JP6643929B2 - Opening / closing body control device - Google Patents

Description

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

  Conventionally, a vehicle is provided with an opening / closing body control device that drives a tailgate by an actuator. This actuator is provided between the periphery of the opening on the vehicle body side and the tail gate provided to be openable and closable at this opening, and is driven to expand and contract in the axial direction by the drive of a motor provided in the own device. Open and close the tailgate. Therefore, the opening / closing body control device controls the opening / closing of the tailgate by rotating this electric motor. Further, in order to maintain the open state of the tailgate, a damper having a configuration of a gas piston filled with high-pressure gas or a cylindrical coil spring is attached to the vehicle.

  Further, in order to prevent the tailgate from dropping sharply due to the failure of the damper or the actuator, the actuator has a built-in sensor for detecting the tailgate falling. Therefore, when the sudden opening / closing of the tailgate is detected based on the signal output from the sensor, the opening / closing body control device stops the rotation of the electric motor to prevent the sudden falling of the tailgate. it can.

JP-T-2009-531572

  However, in the above-mentioned opening / closing body control device, in order to prevent the tailgate from dropping suddenly, it is necessary to always activate the sensor built in the actuator while the tailgate is open to monitor the gate drop. Therefore, the power of the battery mounted on the vehicle is wasted. Such a problem is not limited to the tailgate, but is a problem common to the opening / closing body provided in the vehicle.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an opening / closing body control device capable of preventing the opening / closing body provided on a vehicle from falling with power saving.

One embodiment of the present invention is an opening / closing body control device that rotationally drives a driving source of an opening / closing body that opens and closes an opening of a vehicle, and an absolute angle sensor that detects an absolute angle of the driving source, and a drive of the driving source. A control unit that controls the absolute angle sensor to stop the detection of the drive source by the absolute angle sensor for a predetermined time when the opening / closing body stops, and the control unit controls the drive source by the absolute angle sensor. a decision state continues for a predetermined time detection, the process proceeds to intermittent start repeating, the intermittent start if it detects the rotation of the driving source on the basis of the absolute angle which the absolute angle sensor detects the pre Symbol decision state And an opening / closing body control device that controls braking of the drive source based on a detection result of the absolute angle sensor.

  Further, in one aspect of the present invention, the control unit determines a deviation between the absolute angle detected by the absolute angle sensor in the current determination state and the absolute angle detected by the absolute angle sensor in the previous determination state. If the first threshold is exceeded, the intermittent activation is stopped.

  Further, according to one aspect of the present invention, after the intermittent startup is stopped, the control unit may detect the absolute angle detected by the absolute angle sensor in a current determination state and the absolute angle sensor in a previous determination state. When the deviation from the absolute angle exceeds the second threshold, the driving source is braked.

  As described above, according to the present invention, it is possible to provide an opening / closing body control device capable of preventing the opening / closing body provided in a vehicle from dropping with power saving.

1 is a perspective view illustrating an example of a vehicle 1 on which an opening / closing body control device 75 according to the present embodiment is mounted. FIG. 2 is a side view illustrating an appearance of the actuator 100 according to the embodiment. FIG. 2 is a cross-sectional view of the actuator 100 according to the embodiment. FIG. 3 is an enlarged cross-sectional view illustrating a motor unit 30 and a reduction gear unit 50 of the actuator 100 according to the embodiment. It is a figure showing an example of the schematic structure of opening and closing object control device 75 in this embodiment. FIG. 6 is a diagram illustrating a flow of processing of a control unit 94 according to the present embodiment.

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

The opening / closing body control device according to the embodiment is an opening / closing body control device that rotationally drives a driving source of an opening / closing body that opens and closes an opening of a vehicle, and includes an absolute angle sensor that detects an absolute angle of the driving source, and a stop of the opening / closing body. Sometimes in a sleep state, a transition is made to a determination state by intermittent startup, and in the determination state, if the rotation of the drive source is detected based on the absolute angle detected by the absolute angle sensor, the intermittent startup is stopped, A control unit that performs braking control on the drive source based on the detection result of the sensor.
Hereinafter, an opening / closing body control device of an embodiment will be described with reference to the drawings. In the embodiment, a case where the opening / closing body provided in the vehicle is a tailgate of the vehicle will be described. However, the present invention is not limited to this. For example, a sliding door may be used.

