JP6529444B2 - Open / close controller - Google Patents

Description

  TECHNICAL FIELD The present invention relates to an opening / closing body control device.

  2. Description of the Related Art Conventionally, in an automobile, an opening / closing body control device for driving an opening / closing body such as a slide door or a back door by an electric motor is provided. The opening and closing body control device controls the rotation of the electric motor in both forward and reverse directions to automatically open and close the opening and closing body (see Patent Documents 1 and 2). In addition, when switching from automatic opening and closing of the opening and closing body to manual opening and closing, the opening and closing body control device stops the automatic opening and closing of the opening and closing body by stopping the rotational drive of the motor and enables the opening and closing body manually openable. .

Japanese Examined Patent Publication 7-8159 Japanese Utility Model 7-47585

  However, when the vehicle is stopped on the slope, when the automatic opening and closing is switched to the manual opening and closing, the rotational drive of the motor is stopped. Therefore, the opening and closing body may be dropped unexpectedly in the inclination direction of the slope due to its own weight. In this case, the opening and closing body moves rapidly in the inclination direction, and the opening and closing body may collide with the user's body, or the user's body may be caught between the opening and closing body and the vehicle body.

  The present invention has been made in view of such circumstances, and an object thereof is to provide an opening / closing body control device that suppresses sudden rapid movement of the opening / closing body.

  One aspect of the present invention is an opening / closing body control device for controlling rotation of an electric motor for opening / closing an opening / closing body provided in a vehicle, comprising: an inverter including a plurality of switching elements for switching energization of the electric motor. And a control device for controlling the switching element to either an on state or an off state by outputting a control signal to the switching element, the control device energizing the electric motor. First control for controlling the switching element corresponding to the energization pattern for energizing only one of the phases of the electric motor to a first state when the movement of the opening / closing body is detected while not being It is an opening / closing body control device that alternately repeats a second control for controlling the switching element to a second state.

  Moreover, one aspect of the present invention is the opening / closing body control device described above, wherein the braking force generated by the first control is larger than the braking force generated by the second control.

  Further, one aspect of the present invention is the opening / closing body control device described above, wherein the control device performs the first control in a first period, and performs the second control in a second period shorter than the first period. I do.

  Moreover, one aspect of the present invention is the above-mentioned opening / closing body control device, wherein the control device moves the opening / closing body until a first predetermined time elapses after the current supply to the electric motor is stopped. Is detected, the first control and the second control are alternately repeated.

  Moreover, one aspect of the present invention is the above-mentioned opening / closing body control device, wherein the control device has elapsed a second predetermined time after starting energization control which alternately repeats the first control and the second control. If it does, the energization control is stopped.

  According to the present invention, it is possible to provide an opening and closing body control device that suppresses sudden and rapid movement of the opening and closing body.

FIG. 1 is a side view showing a one-box type vehicle having a vehicle opening-closing device 10 provided with an opening-closing body control device 41 of the present embodiment. It is a top view of the slide door 13 in embodiment, and is an enlarged view which shows the detail of the mounting part of the slide door 13. As shown in FIG. It is a figure which shows an example of schematic structure in the control system of the switching apparatus for vehicles 10 in this embodiment. It is a figure which shows an example of schematic structure of the switching body control apparatus 41 in this embodiment. It is a figure which shows schematic structure of the manual opening / closing mode in the control apparatus 51 in this embodiment. It is a figure explaining the control signal in this embodiment. It is a figure explaining the processing flow of operation in the manual opening and closing mode of control device 51 in this embodiment. It is a figure which shows schematic structure of the manual opening / closing mode of the control apparatus 51A in the modification of this embodiment. It is a figure explaining the control signal in the modification of this embodiment.

  Hereinafter, the present invention will be described through the embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Moreover, not all combinations of features described in the embodiments are essential to the solution of the invention. In the drawings, the same or similar parts may be denoted by the same reference symbols and redundant description may be omitted.

The opening / closing body control device of the present embodiment controls the rotation of an electric motor that opens and closes an opening / closing body (for example, a slide door, a tailgate) provided in a vehicle, and performs energization to the electric motor. If the movement of the opening / closing member is detected while there is not, the upper stage switching element and the lower stage switching element corresponding to the energization pattern for energizing only one of the phases of the electric motor are controlled to the first state Energization control is performed by alternately repeating the first control to be performed and the second control to control the upper stage switching element and the lower stage switching element to the second state. This can suppress sudden rapid movement of the opening / closing body. In addition, although the case where the opening-closing body provided in a vehicle is a slide door is demonstrated in this embodiment, it is not limited to this.
Hereinafter, the open / close controller of the present embodiment will be described in detail.

