio Du1 has not been reached (step ST11: No), the brake control unit 56 determines a timing (control cycle T) for reducing the duty ratio. Determines whether or not the time is up (measurement is completed) (step ST12).

  When it is determined in the determination process of step ST12 that the duty timer has not timed up (measurement completed) (step ST12: No), the brake control unit 56 maintains the current duty ratio and performs the process of step ST9. Then, it is determined whether or not the brake control end condition is satisfied.

  On the other hand, when it is determined in step ST12 that the duty timer has timed up (measurement completed) (step ST12: Yes), the brake control unit 56 selects one of the upper transistors 42a, 42b, and 42c. The duty ratio between one transistor and one of the lower transistors 42d, 42e, and 42f is decreased (decreased) by a predetermined amount (step ST13), and then the process returns to step ST9 to complete the brake control. It is determined whether the condition is satisfied.

  As described above, according to the motor control device 41 of the present invention, when the sliding door 12 is stopped halfway when the vehicle stops on an inclined ground, the sliding door 12 tends to move in the tilting direction due to the action of gravity. However, the brake control unit 56 causes the electric motor 21 to generate a braking force to stop the slide door 12 halfway, and after the halfway stop, the brake control unit 56 smoothly moves to the “fully closed position” or “fully open position” of the slide door 12. Can be moved to.

The embodiment of the present invention has been described above. As shown in FIGS. 3 and 9, the motor control device 41 according to the embodiment of the present invention includes a drive circuit unit 42, a DC power supply 44, a driver circuit 51, door opening / closing. An information generation unit 52 and a control unit 53 are included.
In the above embodiment, the motor control device 41 of the present invention controls the rotation of the electric motor 21 that opens and closes the slide door 12 of the vehicle 11, and when a midway stop signal is input during the opening and closing of the slide door 12. The motor control device 41 includes a control unit 53 or a control unit 53a that controls the electric motor 21 to generate a braking force and stops the slide door 12 halfway. When the sliding door 12 stops halfway, the control unit 53 or the control unit 53a changes the braking force of the electric motor 21 to the predetermined braking force until the predetermined first specified time elapses after the sliding door 12 is stopped halfway. After the elapse of the predetermined first specified time, the duty ratio that is the ratio of the short circuit time of the input terminal of the electric motor in the predetermined control period is gradually increased from the predetermined initial duty ratio for each predetermined control period. Control to gradually reduce the braking force by reducing the braking force.
In the motor control device having such a configuration, when the slide door 12 is stopped halfway, the brake force of the electric motor 21 is maintained at a predetermined brake force and the slide door 12 is stopped halfway. Then, the brake force is generated in the electric motor 21 at a predetermined initial duty ratio after the sliding door 12 is stopped halfway until the predetermined first specified time elapses. After the first specified time elapses, the duty is increased. The braking force is gradually weakened by gradually decreasing the ratio from the initial duty ratio.
When the midway stop signal is input, the control unit 53a generates a braking force by performing one-phase energization control of the drive circuit unit 42 according to the position of the rotor when the midway stop signal is input.
When the midway stop signal is input, the control unit 53 short-circuits the input terminal of the electric motor 21 to generate a regenerative braking force as a braking force.
Thereby, in the vehicle 11 stopped on the slope, the slide door 12 can be smoothly moved when the slide door 12 stopped halfway moves in the tilt direction by the action of gravity.

In the above embodiment, when the control unit 53 or the control unit 53a gradually decreases the duty ratio from the initial duty ratio (100% or A%), the duty ratio reaches a predetermined duty threshold value that is set in advance. In this case, the reduction of the duty ratio is stopped, and thereafter the braking force is controlled by the duty ratio of a predetermined duty threshold.
With the motor control device 41 having such a configuration, when the duty ratio is gradually reduced, if the duty ratio reaches a predetermined duty threshold, the reduction of the duty ratio is stopped. Thereby, the motor control device 41 can prevent the moving speed of the slide door 12 from becoming too fast when the slide door 12 moves in the tilt direction from the stop position.

In the above embodiment, the control unit 53 or the control unit 53a brakes the electric motor 21 when a predetermined second specified time has elapsed after starting control for gradually reducing the duty ratio from the initial duty ratio. End generating force.
Thereby, the motor control device 41 takes into account the time estimated that the slide door 12 will reach the “fully open position” or the “fully closed position”, and performs brake control (regenerative brake control or one-phase energization control). You can set the time to end.

