JP6451244B2 - Control device for opening and closing body - Google Patents

Description

  The present invention relates to a control device for an opening / closing body.

  A conventional control device for an opening / closing body detects that the opening / closing body is sandwiching an object based on, for example, the rotational speed of a motor driving the opening / closing body being lower than a threshold value. However, for example, in a vehicle equipped with an opening / closing body, the load on the battery of the vehicle may temporarily increase due to the use of an air conditioner or the like. For this reason, as the electric power supplied to the motor temporarily decreases, the rotational speed of the motor decreases, and there is a risk of erroneously detecting that the object is sandwiched even though the opening / closing body does not sandwich the object. .

  Patent Document 1 discloses a control device for an opening / closing body that solves such a problem. The control device controls a roof panel of a vehicle, which is an example of an opening / closing body, and includes a motor characteristic expression that represents a motor characteristic that defines a relationship between electric power supplied to a motor that drives the roof panel and a rotational speed of the motor. The controller is configured such that an object is sandwiched between the roof panel and the vehicle body based on the difference between the estimated rotational speed of the motor calculated based on the motor characteristic equation and the actual rotational speed of the motor being greater than a threshold value. Is detected. In this way, even when the load of the vehicle battery increases and the power supplied to the motor temporarily decreases, the pinching of the object is detected in consideration of the decrease in the supplied power. The accuracy of detection is increased.

Japanese Patent No. 4063094

  However, the motor characteristics change due to various factors including changes in the temperature of the motor and aging of parts. For this reason, according to the control device of Patent Document 1, when the motor characteristic changes, the calculation accuracy of the estimated rotational speed of the motor based on the motor characteristic equation is lowered. For this reason, there is a possibility that object pinching cannot be detected with high accuracy. In addition, it is thought that the subject similar to the above arises also about the control apparatus which controls not only the roof panel of a vehicle but another opening / closing body.

  An object of the present invention is to provide a control device for an opening / closing body that can accurately calculate an estimated rotational speed of a motor.

A control device for an opening / closing body that solves the above problems includes a power information acquisition unit that acquires information on supply power that is power supplied to a motor that drives the opening / closing body, a rotation speed sensor that detects a rotation speed of the motor, and , Corresponding to the supplied power acquired from the power information acquisition unit using motor characteristic information that defines the relationship between the supplied power, which is the power supplied to the motor that drives the opening / closing body, and the rotational speed of the motor A control unit that calculates an estimated rotation speed that is a rotation speed of the motor, and the control unit rotates the motor corresponding to a first supply power at a first detection position in an operating range of the opening / closing body. A first rotational speed, which is a speed, is acquired by the rotational speed sensor, and the rotational speed of the motor corresponding to the second supply power at the second detection position in the operating range of the opening / closing body. The second rotation speed is acquired by the rotation speed sensor, and the motor is obtained using the first supply power, the first rotation speed, the second supply power, and the second rotation speed. A control device for an opening / closing body that updates characteristic information, further comprising a storage unit that stores a plurality of the first rotation speeds and a plurality of the second rotation speeds acquired by the rotation speed sensor. The unit calculates a first average rotation speed that is an average rotation speed of the plurality of first rotation speeds, and a second average rotation speed that is an average rotation speed of the plurality of second rotation speeds. Then, the motor characteristic information is updated using the first average rotation speed and the second average rotation speed .

The motor characteristics, which are the relationship between the power supplied to the motor and the rotational speed, may change due to at least one of various factors including motor temperature and component aging. When the motor characteristics change, even if the estimated rotation speed is calculated using the predefined motor characteristic information, the calculated estimated rotation speed may be deviated from the rotation speed corresponding to the actual motor characteristics. In view of this point, the control device for the opening / closing body updates the motor characteristic information as described above, so that even if the motor characteristic changes due to various factors, the estimated rotation speed reflecting the change can be calculated. For this reason, the estimated rotational speed of the motor can be calculated with high accuracy.
According to the above control device, the average rotation speed is calculated for the first rotation speed and the second rotation speed, and the motor characteristic information is updated using each calculated average rotation speed. Is increased. For this reason, the estimated rotational speed of the motor can be calculated with higher accuracy.