  FIG. 1 is a side view showing a one-box type vehicle 11 having a vehicle opening-closing device 10 provided with an opening-closing body control device 41 of the present embodiment. FIG. 2 is a top view of the slide door 13 in the present embodiment, and is an enlarged view showing details of the mounting portion of the slide door 13.

As shown in FIGS. 1 and 2, the vehicle 11 includes a slide door 13, guide rails 14, 16, 17 and a vehicle opening / closing device 10.
As shown in FIG. 1, the vehicle 11 is a one-box type passenger car, and a slide door 13 which is an opening and closing member is provided on the side of the vehicle body 12. The slide door 13 is guided by a guide rail (guide member) 14 fixed to the side portion of the vehicle body 12, and can be opened and closed between a fully closed position shown by a solid line in FIG. It is. Therefore, the slide door 13 is used by opening the slide door 13 to a desired opening degree when getting on / off the passenger or loading / unloading a load. The slide door 13 is provided with a handle 45 as an open / close switch in order to command the open / close operation of the slide door 13.

  As shown in FIG. 2, an arm 61 projecting to the rear side of the vehicle 11 is fixed to the slide door 13, and a roller assembly 60 is pivotally attached to the tip of the arm 61. The roller assembly 60 is incorporated in a guide rail 14 fixed to the side portion of the vehicle 11 and is movable in the front-rear direction of the vehicle 11 along the guide rail 14. Further, a stopper rubber 62 is provided at the vehicle rear end of the guide rail 14, and the roller assembly 60 abuts against the stopper rubber 62 so that its movement is restricted. With such a structure, the slide door 13 is movable in the longitudinal direction of the vehicle along the side surface of the vehicle 11 between the fully open position indicated by the solid line and the fully closed position indicated by the alternate long and short dash line. The slide door 13 moves in the front-rear direction of the vehicle 11 by the roller assembly 60 being guided by the guide rail 14.

The guide rail 14 includes a curved portion 14a and a straight portion 14b. The reverse pulley 18 and the reverse pulley 19 are disposed near the front end and the rear end of the guide rail 14, respectively.
The curved portion 14 a is formed on the vehicle front side of the guide rail 14. The curved portion 14 a is shaped to curve toward the vehicle interior. The slide door 13 is closed in a state of being drawn into the inside of the vehicle body 12 so as to be flush with the side surface of the vehicle body 12 by the roller assembly 60 being guided by the curved portion 14 a. The straight portion 14 b is formed at a vehicle rear position than the bending portion 14 a. The straight portion 14 b has a shape parallel to the side of the vehicle body 12.
The roller assembly 60 is also provided on upper and lower portions (upper and lower portions) of the front end of the slide door 13 in addition to the portion shown in FIG. Guide rails 16 and 17 are provided at upper and lower portions of the opening of the vehicle body 12 corresponding to the roller assemblies 60 provided at upper and lower portions (upper and lower portions) of the front end of the slide door 13. Therefore, the slide door 13 is supported by the vehicle body 12 at a total of three places.
The reverse pulleys 18 and 19 are respectively provided at both ends of the guide rail 14.

The vehicle opening and closing device 10 is a device that opens and closes the slide door 13.
The vehicle opening / closing device 10 includes a drive unit 15 and a cable 23 (cable 23 a and cable 23 b).
The drive unit 15 is disposed inside the vehicle body 12 adjacent to a substantially central portion of the guide rail 14 in the longitudinal direction of the vehicle.
The cable 23 a and the cable 23 b are connected to the roller assembly 60 from the vehicle rear side and the front side, respectively. In the drive unit 15, the slide door 13 is opened or closed by pulling one of the cable 23a and the cable 23b.

The slide door 13 is provided with a fully open lock mechanism 70 as an open state holding mechanism in order to hold the slide door 13 in a predetermined open position, that is, a full open position.
The fully open lock mechanism 70 includes a hook arm 71 pivotably attached to the slide door 13 in an upright state and an inclined state, and a rod-like striker 72 fixed on the rear side of the vehicle. When the slide door 13 is opened to the fully open position, the striker 72 engages with the engagement groove provided at the tip of the hook arm 71. Further, the vehicle opening / closing device 10 may be provided with a door closer device 90 for closing the slide door 13 to the fully closed position. The door closer device 90 is provided on the slide door 13, and when the slide door 13 reaches near the fully closed position, it engages with a striker (not shown) provided on the vehicle to close the slide door 13 to the fully closed position. Here, when the striker 72 engages with the engagement groove provided at the tip of the hook arm 71, the position at which the slide door 13 is held in the fully open position is the fully open latch position, and the door closer device 90 engages with the striker not shown. The matching position is called a fully closed latch position.