FIG. 1 is a perspective view illustrating an example of a vehicle 1 on which an opening / closing body control device 75 according to the present embodiment is mounted.
As shown in FIG. 1, the vehicle 1 is provided with an actuator 100, which is driven by the opening / closing body control device 75 in the present embodiment to open and close the tailgate 2 of the vehicle 1, for example. . The tailgate 2 is provided on an upper portion 3a of the opening 3 with respect to an opening 3 formed at a rear portion of the vehicle body of the vehicle 1 so as to be opened and closed via a hinge mechanism (not shown).

  The actuator 100 is provided on each of the left and right sides of the opening 3. One end 100 a is rotatably connected to a side frame 3 s of the opening 3 via a pin (not shown), and the other end 100 b is a tailgate. 2 is rotatably connected via a pin (not shown).

  FIG. 2 is a side view illustrating the appearance of the actuator 100 according to the present embodiment. FIG. 3 is a cross-sectional view of the actuator 100 according to the present embodiment. FIG. 4 is an enlarged cross-sectional view illustrating the motor unit 30 and the reduction gear unit 50 of the actuator 100 according to the present embodiment.

  As shown in FIGS. 2 and 3, the actuator 100 includes a first housing 10, a second housing 20, a motor unit 30 (drive source), a reduction gear unit 50 configured to reduce and output the rotational force of the motor unit 30, A screw shaft 60 and a coil spring 70 that are rotated by the torque of the motor unit 30 transmitted via the gear unit 50 are provided.

The first housing 10 has a cylindrical shape and is formed of a metal material such as iron.
As shown in FIG. 4, a joint member 11 is provided at one end 10a (left end in FIG. 4) of the first housing 10 to be connected to the tailgate 2 via a pin (not shown). The joint member 11 is a disc-shaped plate part 11a fitted inside the one end 10 of the first housing 10, and protrudes outward from the first housing 10 from the plate part 11a, and is connected to a pin (not shown). And a joint portion 11b.

As shown in FIG. 3, the second housing 20 has a cylindrical shape having an outer diameter smaller than the inner diameter of the first housing 10, and is formed of a material softer than the first housing 10, such as resin. Thus, the weight of the second housing 20 is reduced with respect to the first housing 10.
The second housing 20 has one end 20a (left end in FIG. 3) inserted into the first housing 10 from the other end 10b side (right end in FIG. 3) of the first housing 10. The second housing 20 is relatively movable with respect to the first housing 10 in a direction in which it protrudes from the other end 10b.

The other end 20b of the second housing 20 has a bottom 20c formed by deep drawing or the like. A through hole 20d through which a joint portion 21b of the joint member 21 described later can be inserted is formed at the center in the radial direction of the bottom portion 20c.
The joint member 21 is for connecting the side frame 3 s of the opening 3 of the vehicle 1 and the second housing 20. The joint member 21 includes a plate portion 21a fitted inside the other end 20b of the second housing 20, a joint portion 21b projecting outward from the plate portion 21a through a through hole 20d formed in the bottom portion 20c, It has. The side frame 3s of the opening 3 is connected to the joint 21b via a pin (not shown).

  The plate portion 21a is arranged so as to face the bottom portion 20c, and is fixed to the other end 20b of the second housing 20 by caulking or the like. Further, a male screw portion 21c protruding inward of the second housing 20 is provided at a radial center of the plate portion 21a. The other end 24b of the cylindrical inner tube 24 is screwed to the male screw portion 21c.

  The cylindrical inner tube 24 is disposed inside the second housing 20. The inner tube 24 is formed by, for example, performing a drawing process on aluminum. On the other end 24b of the inner tube 24, a female screw portion 24c screwed with the male screw portion 21c of the joint member 21 is formed.

  The motor unit 30 includes a yoke 31, a magnet 32 fixed to the inner peripheral surface 31 f of the yoke 31, an armature 130 rotatably provided inside the yoke 31 in the radial direction, and a power supply unit that supplies current to the armature 130. 35, and a detection unit 36 that detects the rotational position of the armature 130.

  The yoke 31 is made of, for example, metal and has a cylindrical shape. The yoke 31 is arranged in the first housing 10. The outer diameter of the yoke 31 is smaller by a predetermined dimension than the inner diameter of the first housing 10. A holder member 37 is provided on one end 31a side of the yoke 31. The holder member 37 includes a disk-shaped plate portion 37a for closing one end 31a of the yoke 31, a first cylindrical portion 37b inserted from the plate portion 37a to the inside of the yoke 31, and a first cylindrical portion from the plate portion 37a. 37b and a second cylindrical portion 37c formed to extend toward the opposite side.