In the control device for the opening / closing body, it is preferable that the control unit calculates the estimated rotation speed using the updated motor characteristic information in an operating range of the opening / closing body.
According to the above control device, the estimated rotation speed can be calculated with high accuracy because the estimated rotation speed is calculated in the operating range of the opening and closing body using the updated motor characteristic information. Further, the motor characteristic information is updated using the power supplied to the motor and the rotation speed of the motor obtained in the process of controlling the basic operation of the opening / closing body. For this reason, in order to update motor characteristic information, compared with the case where control which performs the opening / closing operation | movement of an opening / closing body in multiple times based on different supplied electric power, for example, electric power consumption is reduced.

A control device for an opening / closing body that solves the above problems includes a power information acquisition unit that acquires information on supply power that is power supplied to a motor that drives the opening / closing body, a rotation speed sensor that detects a rotation speed of the motor, and , Corresponding to the supplied power acquired from the power information acquisition unit using motor characteristic information that defines the relationship between the supplied power, which is the power supplied to the motor that drives the opening / closing body, and the rotational speed of the motor A control unit that calculates an estimated rotation speed that is a rotation speed of the motor, and the control unit rotates the motor corresponding to a first supply power at a first detection position in an operating range of the opening / closing body. A first rotational speed, which is a speed, is acquired by the rotational speed sensor, and the rotational speed of the motor corresponding to the second supply power at the second detection position in the operating range of the opening / closing body. The second rotation speed is acquired by the rotation speed sensor, and the motor is obtained using the first supply power, the first rotation speed, the second supply power, and the second rotation speed. A control device for an opening / closing body for updating characteristic information, wherein the control unit is configured to stop the operation of the opening / closing body after obtaining the first rotation speed and the second rotation speed. the updated motor characteristics information, based on the operation of the closing body is resumed, it calculates the estimated rotational speed by using the updated the motor characteristics information.
The motor characteristics, which are the relationship between the power supplied to the motor and the rotational speed, may change due to at least one of various factors including motor temperature and component aging. When the motor characteristics change, even if the estimated rotation speed is calculated using the predefined motor characteristic information, the calculated estimated rotation speed may be deviated from the rotation speed corresponding to the actual motor characteristics. In view of this point, the control device for the opening / closing body updates the motor characteristic information as described above, so that even if the motor characteristic changes due to various factors, the estimated rotation speed reflecting the change can be calculated. For this reason, the estimated rotational speed of the motor can be calculated with high accuracy.

  According to the above control device, when the operation of the opening / closing body is resumed, the estimated rotation speed can be calculated based on the updated motor characteristic information. Therefore, the estimated rotation speed of the motor after the operation of the opening / closing body is resumed can be calculated. It can be calculated accurately.

  With respect to the control device for the opening / closing body, the control unit operates the operating range of the opening / closing body based on the rotation speed of the motor acquired by the rotation speed sensor and the estimated rotation speed calculated based on the updated motor characteristic information. It is preferable to detect that the opening / closing body sandwiches an object.

  According to the above control device, in order to detect that the opening / closing body sandwiches an object based on the rotation speed of the motor acquired by the rotation speed sensor and the estimated rotation speed calculated based on the updated motor characteristic information, It is possible to accurately detect that the body is sandwiching the object.

  The control device for the opening and closing body further includes a storage unit that stores a plurality of the first rotation speeds and a plurality of the second rotation speeds acquired by the rotation speed sensor, A first average rotation speed that is an average rotation speed of the first rotation speeds and a second average rotation speed that is an average rotation speed of the plurality of second rotation speeds are calculated, and the first rotation speed is calculated. It is preferable to update the motor characteristic information using the average rotation speed and the second average rotation speed.