FIG. 3 is a view showing an example of a schematic configuration in a control system of the vehicle opening and closing device 10 in the present embodiment.
The vehicle opening / closing device 10 includes a drive unit 15, a rotation angle sensor 48, a changeover switch 46, and an opening / closing body control device 41.
The electric motor 21 is a drive source for driving the slide door 13 to open and close. For example, the electric motor 21 is a motor capable of rotating in both forward and reverse directions, such as a three-phase (U-phase, V-phase, and W-phase) brushless motor. The electric motor 21 is rotationally driven based on a signal supplied from the opening / closing body control device 41. That is, the electric motor 21 operates when the applied voltage Vu, the applied voltage Vv, and the applied voltage Vw are respectively supplied from the open / close controller 41 to the three phases in accordance with the energization pattern. The rotation direction of the electric motor 21 is switched to forward rotation or reverse rotation depending on whether the applied voltage supplied is positive or negative.

  Further, a rotor 47 (permanent magnet) is fixed to the rotation shaft 21 a of the electric motor 21. In the vicinity of the rotation track of the rotor 47, three Hall IC 48u, Hall IC 48v and Hall IC 48w as a rotation angle sensor 48 for detecting the rotation position of the rotor 47 are 120 degrees apart from each other about the rotation axis 21a. Provided in These three Hall IC 48 u, Hall IC 48 v, and Hall IC 48 w control the pulse signal Su, the pulse signal Sv, and the pulse signal Sw which are 120 degrees out of phase with each other when the rotation shaft 21 a of the electric motor 21 rotates. It outputs to the device 41.

  Further, the drive gear 24 is fixed to the rotation shaft 21 a of the electric motor 21. A large diameter spur gear 25 is engaged with the drive gear 24. A driven gear 28 fixed to the output shaft 27 is engaged with the small diameter spur gear 26 which rotates integrally with the large diameter spur gear 25. Thus, 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 helical guide groove (not shown) formed on the outer peripheral surface is fixed to the output shaft 27. The cable 23 guided to the drive unit 15 is wound around the drum 31 multiple times along the guide groove. When the electric motor 21 operates, the drum 31 is driven by the electric motor 21 to rotate, whereby the cable 23 operates and the slide door 13 opens and closes. That is, by rotating the drum 31 in the counterclockwise direction in FIG. 3 by the electric motor 21, the cable 23 on the vehicle rear side is wound around the drum 31, and the slide door 13 is opened while being pulled by the cable 23. Move in the direction. Conversely, by rotating the drum 31 in the clockwise direction in FIG. 3 by the electric motor 21, the cable 23 on the front side of the vehicle is taken up by the drum 31 and the sliding door 13 is pulled by the cable 23 in the closing direction Move to Thus, the slide door 13 is connected to the electric motor 21 via the cable 23, the drum 31, the output shaft 27 and the like, and is opened and closed by the electric motor 21.

  A tensioner 32 is provided between the drum 31 and the two reversing pulleys 18 and 19. The tensioner 32 loosens the cable 23 between the drum 31 and the slide door 13 to maintain the cable tension within a certain range. The tensioner 32 has a fixed pulley 32a and a movable pulley 32b, and the movable pulley 32b is biased in the rotational direction by a spring member 32c with the fixed pulley 32a as an axial center, and the cable 23 is of each pulley 32a, 32b. It is bridged between. Therefore, when the cable 23 is loosened, it is biased by the movable pulley 32b to increase the moving path of the cable 23, thereby maintaining the tension of the cable 23.

  The drive unit 15 is a clutchless type in which a clutch mechanism is not provided between the electric motor 21 and the output shaft 27. That is, power can always be transmitted from the electric motor 21 to the output shaft 27, that is, the slide door 13.