  The plate portion 37a and the second cylindrical portion 37c have outer diameters substantially equal to the outer diameter of the yoke 31. The holder member 37 is mounted by inserting the first cylindrical portion 37b into the yoke 31, and abutting the plate portion 37a against one end 31a (the left end in FIG. 4) of the yoke 31.

  As shown in FIG. 4, an internal gear (gear case, ring gear) 51 constituting the reduction gear unit 50 is inserted into the other end 31b of the yoke 31 (the right end in FIG. 4). The internal gear 51 includes a disk-shaped plate portion 51a, a cylindrical tubular portion 51b extending from the outer peripheral portion of the plate portion 51a toward the other end 31b of the yoke 31, and an end opposite to the plate portion 51a. And a flange portion 51c whose diameter is increased from the cylindrical portion 51b to the outer peripheral side.

  As shown in FIG. 4, an end damper 38 is provided between the second cylindrical portion 37c of the holder member 37 and the plate portion 11a of the joint member 11. The end damper 38 is made of a rubber-based material having elasticity, and includes a disk-shaped plate portion 38 a sandwiched between the second cylindrical portion 37 c of the holder member 37 and the plate portion 11 a of the joint member 11. A cylindrical portion 38b extending from the outer peripheral portion of the plate portion 38a to the holder member 37 side and into which the second cylindrical portion 37c is inserted is integrally provided.

The plurality of magnets 32 fixed to the inner peripheral surface 31f of the yoke 31 are long in the central axis direction of the yoke 31, and are provided at intervals in the circumferential direction of the inner peripheral surface 31f of the yoke 31.
The armature 130 provided radially inside the yoke 31 has a shaft 33, a core 34a fixed to the shaft 33, and a coil 34b wound around the core 34a.

The shaft 33 is provided so as to extend along the center axis direction of the yoke 31. One end 33a of the shaft 33 is supported by an annular bearing 38A provided at the center of the plate portion 37a of the holder member 37 so as to be rotatable around its central axis.
The other end 33b of the shaft 33 is supported by an annular bearing 38B provided at the center of the plate portion 51a of the internal gear 51 so as to be rotatable around its central axis.

  The core 34a is provided integrally on the outer peripheral surface of the shaft 33 between the two bearings 38A and 38B. The core 34a has a plurality of teeth 131 extending radially. The coils 34b are wound around these teeth 131 via insulating insulators 132, respectively.

  The power supply unit 35 is connected to the opening / closing body control device 75, and supplies a current supplied from the opening / closing body control device 75 to the armature 130. The power supply section 35 is held by a holder member 37. The power supply unit 35 includes a brush 35a held by the holder member 37, and a commutator 35b provided on the shaft 33 and in sliding contact with the brush 35a. Wiring (not shown) supplied from the opening / closing body control device 75 is connected to the brush 35a. This wiring penetrates the plate portion 37a of the holder member 37, the end damper 38, and the plate portion 11a of the joint member 11, and is led out from the other end 10b (left end in FIG. 4) of the actuator 100. The commutator 35b is electrically connected to the coil 34b.

The detection unit 36 includes a sensor magnet 39 and a sensor substrate 40.
The sensor magnet 39 is provided integrally with one end 33a (left end in FIG. 4) of the shaft 33 on the second cylindrical portion 37c side with respect to the plate portion 37a of the holder member 37.

The sensor substrate 40 has a plate shape and is held in the second cylindrical portion 37c of the holder member 37.
The sensor substrate 40 is provided, on the side facing the sensor magnet 39, with an absolute angle sensor 40s for detecting the absolute angle of the rotation when the sensor magnet 39 rotates together with the shaft 33. For example, the absolute angle sensor 40s only needs to be able to detect the absolute angle of the motor unit 30, and may be provided on the rotating shaft (armature shaft) of the armature 130 or may be provided on the output shaft of the motor unit 30. The absolute angle sensor 40s outputs an absolute angle signal corresponding to a change in the position of the magnetic pole caused by the rotation of the sensor magnet 39 together with the armature shaft and the output shaft to the opening / closing body control device 75.

  As described above, when electricity is supplied to the coil 34b from the opening / closing body control device 75, the magnetic attraction force generated between the magnetic force generated by the coil 34b and the magnetic force generated by the magnet 32 fixed to the yoke 31 The repulsive force drives the shaft 33 to rotate about its central axis. The detection unit 36 can detect the absolute angle of the motor unit 30 with the absolute angle sensor 40s.