  According to the above control device, the average rotation speed is calculated for the first rotation speed and the second rotation speed, and the motor characteristic information is updated using each calculated average rotation speed. Is increased. For this reason, the estimated rotational speed of the motor can be calculated with higher accuracy.

It is preferable that the control device for the opening / closing body further includes a sensor that acquires external environment information, and the control unit corrects the motor characteristic information based on a detection result of the sensor.
According to the above control device, for example, the motor characteristic information is updated to reflect external environment information such as the motor temperature and the vehicle speed, so that the accuracy of the motor characteristic information is further improved. For this reason, the estimated rotational speed of the motor can be calculated with higher accuracy.

  The controller for the opening / closing body can calculate the estimated rotational speed of the motor with high accuracy.

The perspective view which shows roughly the ceiling of the vehicle of embodiment, and its periphery. The timing chart regarding operation | movement of the roof panel of embodiment. The flowchart which shows an example of the process sequence of the update control of the motor characteristic information of embodiment. The flowchart which shows an example of the process sequence of the pinching detection control of the object of embodiment. The graph which shows the relationship between the movement time of the roof panel of other embodiment, and the rotational speed of a motor.

With reference to FIG. 1, the structure of the vehicle 1 is demonstrated.
The vehicle 1 has a roof panel 10 that opens or closes an opening 3 formed in a ceiling 2, a motor 20 that drives the roof panel 10, a control device 30 that controls the motor 20, and an operation switch 40 that is operated by a passenger. Is provided.

  The roof panel 10 is connected to a motor 20 and is driven to tilt with respect to the ceiling 2 of the vehicle 1 when the motor 20 is driven. The operation range of the roof panel 10 is from a fully closed position where the opening 3 of the ceiling 2 is closed to the ceiling 2. It is a fully open position which is the position which most opens the opening part 3.

  The control device 30 operates the roof panel 10 by supplying a voltage to the motor 20. When the motor 20 rotates forward, the roof panel 10 opens, and when the motor 20 reverses, the roof panel 10 closes. When the operation switch 40 is operated so that the opening operation or the closing operation of the roof panel 10 is started, the control device 30 starts supplying the voltage to the motor 20, and the roof panel 10 is opened or closed accordingly. Start operation. When the operation switch 40 is operated so that the opening operation or closing operation of the roof panel 10 is stopped, the control device 30 stops the supply of voltage to the motor 20, and accordingly the opening operation or closing of the roof panel 10 is performed. Operation stops.

  The control device 30 includes a power information acquisition unit 31 that acquires information on supply power that is power supplied to the motor 20, a rotation speed sensor 32 that detects the rotation speed of the motor 20, and a control unit 33.

  The control unit 33 calculates the rotation speed of the motor 20 based on the detection signal input from the rotation speed sensor 32, and further, the panel position that is the position of the roof panel 10 with respect to the ceiling 2 based on the rotation speed and rotation time of the motor 20. Is calculated. For example, when the roof panel 10 is closed from the fully open position, the control unit 33 adjusts the supply voltage VX of the motor 20 based on the calculated panel position in order to operate the roof panel 10 at a speed suitable for the panel position. As the supply voltage VX of the motor 20 changes, the rotational speed of the motor 20 changes, and the operating speed of the roof panel 10 changes according to the rotational speed of the motor 20.

  The control unit 33 stores supply voltage information that defines the relationship between the panel position and the supply voltage VX of the motor 20, and adjusts the supply voltage of the motor 20 with reference to this supply voltage information, so as to correspond to the panel position. The operation speed of the roof panel 10 is controlled. The control unit 33 may control the supply voltage when driving the roof panel 10 using supply voltage information that defines the relationship between the movement amount of the roof panel 10 and the supply voltage of the motor 20. The control unit 33 may control the supply voltage when driving the roof panel 10 using supply voltage information that defines the relationship between the movement time of the roof panel 10 and the supply voltage of the motor 20.