  In the case of the automatic opening and closing mode in which the slide door 13 is automatically opened and closed, the electric motor 21 in the drive unit 15 is driven by being energized by the opening and closing body control device 41. In the automatic opening and closing mode, the opening and closing body control device 41 controls the operation of the electric motor 21 so as to open and close the slide door 13 at a preset target speed. On the other hand, the electric motor 21 is not driven by the open / close controller 41 in the manual opening / closing mode in which the slide door 13 is manually opened / closed. That is, the electric motor 21 is not energized. Thereby, the user can manually operate the slide door 13. However, when the electric motor 21 is not energized, since the torque is not applied to the electric motor 21, the slide door 13 may drop unexpectedly in the inclination direction of the slope due to its own weight. Therefore, the open / close controller 41, when detecting the drop of the slide door 13 in the manual open / close mode, intermittently applies current to the electric motor 21. Thus, the opening / closing body control device 41 can notify the user that an abnormality has occurred by suppressing the falling speed of the slide door 13 and vibrating the falling slide door 13. The specific operation in the manual open / close mode will be described later.

  The slide door 13 is provided with a handle 45 having a function as an open / close switch on the inside and outside of the passenger compartment. The handle 45 is connected to the opening / closing body control device 41. When the steering wheel 45 is operated by an occupant or the like, the steering wheel 45 outputs an open / close command signal corresponding to the operation to the open / close controller 41. That is, when the steering wheel 45 is operated to the open side by an operator such as a passenger, the steering wheel 45 outputs a command signal instructing the opening operation of the slide door 13 to the open / close controller 41. The steering wheel 45 outputs a command signal instructing closing of the slide door 13 to the open / close controller 41 when the operator such as a passenger operates the closing side. When the open / close command signal supplied from the handle 45 is obtained, the open / close controller 41 controls the electric motor 21 in the forward or reverse direction based on the open / close command signal. Thereby, the opening / closing body control device 41 can operate the slide door 13 in the opening direction or the closing direction. That is, the operator can automatically open and close the slide door 13 by operating the handle 45.

  The changeover switch 46 is a switch for switching between the automatic opening and closing and the manual opening and closing of the slide door 13. For example, the changeover switch 46 is provided at the driver's seat of the vehicle 11. The changeover switch 46 outputs an automatic opening / closing signal to the opening / closing body control device 41 when the user switches to the automatic opening / closing. Thereby, the opening / closing body control device 41 shifts to the automatic opening / closing mode, and the automatic opening / closing of the slide door 13 becomes possible. On the other hand, the changeover switch 46 outputs a manual opening / closing signal to the opening / closing body control device 41 when the user switches to the manual opening / closing. Thereby, the opening / closing body control device 41 shifts to the manual opening / closing mode, and the manual opening / closing of the slide door 13 becomes possible.

FIG. 4 is a view showing an example of a schematic configuration of the opening / closing body control device 41 in the present embodiment.
The opening / closing body control device 41 includes an inverter circuit 42 and a control device 51.

  The inverter circuit 42 includes six switching elements 42a to 42f connected in a three-phase bridge form, and diodes 43a to 43f connected in antiparallel between collectors and emitters of the switching elements 42a to 42f. Each of the switching elements 42a to 42f is, for example, a field effect transistor (FET) or an insulated gate bipolar transistor (IGBT). The gates of the six bridge-connected switching elements 42 a to 42 f are connected to the controller 51.

  The collectors or emitters of the switching elements 42a to 42f are connected to stator windings 21u, 21v, and 21w, which are delta connected, for example, through input terminals 22u, 22v, and 22w of the electric motor 21. Thus, the six switching elements 42a to 42f perform switching operations by the drive signals (gate signals) G1 to G6 input from the control device 51, and the power supply voltage of the DC power supply 44 applied to the inverter circuit 42 is The applied voltages Vu, Vv, Vw of three phases (U phase, V phase, W phase) are supplied to the stator windings U, V, W.

The control device 51 outputs a pulse width modulation (PWM) signal instructing the motor 21 to rotate forward or reverse based on a command signal supplied from the handle 45 to the inverter circuit 42. Further, when the control device 51 detects the drop (movement) of the slide door 13 while the electric motor 21 is not energized, the control device 51 is energized for energizing only one of the phases of the electric motor 21. A first control for controlling the upper stage switching elements and the lower stage switching elements corresponding to the pattern in the first state; and a second control for controlling the upper stage switching elements and the lower stage switching elements in the second state , And alternately output to the inverter circuit 42. As a result, the control device 51 intermittently energizes the electric motor 21 to suppress the falling speed of the slide door 13 and vibrate the falling slide door 13, thereby notifying the user that an abnormality has occurred. can do. Note that, while the electric motor 21 is not energized, for example, the open / close controller 41 is in the manual open / close mode. In the present embodiment, the period when the electric motor 21 is not energized is described as the case where the opening / closing body control device 41 is in the manual opening / closing mode. When the control device 51 shifts from the automatic opening / closing mode to the manual opening / closing mode, the control device 51 stops the output of the PWM signal to the inverter circuit 42 to stop the energization of the electric motor 21. Then, for example, when the movement of the slide door 13 is detected within a first predetermined time T _th1 after the energization of the electric motor 21 is stopped, the control device 51 determines that the slide door 13 is falling. The electric motor 21 is intermittently energized.