Moreover, in the said embodiment, the door opening / closing information generation part 52 which detects the position and moving speed of the slide door 12 is provided, and the control part 53 or the control part 53a starts the control which reduces a duty ratio gradually from an initial duty ratio. After that, when the moving speed of the slide door 12 exceeds a predetermined speed, the reduction of the duty ratio is stopped.
Thereby, the motor control apparatus 41 can stop decreasing the duty ratio when the moving speed of the slide door 12 exceeds the specified speed when the duty ratio is gradually decreased. For this reason, the motor control device 41 can prevent the moving speed of the slide door 12 from becoming too fast.

Moreover, in the said embodiment, the motor control apparatus 41 is provided with the door opening / closing information generation part 52 which detects the position and moving speed of the slide door 12, and the control part 53 or the control part 53a changes a duty ratio from an initial duty ratio. One of a case where a predetermined second specified time has elapsed after the start of the gradually decreasing control, a case where the fully open position of the slide door 12 is detected, and a case where the fully closed position of the slide door 12 is detected When this occurs, the generation of the braking force in the electric motor 21 is terminated.
Thereby, the motor control device 41 considers the time when the slide door 12 is estimated to reach the “fully open position” or the “fully closed position”, and finishes the brake control (second specified time). Can be set. When the slide door 12 reaches the “fully closed position” or the “fully opened position”, the brake control can be immediately terminated.

As described above, in the description of the embodiment of the present invention, the one-phase energization control of the brake control unit is performed by PWM control for each of the upper transistor and the lower transistor. However, the present invention is not limited to this. And the upper transistor may be turned on. Thereby, brake control can be made simpler.
Further, the motor control device of the present invention is not limited to the illustrated examples described above, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

  DESCRIPTION OF SYMBOLS 11 ... Vehicle, 12 ... Sliding door, 14 ... Door opening / closing device, 15 ... Drive unit, 21 ... Electric motor, 22u, 22v, 22w ... Input terminal, 41 ... Motor control device, 42... Drive circuit section, 51... Driver circuit, 52... Door opening / closing information generation section, 53, 53 a, control section, 54, 54 a, rotation control section, 55. ..Regenerative brake control unit, 56 ... Brake control unit, 57 ... ROM

Claims (6)

Controls the rotation of the electric motor that opens and closes the sliding door of the vehicle, and controls the electric motor to generate a braking force when a halfway stop signal is input during opening and closing of the sliding door to stop the sliding door halfway A motor control device having a control unit,
When the sliding door stops halfway, the control unit
The brake force of the electric motor is maintained at a predetermined brake force until a predetermined first specified time elapses after the sliding door is stopped halfway,
After the elapse of the predetermined first specified time, the brake force is controlled by reducing the duty ratio of the input signal of the drive circuit that drives the input terminal of the electric motor occupying a predetermined control cycle from a predetermined initial duty ratio. And
When gradually reducing the duty ratio from the initial duty ratio, if the duty ratio reaches a predetermined duty threshold, the reduction of the duty ratio is stopped. A motor control device that controls the brake force according to a duty ratio of a duty threshold value . The controller is
The brake force is generated by performing one-phase energization control on the drive circuit according to a position of a rotor when the midway stop signal is input. The motor control device described in 1. The controller is
2. The motor control device according to claim 1, wherein when a midway stop signal is input, the input terminal of the electric motor is short-circuited in the drive circuit to generate a regenerative braking force as the braking force. The controller is
After the control for gradually decreasing the duty ratio from the initial duty ratio is started, when the predetermined second specified time has elapsed, the generation of the braking force in the electric motor is terminated. The motor control device according to claim 1 . A door opening / closing information generator for detecting the position and moving speed of the sliding door;
The controller is
After starting the control to gradually reduce the duty ratio from the initial duty ratio, when the moving speed of the sliding door exceeds a predetermined speed, stopping the reduction of the duty ratio. The motor control device according to claim 1 , wherein A door opening / closing information generator for detecting the position and moving speed of the sliding door;
The controller is
A case where the predetermined second specified time has elapsed after starting control for gradually decreasing the duty ratio from the initial duty ratio;
When detecting the fully open position of the sliding door,
When detecting the fully closed position of the sliding door,
Either when the case occurs, the motor control device according to claim 1, characterized in that to terminate the generating the braking force to the electric motor.

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