The supply voltage information will be described with reference to FIG.
The supply voltage information is, for example, a map stored in advance in the control unit 33 and includes information shown in FIG. According to this supply voltage information, the supply voltage VX of the motor 20 is set for each range of panel positions as follows.

  The supply voltage VX of the motor 20 is set to the first supply voltage VA in the first operation range SA that is the range of the panel position from the fully open position to the first position XA. When the first supply voltage VA is supplied to the motor 20, the motor 20 rotates at the first rotational speed NRA as shown in FIG. 2B, and the roof panel 10 operates at the first operating speed. .

  The supply voltage VX of the motor 20 is set to a second supply voltage VB that is higher than the first supply voltage VA in the second operation range SB that is the range of the panel position from the first position XA to the second position XB. Is done. When the second supply voltage VB is supplied to the motor 20, the motor 20 rotates at the second rotation speed NRB higher than the first rotation speed NRA as shown in FIG. 10 operates at a second operating speed that is higher than the first operating speed.

  In the third operating range SC that is the range of the panel position from the second position XB to the fully closed position XE, the supply voltage VX of the motor 20 is set to a third supply voltage VC lower than the second supply voltage VB. The The third supply voltage VC is set to rotate the motor 20 at a third rotation speed NRC that is lower than the second rotation speed NRB. When the third supply voltage VC is supplied to the motor 20, the motor 20 rotates at a third rotational speed NRC lower than the second rotational speed NRB as shown in FIG. 10 operates at a third operating speed that is lower than the second operating speed.

  The control unit 33 uses the estimated rotational speed NRX, which is the rotational speed of the motor 20 calculated using the motor characteristic information that defines the relationship between the supply voltage VX of the motor 20 and the rotational speed of the motor 20, and the detection signal of the rotational speed sensor 32. Based on the relationship with the actual rotation speed, which is the actual rotation speed of the motor 20 calculated based on this, it is detected that the roof panel 10 is sandwiching an object. The estimated rotational speed NRX is calculated based on the following equation (1) defined by the time constant Ts, the proportional gain a, the dead time dly, and the supply voltage VX.

Based on the fact that the difference ΔNR, which is the absolute value of the difference between the estimated rotational speed NRX of the motor 20 calculated by the equation (1) and the actual rotational speed of the motor 20, is greater than the threshold value NRY, It is detected that an object is sandwiched between the vehicle body.

  Further, the control unit 33 uses the relationship between the supply voltage VX and the detected rotation speed of the motor 20 to reflect the change in the motor characteristics, which is the relationship between the supply voltage VX of the motor 20 and the rotation speed, in the motor characteristic information. Update control of the motor characteristic information is executed to update the equation (1) as follows.

  When the panel position reaches the first detection position XS (see FIG. 2B) included in the first operation range SA by the closing operation of the roof panel 10, the control unit 33 detects the rotation speed sensor 32 at that time. The first rotation speed NRA that is the rotation speed of the motor 20 calculated based on the detection signal is stored. The first detection position is such that the first rotation speed NRA used for updating the motor characteristic information is detected at the panel position where the rotation speed of the motor 20 is substantially maintained at the first rotation speed NRA. XS is preset.

  When the roof panel 10 continues the closing operation and the panel position reaches the second detection position XM (see FIG. 2B) included in the second operation range SB, the controller 33 rotates at that time. The second rotational speed NRB that is the rotational speed of the motor 20 calculated based on the detection signal of the sensor 32 is stored. Note that the second detection position XM is also preset in the same manner as the first detection position XS.

The controller 33 uses the first supply voltage VA and the first rotation speed NRA and the second supply voltage VB and the second rotation speed NRB to update the slope of the equation (1) by, for example, the least square method.
The motor characteristic information update control as described above is executed as part of the closing operation control for controlling the closing operation of the roof panel 10, for example.