The manual open / close mode of the control device 51 in the present embodiment will be described below. FIG. 5 is a view showing a schematic configuration of the manual opening / closing mode of the control device 51 in the present embodiment.
The control device 51 includes a mode switching unit 52, a first timer 53, a control unit 54, a counter 55, a drive control unit 56, and a second timer 57.

When the automatic opening / closing signal is supplied from the changeover switch 46, the mode switching unit 52 outputs an automatic opening / closing mode signal to shift to the automatic opening / closing mode to the control unit 54. On the other hand, when the manual switching signal is supplied from the changeover switch 46, the mode switching unit 52 outputs a manual switching mode signal for transitioning to the manual switching mode to the control unit 54 and the first predetermined time T by the first timer 53. Start the timing of _th1 . As described above, when the switch 46 switches the automatic opening and closing of the slide door 13 to the manual opening and closing, the first timer 53 starts counting the first predetermined time T _th1 . Further, when the manual opening / closing signal is supplied from the changeover switch 46, the control device 51 stops the supply of the PWM signal supplied to the inverter circuit 42, thereby stopping the energization of the electric motor 21. The first predetermined time T _th1 is a threshold for determining the falling of the slide door 13 and is set in advance. In the present embodiment, an example in which the drop of the slide door 13 is detected when the changeover switch 46 is switched will be described, but the present invention is not limited to this. That is, even when the changeover switch 46 is not switched, the drop of the slide door 13 may be detected. For example, when the motor energization is stopped in the latch non-engaged state, the drop of the slide door 13 may be detected.

  The counter 55 counts the number of pulses of the pulse signal supplied from the rotation angle sensor 48 when the electric motor 21 is rotated by the movement of the slide door 13 (or when a pulse signal appears). For example, the counter 55 increments the count value N each time a pulse signal is acquired, on the basis of when the slide door 13 reaches a predetermined position (for example, a fully closed position). Therefore, the control device 51 detects the position of the slide door 13 based on the count value N.

The control unit 54 includes a first determination unit 541 and a second determination unit 542.
When the manual open / close mode signal is supplied from the mode switching unit 52, the first determination unit 541 determines whether the slide door 13 has moved while the first timer 53 _counts the first predetermined time T _th1. judge. Whether or not the slide door 13 has moved is determined by whether or not the count value N has changed. For example, if the count value when the manual opening and closing mode signal from the mode switching unit 52 is supplied to the N _1, the first determination unit 541, the first timer 53 starts counting the first predetermined time T _th1 It is determined that the slide door 13 has moved when the count value N exceeds the count value N ₁ + ΔN or when the count value N falls below the counter value N ₁ -ΔN from the end of the period. For example, ΔN may be 1 or an integer of 2 or more. When determining that the slide door 13 has moved in the manual open / close mode, the first determination unit 541 outputs a drop signal indicating that the slide door 13 is falling to the drive control unit 56.

The second determination unit 542 determines that the slide door 13 has reached the fully open latch position when the count value N exceeds the threshold value N _th (first threshold value). The threshold value N _th is the value of the count value N when the slide door 13 reaches the fully open latch position. When the second determination unit 542 determines that the slide door 13 has reached the fully open latch position, the drive control unit 56 controls the fully open latch position signal indicating that the slide door 13 has reached the fully open latch position. Supply to The second determination unit 542 determines that the slide door 13 has reached the fully closed latch position when the latch sensor 91 detects that the door closer device 90 is engaged with the striker (not shown). When the second determination unit 542 determines that the slide door 13 has reached the fully closed latch position, the drive control unit 56 drives the fully closed latch position signal indicating that the slide door 13 has reached the fully closed latch position The control unit 56 is supplied.

