JP6862274B2 - Open / close control device, open / close operation control method and program - Google Patents

Description

The present invention relates to an opening / closing control device that controls an opening / closing operation of an opening / closing body, and an opening / closing operation control method and program thereof.

The power window device has a function of detecting pinching of a finger or a foreign object based on a change in the torque of the motor, and controls to reverse the ascending operation of the window to the descending operation when the pinching is detected. In the power window device described in the following patent document, the torque is calculated based on the rotation frequency of the motor, and when the calculated torque exceeds the determination value, it is determined that there is pinching. The determination value is the sum of the reference value and the threshold value, which indicate the torque due to normal friction when there is no pinching.

Japanese Unexamined Patent Publication No. 2004-278501

In order to correctly detect pinching of an object in a power window device or the like that opens and closes an opening and closing body, it is necessary to correctly calculate the load in the opening and closing operation. However, in actual use, load calculation errors occur due to various factors. For example, in the method of calculating the load based on the current or voltage of the motor, the fluctuation of the voltage supplied to the motor causes an error in the calculation result of the load, which causes an error in the determination of pinching.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide an opening / closing control device, an opening / closing operation control method, and a program capable of easily avoiding an error in determination of pinching.

The opening / closing control device according to the first aspect of the present invention controls the opening / closing operation of the opening / closing body driven by the motor. The switch control device includes a current detector for detecting a current flowing through the motor, a voltage detection unit for detecting a voltage supplied to the motor based on the detection current before Symbol current detector, the closing body The load calculation unit that calculates the load in the opening / closing operation, the sandwiching threshold setting unit that sets the sandwiching threshold value that sets the upper limit of the calculated load calculated by the load calculation unit, and the sandwiching threshold that the calculated load is the pinching threshold. When the upper limit determined by the value is exceeded, the pinching determination unit for determining that the object is pinched by the opening / closing body and the pinching determination unit for determining that the pinching has occurred reverse the rotation of the motor. It has a motor control unit that performs pinch prevention control, and a reference value calculation unit that calculates the result of the weighted average of the calculated load calculated by the load calculation unit as a reference value. The sandwiching threshold value setting unit sets the sandwiching threshold value that defines an allowable range of the excess amount of the calculated load with respect to the reference value. When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, the pinching determination unit determines that the pinching of the object by the opening / closing body has occurred. The load calculation unit includes a first load component proportional to the detected current and a second load component proportional to the angular acceleration of rotation of the motor approximated based on the detected current and the detected voltage of the voltage detection unit. Calculates the combined load.

According to this configuration, the pinching is detected based on the load in which the first load component proportional to the detected current and the second load component proportional to the angular acceleration are combined. When the second load component is included in the calculation result of the load and a relatively hard object is pinched, the second load component is rapidly increased, so that the timing of detecting the pinch is earlier.

Preferably, the sandwiching threshold setting unit is based on the detection voltage of the voltage detection unit so that the upper limit changes according to the change of the calculated load accompanying the change of the voltage supplied to the motor. The sandwiching threshold may be set.

According to this configuration, the upper limit in the determination of pinching changes according to the change in the calculated load accompanying the change in the voltage supplied to the motor. As a result, when the calculated load changes with a change in the voltage supplied to the motor, the upper limit changes according to the change. Therefore, when determining whether or not the calculated load exceeds the upper limit, the change in the calculated load due to the change in the voltage supplied to the motor is less likely to affect the determination result. That is, even when the calculated load changes with a change in the voltage supplied to the motor, it is easy to avoid an error in the pinching determination based on the determination as to whether or not the calculated load exceeds the upper limit.

Preferably, the pre-Symbol pinching threshold setting unit, on the basis of the detected voltage of the voltage detection unit, the calculated load the jamming threshold a correction value corresponding to a change in due to the change of the voltage supplied to the motor May be added to the value.

According to this configuration, a correction value corresponding to a change in the calculated load accompanying a change in the voltage supplied to the motor is added to the sandwiching threshold value. As a result, when the calculated load changes with a change in the voltage supplied to the motor, the sandwiching threshold value changes according to the change. Therefore, when comparing the excess amount of the calculated load with respect to the reference value and the sandwiching threshold value, the change in the calculated load due to the change in the voltage supplied to the motor is less likely to affect the comparison result. .. That is, even when the calculated load changes with a change in the voltage supplied to the motor, it is easy to avoid an error in the pinch determination based on the comparison result between the excess amount and the pinch threshold value.