With reference to FIG. 2 and FIG. 3, an example of the processing procedure of the update control of the motor characteristic information will be described.
The control unit 33 starts this control based on the operation switch 40 being operated so that the closing operation of the roof panel 10 is started. On the other hand, the control unit 33 ends this control based on the completion of the update of the motor characteristic information. In the present embodiment, as an example, a case will be described in which the operation switch 40 is operated so that the closing operation of the roof panel 10 is started when the roof panel 10 is in the fully open position.

As shown in FIG. 3, in step S <b> 1, the control unit 33 supplies the first supply voltage VA to the motor 20.
In step S2, the control unit 33 determines whether or not the roof panel 10 has reached the first detection position XS. When the control unit 33 determines that the roof panel 10 has reached the first detection position XS, the process proceeds to step S3.

In step S3, the control unit 33 stores the first rotation speed NRA calculated based on the detection signal of the rotation speed sensor 32.
In step S4, the control unit 33 determines whether or not the roof panel 10 has reached the first position XA. When the control unit 33 determines that the roof panel 10 has reached the first position XA, the process proceeds to step S5.

In step S <b> 5, the control unit 33 supplies the second supply voltage VB to the motor 20.
In step S6, the control unit 33 determines whether or not the roof panel 10 has reached the second detection position XM. When the control unit 33 determines that the roof panel 10 has reached the second detection position XM, the process proceeds to step S7.

In step S <b> 7, the control unit 33 stores the second rotation speed NRB calculated based on the detection signal of the rotation speed sensor 32.
In step S8, the control unit 33 uses the first supply voltage VA, the first rotation speed NRA, the second supply voltage VB, and the second rotation speed NRB, so that the motor characteristic information, that is, the equation (1) ) Is updated and this control is terminated. For example, the control unit 33 calculates the estimated rotational speed NRX using the updated motor characteristic information at the panel position after the second detection position XM.

Next, an example of the processing procedure of object pinching detection control will be described with reference to FIGS.
The control unit 33 starts this control based on the operation switch 40 being operated so that the closing operation of the roof panel 10 is started. On the other hand, the control unit 33 ends this control based on the roof panel 10 reaching the fully closed position XE or the operation switch 40 being operated so that the closing operation of the roof panel 10 is stopped. In the present embodiment, as an example, a case will be described in which the operation switch 40 is operated so that the closing operation of the roof panel 10 is started when the roof panel 10 is in the fully open position.

  In step S11, the control unit 33 estimates the motor 20 corresponding to the supply voltages VA to VC (see FIG. 2) supplied in the respective operation ranges SA to SC based on the formula (1) corresponding to the latest motor characteristic information. The rotational speed NRX is calculated. The control unit 33 determines whether or not the difference ΔNR between the estimated rotational speed NRX and the actual rotational speed of the motor 20 calculated based on the detection signal of the rotational speed sensor 32 is equal to or less than the threshold value NRY. When the control unit 33 determines that the difference ΔNR is equal to or less than the threshold value NRY, the process proceeds to step S13. The threshold value NRY may be set to a different value for each operation range SA to SC.

  In step S13, the control unit 33 determines whether or not the roof panel 10 has reached the fully closed position XE. When it is determined that the position of the roof panel 10 has reached the fully closed position XE, the control unit 33 ends this control.

  On the other hand, when it is determined in step S12 that the difference ΔNR is larger than the threshold value NRY, the control unit 33 determines that an object is sandwiched between the roof panel 10 and the vehicle body, and in step S14, the voltage of the voltage to the motor 20 is determined. Supply is stopped and this control is terminated.

The control device 30 has the following operations and effects.
(1) Since the control device 30 updates the motor characteristic information, even if the motor characteristic changes due to various factors, an estimated rotational speed NRX that reflects the change can be calculated. For this reason, the estimated rotational speed NRX of the motor 20 can be calculated with high accuracy.