  When the drop signal is supplied from the first determination unit 541, the drive control unit 56 sets the upper switching element and the lower switching element corresponding to the energization pattern for energizing only one of the phases of the electric motor 21. A control signal that alternately repeats the first control to control the first state and the second control to control the upper stage switching element and the lower stage switching element to the second state is output to the inverter circuit. FIG. 6 is a diagram for explaining control signals in the present embodiment. As shown in FIG. 6, in the present embodiment, the drive control unit 56 controls the switching element 42 a in the upper stage (upper arm) corresponding to the conduction pattern for energizing the U phase one phase among the U phase, the V phase and the W phase. A case where the lower switching element 42e is controlled to the first state and the second state will be described.

As shown in FIG. 6, the first state, the switching element 42a during the first period t _1, there is shown a state of the switching element 42e, in this embodiment, the switching element 42a is turned on In this state, the switching element 42 e alternately repeats the on state and the off state at the first duty ratio. In the first state, during the first period t _1, when the switching element 42a and the switching element 42e are both turned on, the braking force to the electric motor 21 is generated, the velocity of the sliding door 13 It reduces and controls the falling speed of the slide door 13. The second state, the switching element 42a during the second period t _2, there is shown a state of the switching element 42e, an ON state and an OFF state switching element 42e is in the second DUTY ratio It is in the state of repeating alternately. In the present embodiment, in the second state, the switching element 42 a and the switching element 42 e are in the off state. That is, the second duty ratio is 0 (zero). In the second state, during the second period t _2, since the case where the switching element 42a and the switching element 42e are both turned on is not present, the braking force is not generated in the electric motor 21. Therefore, the speed of the slide door 13 is not suppressed, and the falling speed of the slide door 13 is increased by the weight of the slide door 13. As described above, the drive control unit 56 causes the electric motor 21 to generate a braking force by controlling the switching element 42a and the switching element 42e in the first state, and the switching element 42a and the switching element 42e. Is set to the second state, and the second control for causing the electric motor 21 not to generate a predetermined braking force is performed in a cycle t (first period t ₁ + second period t ₂ ), so that the slide is falling. The door 13 can be vibrated to notify the user that an abnormality has occurred. The first period t1 is set to be longer than the second period t _2. That is, of the first control and the second control, the control period of the control having a larger control force with respect to the electric motor 21 (that is, the first control) is set to be longer. Thus, the drive control unit 56 can further suppress the falling speed of the slide door 13 and vibrate the falling slide door 13 more largely.

The drive control unit 56 starts counting of the second predetermined time T _th2 by the second timer 57 when the electric motor 21 starts intermittent conduction. Thus, the second timer 57 starts counting the second predetermined time T _th2 when the drive control unit 56 starts the intermittent energization of the electric motor 21. The drive control unit 56 ends the intermittent energization of the electric motor 21 when the interruption condition is satisfied between the start and the end of the second timer 57 counting the second predetermined time T _th2 . The interruption condition is a condition for stopping the manual opening and closing of the slide door 13. For example, when the manual opening and closing mode is switched to the automatic opening and closing mode by the changeover switch 46 or when the operation of the handle 45 is input, the slide door 13 falls. Stop and failure occurrence.

Further, when the slide door 13 reaches the latch position between the start and the end of the second timer 57 counting the second predetermined time T _th2 , the drive control unit 56 interrupts the electric motor 21 Turn off the power. That is, in the case where the fully open latch position signal or the fully closed latch position signal is supplied during the period from when the second timer 57 starts counting the second predetermined time T _th2 until the end when the second timer 57 starts timing the second predetermined time T _th2. The intermittent energization of the electric motor 21 is ended.

The drive control unit 56 ends the intermittent energization of the electric motor 21 when the counting of the second predetermined time T _th2 by the second timer 57 ends.

  Hereinafter, the operation of the manual opening / closing mode of the control device 51 in the present embodiment will be described with reference to FIG. FIG. 7 is a diagram for explaining the processing flow of the operation in the manual opening / closing mode of the control device 51 in the present embodiment.