  When the opening / closing body control device 75 drives the shaft 33 by energizing the motor unit 30, the rotation of the shaft 33 is transmitted to the screw shaft 60 via the reduction gear unit 50. Accordingly, the screw shaft 60 rotates, and the nut member 25 moves along the axial direction of the screw shaft 60. The nut member 25 is fixed to the inner tube 24 integrated with the second housing 20, whereby the second housing 20 projects and retracts with respect to the first housing 10, and the actuator 100 expands and contracts. When the second housing 20 is immersed in the first housing 10, the tailgate 2 provided in the opening 3 of the vehicle 1 is closed. On the other hand, when the second housing 20 projects from the first housing 10, the tailgate 2 provided in the opening 3 of the vehicle 1 is opened. At this time, even if the operation of the motor unit 30 is stopped in a state where the actuator 100 is extended, the state in which the second housing 20 protrudes from the first housing 10 is maintained by the urging force of the coil spring 70.

Further, the opening / closing body control device 75 has a function of preventing the tailgate 2 from dropping suddenly due to, for example, a failure of the actuator 100 or the like. When the tailgate 2 stops, the opening / closing body control device 75 shifts to a sleep state which is a power saving state. After switching to the sleep state, the opening / closing body control device 75 intermittently repeats a determination state that continues for a preset awake time (T1) and a sleep state that continues for a preset sleep time (T2). Start up. When the rotation of the motor unit 30 is detected based on the absolute angle detected by the absolute angle sensor 40s in the determination state, the opening / closing body control device 75 stops the intermittent startup and based on the detection result of the absolute angle sensor 40s. To control the braking of the motor unit 30.
Hereinafter, the opening / closing body control device 75 in the present embodiment will be specifically described.

FIG. 5 is a diagram illustrating an example of a schematic configuration of the opening / closing body control device 75 according to the present embodiment.
The opening / closing body control device 75 includes an inverter 80, a position detection unit 98, and a control unit 94.

  The inverter 80 converts a DC voltage supplied from the power supply device 85 into an AC voltage and applies the AC voltage to the motor unit 30. The inverter 80 includes four switching elements 81 to 84. The inverter 80 converts a DC voltage into an AC voltage by switching on and off each of the switching elements 81 to 84 based on the first drive signal and the second drive signal supplied from the control unit 94.

  The inverter 80 includes upper switching elements 81 and 82 and lower switching elements 83 and 84. In the present embodiment, the inverter 80 is configured such that the upper switching elements 81 and 82 and the lower switching elements 83 and 84 are H-bridge connected. Specifically, the switching elements 81 and 83 connected in series and the switching elements 82 and 84 connected in series are connected in parallel between the high potential side of the power supply device 85 and the ground potential. . One end of a power supply terminal of the motor unit 30 is connected to a connection point between the switching element 81 and the switching element 83. The other end of the power terminal of the motor unit 30 is connected to a connection point between the switching element 83 and the switching element 84. For example, the switching elements 81 to 84 are FETs (Field Effect Transistor; Field Effect Transistor) or IGBTs (Insulated Gate Bipolar Transistor; Insulated Gate Bipolar Transistor). As shown in FIG. 5, each of the switching elements 81 to 84 may have a configuration connected in parallel with the freewheeling diode.

  The control unit 94 performs PWM control on the inverter 80 by outputting a first drive signal for opening or closing the tailgate 2 to the inverter 80 based on an open / close operation signal from the outside. That is, when the control unit 94 rotates the motor unit 30 in the forward direction, the control unit 94 performs PWM control on the inverter 80 so that the switching element 81 and the switching element 84 are turned on, thereby causing the motor unit 30 to rotate in the forward direction. , The tail gate 2 is opened. When rotating the motor unit 30 in the reverse direction, the control unit 94 performs PWM control on the inverter 80 so that the switching element 82 and the switching element 83 are turned on, thereby causing the motor unit 30 to rotate in the reverse direction. , The tailgate 2 is closed. The control unit 94 stops driving the motor unit 30 by the control unit 94 when the tailgate is fully opened by rotating the motor unit 30 forward. Then, the control unit 94 stops supplying power to the absolute angle sensor 40s, and shifts to a sleep state.

When the control unit 94 shifts to the sleep state, the control unit 94 performs an intermittent activation in which a determination state that continues for a preset awake time (T1) and a sleep state that continues for a preset sleep time (T2) are repeated. Then, in the determination state, the control unit 94 supplies power to the absolute angle sensor 40s, and determines whether the motor unit 30 has rotated based on the absolute angle detected by the absolute angle sensor 40s.
For example, the control unit 94 determines that the first deviation between the absolute angle detected by the absolute angle sensor 40s in the current determination state and the absolute angle detected by the absolute angle sensor 40s in the previous determination state is the first threshold value. Is exceeded, the intermittent start is stopped, and the absolute angle detected by the absolute angle sensor 40s is continuously monitored.