  (2) Since the estimated rotational speed NRX can be calculated at any position after the second detection position XM using the updated motor characteristic information, the estimated rotational speed NRX at any position can be calculated with high accuracy. Further, the motor characteristic information is updated using the supply voltage VX of the motor 20 obtained in the process of controlling the basic operation of the roof panel 10 and the rotation speed of the motor 20. For this reason, in order to update the motor characteristic information, for example, power consumption is reduced as compared with a case where control is performed such as closing the roof panel 10 a plurality of times based on different supply voltages VX.

  (3) The control device 30 detects that the roof panel 10 is sandwiching an object based on the rotational speed of the motor 20 acquired by the rotational speed sensor 32 and the estimated rotational speed NRX calculated based on the updated motor characteristic information. Therefore, it is possible to accurately detect that the roof panel 10 is sandwiching an object.

(4) Since the control device 30 sets the rotation speed of the motor 20 according to each operation range of the roof panel 10, the roof panel 10 can easily form an operation suitable for each operation range.
(5) When the roof panel 10 starts to close, the passenger may not be aware of the closing operation of the roof panel 10 and may be within the operating range of the roof panel 10. In this case, when the roof panel 10 that has started to close is operated quickly, the roof panel 10 may collide with the passenger. On the other hand, according to the control device 30, the operation speed of the roof panel 10 is set to be lower than the second operation range SB in the first operation range SA where the roof panel 10 starts to close. The possibility that serious problems will occur is reduced.

  (6) According to the control device 30, since the operating speed of the roof panel 10 when the roof panel 10 reaches the fully closed position XE is set to a low speed, an object exists between the roof panel 10 and the vehicle body. Even if this is done, the frequency with which the object can be retracted before the roof panel 10 reaches the fully closed position XE is increased.

  (7) When the roof panel 10 is closed, a part of the passenger may be sandwiched between the roof panel 10 and the vehicle body. According to the control device 30, since the motor characteristic information is updated as described above, it can be accurately detected that a part of the passenger is sandwiched between the roof panel 10 and the vehicle body.

The above embodiment may be modified as follows. Note that the following modifications can be combined with each other within a technically consistent range.
The control device 30 may update the motor characteristic information based on the fact that the operation of the roof panel 10 is stopped after acquiring the first rotation speed NRA and the second rotation speed NRB. In this case, it is preferable to calculate the estimated rotational speed NRX of the motor 20 using the updated motor characteristic information based on the restart of the operation of the roof panel 10. According to this control device 30, it is possible to accurately calculate the estimated rotational speed NRX of the motor 20 after the operation of the roof panel 10 is resumed.

  The control device 30 can further include a storage unit that stores the plurality of first rotation speeds NRA and the plurality of second rotation speeds NRB acquired by the rotation speed sensor 32. In the control device 30, the control unit 33 is a first average rotation speed that is an average rotation speed of the plurality of first rotation speeds NRA and a first rotation speed that is an average rotation speed of the plurality of second rotation speeds NRB. Preferably, the average rotation speed of 2 is calculated, and the motor characteristic information is updated using the first average rotation speed and the second average rotation speed. According to the control device 30, the average rotation speed is calculated for the first rotation speed NRA and the second rotation speed NRB, and the motor characteristic information is updated using the calculated average rotation speed. The accuracy of the rotational speed NRX is further increased.

  The controller 33 can also calculate the first average rotation speed by excluding information outside the preset range from the plurality of first rotation speeds NRA. Similarly, when calculating the second average rotation speed, the control unit 33 can also calculate the second average rotation speed by excluding information outside the preset range from the plurality of second rotation speeds NRB.

  The control device 30 may further include, for example, a sensor that acquires external environment information such as the motor temperature and vehicle speed, and the control unit 33 may correct the motor characteristic information based on the detection result of the sensor. According to this control device 30, since the motor characteristic information is updated by reflecting the external environment information, the accuracy of the calculated estimated rotational speed NRX is further improved.