When the electric motor 21 is deenergized while the slide door 13 is in a state other than the fully open latch position and the fully closed latch position, the first determination unit 541 is, for example, when transitioning from the automatic opening / closing mode to the manual opening / closing mode It is determined whether or not the first predetermined time T _th1 has elapsed since the energization of the electric motor 21 is turned off (step S101). For example, the first determination unit 541 determines whether or not the clocking of the first predetermined time T _th1 by the first timer 53 has ended. The first determination unit 541 determines whether or not the slide door 13 has dropped by determining whether or not the count value N has fluctuated when the clocking of the first predetermined time T _th1 by the first timer 53 has not ended. It is determined (step S102). The first determination unit 541 determines that the slide door 13 has dropped when the count value N fluctuates when the first timer 53 does not finish counting the first predetermined time T _th1 , and the drop signal is Are output to the drive control unit 56. The first determination unit 541 determines that the slide door 13 is not dropped if the count value N does not change when the first timer 53 does not finish counting the first predetermined time T _th1. And execute the process of step S101.

  When the drop signal is supplied from the first determination unit 541, the drive control unit 56 selects the upper switching element 42a and the lower switching element 42e corresponding to the energization pattern for energizing only one of the phases of the electric motor 21. And a second control for alternately controlling the switching element 42a in the upper stage and the switching element 42e in the lower stage to the second state. Do. Thereby, the drive control unit 56 starts the intermittent energization of the electric motor 21 (step S103).

The drive control unit 56 starts counting of the second predetermined time T _th2 by the second timer 57 when the intermittent energization of the electric motor 21 is started. Then, the drive control unit 56 determines whether the interruption condition is satisfied while the second timer 57 _measures the second predetermined time T _th2 (step S104). When the interruption condition is satisfied, the drive control unit 56 stops the intermittent energization of the electric motor 21 (step S107).

When the suspension condition is not satisfied, the drive control unit 56 determines whether the slide door 13 has reached the latch position (step S105). When the slide door 13 reaches the latch position, the drive control unit 56 stops the intermittent energization of the electric motor 21 (step S107). If the slide door 13 has not reached the latch position, the drive control unit 56 determines whether or not the second timer 57 has finished counting the second predetermined time T _th2 (step S106). When the clocking of the second predetermined time T _th2 by the second timer 57 ends, the drive control unit 56 stops the intermittent energization of the electric motor 21 (step S107). The drive control unit 56 executes the process of step S104 when the clocking of the second predetermined time T _th2 by the second timer 57 has not ended (step S104).

  As described above, the open / close controller 41 according to the present embodiment detects one of the phases of the electric motor 21 when the movement of the slide door 13 is detected while the electric motor 21 is not energized. Control for controlling the upper stage switching element 42a and the lower stage switching element 42e corresponding to the energization pattern for energizing only the phase to the first state, and the upper stage switching element 42a and the lower stage switching element 42e The second control for controlling to the state of (1) is alternately repeated. Thereby, the opening / closing body control device 41 can suppress the sudden rapid movement of the slide door 13 by causing the electric motor 21 to generate a predetermined braking force and reducing the speed of the slide door 13. Further, the opening / closing body control device 41 can vibrate the falling slide door 13 to notify the user that an abnormality has occurred.

  In the present embodiment, the control device 51 alternately repeats the first control of energizing the switching element 42 a and the switching element 42 e with the first duty ratio and the second control of deenergizing the switching element 42 a and the switching element 42 e. Although it suppresses the sudden rapid movement of the slide door 13, it is not limited to this. For example, the control device 51 operates the slide door 13 as control for causing the second control to be energized at a second duty ratio smaller than the first duty ratio (where 0 <second duty ratio <first duty ratio). You may suppress the sudden rapid movement of Hereinafter, as a modified example of the control device 51, a second control in which current is supplied at a second DUTY ratio smaller than the first DUTY ratio will be described.

FIG. 8 is a view showing a schematic configuration of the manual opening / closing mode of the control device 51A in the modification of the present embodiment. The control device 51A is an example of a configuration that the opening / closing body control device 41 according to the present embodiment can replace the control device 51, and includes the mode switching unit 52, the first timer 53, the control unit 54, the counter 55, and the drive control unit 56A. And a second timer 57.
Drive control unit 56A, when supplied with the fall signal from first determination unit 541, controls switching element 42a and switching element 42e to the first state by energizing with the first duty ratio. A control signal for alternately repeating the second control of controlling the second state by energizing the switching element 42a and the switching element 42e with a second duty ratio smaller than the first duty ratio to the inverter circuit 42 Output. FIG. 9 is a diagram for explaining control signals in the modification of the present embodiment.