  For example, when the first deviation exceeds the first threshold, the control unit 94 stops the intermittent startup, and detects the absolute angle detected by the absolute angle sensor and the absolute angle detected by the absolute angle sensor 40s in the previous determination state. It is determined at regular intervals whether or not the second deviation from the calculated absolute angle exceeds a second threshold. When the second deviation exceeds the second threshold value, the control unit 94 determines that the tailgate 2 has dropped sharply, and outputs a second drive signal to the inverter 80 to brake the motor unit 30. Control. For example, the control unit 94 causes the switching element 83, the switching element 84, and the motor unit 30 to form a closed loop by turning on the switching element 83 and the switching element 84. Thereby, the control unit 94 brakes the motor unit 30. This can prevent the tailgate 2 from falling. The braking control includes stop control for stopping the fall of the tailgate 2 by stopping the motor unit 30, deceleration control for applying a braking force to the motor unit 30 to reduce the falling speed of the tailgate 2, or controlling the motor unit 30. Automatic control for bringing the tailgate 2 into a fully closed state, that is, closing the tailgate 2 by driving in accordance with a preset driving method is also included. As described above, after stopping the intermittent startup, it is possible to determine at regular intervals whether or not the second deviation exceeds the second threshold value, thereby preventing erroneous detection due to an external force such as an air volume. That is, it is possible to prevent the change in the absolute angle due to the operation of the tailgate 2 due to the external force such as the air volume or the like from being taken as a sudden fall of the tailgate, thereby preventing the motor unit 30 from being brake-controlled. In addition, the cycle of the intermittent startup is set to be less than the time required for the rotation angle of the motor unit 30 to be from 0 to 360 degrees when the tailgate 2 falls at the maximum speed. Usually, the absolute angle signal is a Hi / Lo rectangular wave. Therefore, even if the tailgate 2 is dropped, if the level of the absolute angle signal output from the absolute angle sensor when the control unit 94 is activated from the sleep state is the same as that at the time of transition to the sleep state, the control unit 94 Cannot detect the fall of the tailgate 2. Therefore, in the present embodiment, the cycle in the intermittent start is set to be less than the time required for the rotation angle of the motor unit 30 to be from 0 to 360 degrees when the tail gate 2 is dropped at the maximum speed, so that the tail can be reliably set. The fall of the gate 2 can be detected.

Hereinafter, the processing of the control unit 94 in the present embodiment will be described with reference to FIG. FIG. 6 is a diagram showing a flow of processing of the control unit 94 in the present embodiment.
The control unit 94 outputs the first drive signal to the inverter 80 based on an open / close operation signal from the outside to open the tail gate 2 (step S101). The control unit 94 determines whether or not the tailgate 2 is stopped (Step S102).

  When determining that the tailgate 2 is stopped, the control unit 94 stops driving the motor unit 30 and stores the absolute angle of the motor unit 30 detected by the absolute angle sensor 40s in the storage unit of the own device. (Step S103). Then, after stopping the power supply to the absolute angle sensor 40s (step S104), the control unit 94 shifts to the sleep state (step S105).

  When the sleep time elapses in the sleep state T2 (step S106), the control unit 94 starts up from the sleep state (step S107). Then, the control unit 94 supplies power to the absolute angle sensor 40s (Step S108), and acquires the absolute angle of the motor unit 30 output from the absolute angle sensor 40s.

  The control unit 94 determines whether the first deviation between the absolute angle of the motor unit 30 output from the absolute angle sensor 40s and the absolute angle stored in the storage unit of the own device exceeds a first threshold value. A determination is made (step S109). When the first deviation between the absolute angle of the motor unit 30 output from the absolute angle sensor 40s and the absolute angle stored in the storage unit of the own device exceeds the first threshold, the control unit 94 starts the intermittent startup. It stops, and it is determined whether or not the second deviation between the absolute angle of the motor unit 30 output again from the absolute angle sensor 40s and the absolute angle stored in the storage unit of the own device exceeds a second threshold value. (Step S110). If the first deviation between the absolute angle of the motor unit 30 output from the absolute angle sensor 40 s and the absolute angle stored in the storage unit of the own device is smaller than the first threshold, the control unit 94 proceeds to step The processing of S103 is performed.