  The first detection position XS is set within the first operation range SA, and the second detection position XM is set within the second operation range SB, but the first detection position XS and the second detection position are set. It is also possible to set at least one of XM within a range where a power change occurs immediately after the operation of the roof panel 10 starts. Examples of the power change that occurs immediately after the operation of the roof panel 10 includes static friction, inertia, and backlash when the roof panel 10 starts to move.

In step S8 of the motor characteristic information update control, the control unit 33 updates the expression (1) by the least square method, but may update the motor characteristic information by, for example, a numerical value reading method.
An example of the numerical value reading method will be described with reference to FIGS.

In the estimated rotational speed NRX of the motor 20, (one terminal voltage for driving the motor 20) supply voltage VX, the proportional gain a, and the following equation which is defined by the offset b ₀ (2) is satisfied.

The proportional gain a is the ratio of the second rotational speed NRB to the first rotational speed NRA.

  As shown in FIG. 5, when step input is applied to the motor 20, the rotational speed of the motor 20 gradually rises with a first-order lag with respect to the timing when the step input is applied. For this reason, if higher-order modeling is performed on Equation (2), the accuracy of calculation of the estimated rotational speed NRX can be increased. In this modification, however, modeling is performed only by the primary. That is, when calculating the estimated rotational speed NRX, the following equation (3) is established in consideration of the dead time dls and the time constant Ts.

The dead time dls is a difference between the time TD and the time TA. Time TD is the time when the actual rotational speed of the motor 20 reaches the determination rotational speed NRD, and the determination rotational speed NRD is the rotational speed of the motor 20 between the first rotational speed NRA and the second rotational speed NRB. Yes, preset. On the other hand, time TA is the time when the roof panel 10 reaches the first detection position XS.

  The time constant Ts is the difference between the time TE and the time TD. Time TE is the time when the actual rotational speed of the motor 20 reaches the intermediate rotational speed NRE that is the rotational speed of 63.2% of the second rotational speed NRB. In addition, 63.2% is a value used for identification of a well-known primary system step response. The control unit 33 updates Equation (3), which is an example of motor characteristic information, by updating the proportional gain a, the dead time dls, and the time constant Ts.

In the control of the opening operation of the roof panel 10, the motor characteristic information may be updated.
-The motor characteristic information may be updated after the closing operation control is completed.
The control device 30 may detect the object pinching in the opening operation of the roof panel 10 using the motor characteristic information updated in step S8 of the closing operation control.

-As the first detection position XS, an arbitrary position in the first operation range SA can be selected.
The second detection position XM can select an arbitrary position in the second operation range SB.
-The period of each operation range SA-SC of the roof panel 10, and the magnitude | size of each supply voltage VA-VC can be set arbitrarily.

The control device 30 may perform control so that the roof panel 10 is opened when it is determined in step S11 of the closing operation control that the difference ΔNR is larger than the threshold value NRY.
For example, when the closing operation control is started from a position within the second operation range SB, the control device 30 can also detect the object pinching using the stored motor characteristic information.

  The control device 30 detects that the roof panel 10 has a first detection position XS, a first position XA, a second detection position XM, and a second position based on an output signal of a position sensor that detects the position of the roof panel 10. XB and the arrival at the fully closed position XE may be detected.

  The control device 30 determines that the roof panel 10 has the first detection position XS, the first position XA, the second detection position XM, the second position XB, based on the time that has elapsed since the start of the closing operation control. And it may be detected that the fully closed position XE has been reached.

  The control device 30 calculates the estimated rotation speed that is the rotation speed of the motor 20 calculated using the motor characteristic information that defines the relationship between the supply current that is supplied to the motor 20 and the rotation speed of the motor 20, and the motor 20. It may be detected that the roof panel 10 sandwiches an object based on the relationship with the actual rotation speed. In this case, the control device 30 updates the motor characteristic information using the relationship between the supply current when driving the roof panel 10 and the detected actual rotation speed of the motor 20.