As shown in FIG. 9, the first state in the modified example of the present embodiment indicates the states of the switching element 42 a and the switching element 42 e during the first period t ₁ , which is the present embodiment. In this case, the switching element 42a is in the on state, and the switching element 42e alternately repeats the on state and the off state at the first duty ratio. In the first state, during the first period t _1, when the switching element 42a and the switching element 42e are both turned on, the braking force to the electric motor 21 is generated, the velocity of the sliding door 13 It reduces and controls the falling speed of the slide door 13. The second state in a modification of this embodiment, a switching element 42a during the second period t _2, there is shown a state of the switching element 42e, from the switching element 42e is first DUTY ratio Also, the on and off states are alternately repeated with a small second duty ratio. In the second state, during the time t _2, when the switching element 42a and the switching element 42e are both turned on, the braking force to the electric motor 21 is generated, the speed of the slide door 13 is decreased , The falling speed of the slide door 13 is suppressed. Thus, the control device 51A in the modification of the present embodiment can reduce the speed of the slide door 13 and can suppress the falling speed of the slide door 13. The switching element 42a during the first period _{t 1} and the time _{t 2,} is always on. Here, since the second duty ratio is smaller than the first duty ratio, the braking force of the electric motor 21 in the second control is smaller than the control force of the electric motor 21 in the first control. Therefore, in the second control, the speed of the slide door 13 is not suppressed as compared with the first control, and the falling speed of the slide door 13 is faster than the first control due to the weight of the slide door 13. As a result, the control device 51A in the modification of the present embodiment can vibrate the falling slide door 13 and notify the user that an abnormality has occurred. That is, when detecting the movement of the slide door 13, the control device 51 </ b> A in the modification of the embodiment applies the braking force to the electric motor 21 without stopping the slide door 13. It is possible to vibrate the falling slide door 13 and to notify the user that an abnormality has occurred.

Further, in the embodiment described above, although the case where the braking force of the electric motor 21 in the second control is smaller than the control force of the electric motor 21 in the first control has been described, the present invention is not limited thereto. For example, the braking force of the electric motor 21 in the second control may be larger than the control force of the electric motor 21 in the first control.
Moreover, it is also possible to combine suitably and deform | transform and utilize embodiment mentioned above and the modification of the embodiment.

  The control device 51 in the embodiment described above may be realized by a computer. In that case, a program for realizing this function may be recorded in a computer readable recording medium, and the program recorded in the recording medium may be read and executed by a computer system. Here, the “computer system” includes an OS and hardware such as peripheral devices. The term "computer-readable recording medium" refers to a storage medium such as a flexible disk, a magneto-optical disk, a ROM, a portable medium such as a ROM or a CD-ROM, or a hard disk built in a computer system. Furthermore, “computer-readable recording medium” dynamically holds a program for a short time, like a communication line in the case of transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include one that holds a program for a certain period of time, such as volatile memory in a computer system that becomes a server or a client in that case. Further, the program may be for realizing a part of the functions described above, or may be realized in combination with the program already recorded in the computer system. It may be realized using a programmable logic device such as an FPGA (Field Programmable Gate Array).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Vehicle opening-closing device 11 Vehicle 13 Slide door 14, 16, 17 Guide rail 15 Drive unit 41 Opening / closing body control device 46 Changeover switch 48 Rotation angle sensor 51 Control device 52 Mode switching portion 53 First timer 54 Control portion 55 Counter 56 Drive Control unit 57 second timer

Claims (5)

An opening / closing body control device for controlling rotation of an electric motor for opening / closing an opening / closing body provided in a vehicle, comprising:
An inverter provided with a plurality of switching elements for switching energization of the electric motor;
A control device that controls the switching element to either an on state or an off state by outputting a control signal to the switching element;
Equipped with
The controller is
When the movement of the opening / closing member is detected while the electric motor is not energized, the switching element corresponding to the energization pattern for energizing only one of the phases of the electric motor is selected. An open / close controller according to claim 1, wherein a first control for controlling the switching device in the second state and a second control for controlling the switching device in the second state are alternately repeated.   The opening / closing body control device according to claim 1, wherein the braking force generated by the first control is larger than the braking force generated by the second control.   The opening / closing body control device according to claim 1, wherein the control device performs the first control in a first period, and performs the second control in a second period shorter than the first period.   The control device alternates the first control and the second control when the movement of the opening / closing member is detected before the first predetermined time elapses after the energization of the electric motor is stopped. The switch control device according to any one of claims 1 to 3, which is repeated.   The control device is configured to stop the energization control when a second predetermined time has elapsed after starting the energization control which alternately repeats the first control and the second control. The opening and closing body control device according to any one of the preceding claims.

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