  After the intermittent startup is stopped, the control unit 94 determines that the second deviation between the absolute angle of the motor unit 30 output from the absolute angle sensor 40s and the absolute angle stored in the storage unit of the own device exceeds the second threshold value. In this case, it is determined that the tailgate 2 has dropped sharply, and braking control of the motor unit 30 is performed (step S111). On the other hand, after the intermittent startup is stopped, the control unit 94 determines that the second deviation between the absolute angle of the motor unit 30 output from the absolute angle sensor 40s and the absolute angle stored in the storage unit of the own device is equal to the second threshold value. If it is less than the predetermined value, the process of step S103 is performed.

  As described above, the opening / closing body control device 75 according to the present embodiment rotationally drives the motor unit 30 that is the drive source of the tail gate 2 that opens and closes the opening 3 of the vehicle 1. An absolute angle sensor 40 s for detecting an angle and a sleep state when the tailgate 2 is stopped, and a transition to a determination state by intermittent startup, and a motor based on the absolute angle detected by the absolute angle sensor 40 s in this determination state. A control unit that stops the intermittent startup when the rotation of the unit is detected, and controls the braking of the motor unit based on the detection result of the absolute angle sensor; Thus, the opening / closing body control device 75 can prevent the tailgate 2 provided on the vehicle from falling with power saving.

  Further, in the above-described embodiment, when the current position of the tailgate 2 reaches the vicinity of the fully-closed state, the control unit 94 controls the half-door detection switch that detects the half-door state of the tailgate 2 with respect to the opening 3. Power may be supplied. That is, when the tailgate 2 is manually closed by the user and the current position of the tailgate 2 has not reached near the fully closed state, the control unit 94 supplies power to the half-door detection switch. To stop. When the tailgate 2 has been manually closed by the user and the current position of the tailgate 2 has reached near the fully closed state, the control unit 94 supplies power to the half-door detection switch. . When the half-door detection switch detects the half-door state of the tailgate 2 with respect to the opening 3 by the half-door detection switch, the control unit 94 performs an operation of closing the tailgate 2 to the fully closed state. When power is supplied to the half-door detection switch, the control unit 94 may always supply power to the half-door detection switch, or may supply power intermittently. As a result, the supply of power is stopped in places other than those where the monitoring of the state of the half-door of the tailgate 2 by the half-door detection switch is necessary, thereby reducing the current consumption in the half-door detection switch.

  The control unit 94 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this 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 “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and a storage device such as a hard disk built in a computer system. Further, the “computer-readable recording medium” refers to a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short time. Such a program may include a program that holds a program for a certain period of time, such as a volatile memory in a computer system serving as a server or a client in that case. The program may be for realizing a part of the functions described above, or may be a program that can realize the functions described above in combination with a program already recorded in a computer system. It may be realized using a programmable logic device such as an FPGA (Field Programmable Gate Array).

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to the embodiments and includes a design and the like within a range not departing from the gist of the present invention.

Reference Signs List 30 Motor unit 36 Detecting unit 39 Sensor magnet 40s Absolute angle sensor 75 Opening / closing body control device 80 Inverter 94 Control unit 100 Actuator

Claims (3)

An opening and closing body control device that rotationally drives a drive source of an opening and closing body that opens and closes an opening of a vehicle,
An absolute angle sensor for detecting an absolute angle of the drive source,
A control unit for controlling the driving of the driving source;
With
The control unit, when the opening and closing body is stopped, a sleep state in which the detection of the drive source by the absolute angle sensor is stopped for a predetermined time, a determination state in which the detection of the drive source by the absolute angle sensor is continued for a predetermined time, It shifted to an intermittent start repeating the previous SL said intermittent activation stopped when the absolute angle sensor in the judgment state detects the rotation of the driving source on the basis of the absolute angle detected, the detection of the absolute angle sensor An opening / closing body control device that performs braking control on the drive source based on the result.   The control unit is configured to determine whether a deviation between the absolute angle detected by the absolute angle sensor in the current determination state and the absolute angle detected by the absolute angle sensor in the previous determination state exceeds a first threshold. 2. The opening / closing body control device according to claim 1, wherein the intermittent activation is stopped.   After the intermittent startup is stopped, the control unit determines a deviation between the absolute angle detected by the absolute angle sensor in the current determination state and the absolute angle detected by the absolute angle sensor in the previous determination state. The opening / closing body control device according to claim 2, wherein when the driving force exceeds two thresholds, the driving source is braked.