  The control device 30 is not limited to the roof panel 10 of the vehicle 1, and other opening / closing bodies such as a power window of the vehicle 1 can be controlled.

  DESCRIPTION OF SYMBOLS 10 ... Roof panel (opening-closing body), 20 ... Motor, 30 ... Control apparatus, 31 ... Electric power information acquisition part, 32 ... Rotational speed sensor, 33 ... Control part.

Claims (6)

A power information acquisition unit that acquires information of supply power that is power supplied to a motor that drives the opening and closing body;
A rotational speed sensor for detecting the rotational speed of the motor;
Using the motor characteristic information that defines the relationship between the power supplied to the motor that drives the opening and closing body and the rotation speed of the motor, the power corresponding to the supplied power acquired from the power information acquisition unit A controller that calculates an estimated rotational speed that is a rotational speed of the motor,
The controller is
At the first detection position in the operating range of the opening / closing body, the first rotational speed that is the rotational speed of the motor corresponding to the first supplied power is acquired by the rotational speed sensor,
At a second detection position in the operating range of the opening / closing body, a second rotation speed that is a rotation speed of the motor corresponding to a second supply power is acquired by the rotation speed sensor,
A control device for an opening / closing body that updates the motor characteristic information using the first supply power, the first rotation speed, the second supply power, and the second rotation speed ,
A storage unit for storing the plurality of first rotation speeds and the plurality of second rotation speeds acquired by the rotation speed sensor;
The control unit includes a first average rotation speed that is an average rotation speed of the plurality of first rotation speeds and a second average rotation speed that is an average rotation speed of the plurality of second rotation speeds. And a control device for the opening / closing body that updates the motor characteristic information using the first average rotation speed and the second average rotation speed . The control device for an opening / closing body according to claim 1, wherein the control unit calculates the estimated rotation speed using the updated motor characteristic information in an operating range of the opening / closing body. A power information acquisition unit that acquires information of supply power that is power supplied to a motor that drives the opening and closing body;
A rotational speed sensor for detecting the rotational speed of the motor;
Using the motor characteristic information that defines the relationship between the power supplied to the motor that drives the opening and closing body and the rotation speed of the motor, the power corresponding to the supplied power acquired from the power information acquisition unit A controller that calculates an estimated rotational speed that is a rotational speed of the motor,
The controller is
At the first detection position in the operating range of the opening / closing body, the first rotational speed that is the rotational speed of the motor corresponding to the first supplied power is acquired by the rotational speed sensor,
At a second detection position in the operating range of the opening / closing body, a second rotation speed that is a rotation speed of the motor corresponding to a second supply power is acquired by the rotation speed sensor,
A control device for an opening / closing body that updates the motor characteristic information using the first supply power, the first rotation speed, the second supply power, and the second rotation speed,
The control unit updates the motor characteristic information based on the fact that the operation of the opening / closing body has stopped after acquiring the first rotation speed and the second rotation speed,
Based on the restart of the operation of the opening / closing body, the estimated rotation speed is calculated using the updated motor characteristic information.
The control device of the open-closed field. A storage unit for storing the plurality of first rotation speeds and the plurality of second rotation speeds acquired by the rotation speed sensor;
The control unit includes a first average rotation speed that is an average rotation speed of the plurality of first rotation speeds and a second average rotation speed that is an average rotation speed of the plurality of second rotation speeds. The control device for an opening / closing body according to claim 3 , wherein the motor characteristic information is updated using the first average rotation speed and the second average rotation speed. The control unit is configured to sandwich the object in the operating range of the opening / closing body based on the rotation speed of the motor acquired by the rotation speed sensor and the estimated rotation speed calculated based on the updated motor characteristic information. The control device for an opening / closing body according to any one of claims 1 to 4 , wherein the control device detects that the switch is open. It further includes a sensor that acquires external environment information,
The said control part correct | amends the said motor characteristic information based on the detection result of the said sensor. The control apparatus of the opening-closing body as described in any one of Claims 1-5.