Preferably, the sandwiching threshold setting unit may decrease the incremental value to be added to the sandwiching threshold as the correction value with the passage of time.

According to this configuration, when the calculated load increases with time due to an increase in the voltage supplied to the motor and then decreases with time, the incremental value added to the sandwiching threshold value. Decreases with the passage of time, so that the sandwiching threshold also decreases. That is, when the calculated load becomes smaller after the voltage supplied to the motor rises, the sandwiching threshold value becomes smaller according to the change.

Preferably, the opening / closing control device may have a disturbance detection unit that detects a disturbance that causes the fluctuation of the calculated load based on the comparison between the fluctuation amount of the calculated load and the first disturbance threshold value. When the disturbance is detected by the disturbance detection unit, the sandwiching threshold value setting unit may add a disturbance increment value according to the fluctuation amount of the calculated load to the sandwiching threshold value.

According to this configuration, when the disturbance is detected based on the comparison between the fluctuation amount of the calculated load and the first disturbance threshold value, the disturbance increment value corresponding to the fluctuation amount of the calculated load is sandwiched. It is added to the threshold value. As a result, the pinching threshold value increases according to the magnitude of the disturbance estimated from the fluctuation amount of the calculated load, so that it is easy to avoid an error in determining pinching due to the disturbance.

Preferably, the disturbance detection unit holds the maximum value of the calculated load, and each time the load calculation unit calculates a new calculated load, the new calculated load is compared with the held maximum value. Then, if the new calculated load is larger than the held maximum value, the new calculated load is held as a new maximum value, and the held maximum value is reduced with the passage of time. When the amount of fluctuation of the calculated load from the maximum value is larger than the first disturbance threshold value, the disturbance determination unit determines that there is a disturbance, and the disturbance determination unit determines that there is the disturbance. It may include a disturbance increment value calculation unit that calculates the disturbance increment value according to the fluctuation amount of the calculated load from the maximum value.

According to this configuration, when the fluctuation amount from the maximum value of the calculated load held is larger than the first disturbance threshold value, it is determined that there is the disturbance, and the fluctuation amount of the calculated load from the maximum value is determined. The disturbance increment value corresponding to is added to the sandwiching threshold value. Therefore, even if the calculated load fluctuates for a short time due to the disturbance, the disturbance threshold value is increased by adding the disturbance increment value, so that the disturbance is difficult to be determined as sandwiching. Further, since the maximum value decreases with the passage of time after the retained maximum value is updated, the fluctuation amount becomes small after the single-shot fluctuation of the calculated load due to the disturbance is completed. The determination that there is the disturbance is automatically canceled.

Preferably, a second disturbance threshold value smaller than the first disturbance threshold value and a third disturbance threshold value smaller than the second disturbance threshold value may be defined. In the disturbance determination unit, the decrease of the calculated load to the range where the fluctuation amount of the calculated load from the maximum value exceeds the second disturbance threshold value, and the fluctuation amount of the calculated load from the maximum value are said. The number of times that the increase of the calculated load to the range below the third disturbance threshold value is alternately repeated may be counted, and it may be determined that there is the disturbance according to the number of times.

According to this configuration, since the disturbance is relatively small, the fluctuation amount of the calculated load from the maximum value is smaller than the first disturbance threshold value even when the fluctuation amount from the maximum value is smaller than the first disturbance threshold value. A third decrease in the calculated load to a range exceeding the second disturbance threshold value smaller than the first disturbance threshold value and a fluctuation amount of the calculated load from the maximum value is smaller than the second disturbance threshold value. The presence or absence of the disturbance is determined from the number of times the calculated load is alternately increased to a range below the disturbance threshold value. Therefore, it becomes easy to avoid an error in the pinch determination due to the relatively small disturbance.

Preferably, the disturbance determination unit may hold the disturbance determination state for a certain period of time each time it determines that there is the disturbance. The sandwiching threshold value setting unit may add the disturbance increment value to the sandwiching threshold value while the disturbance determination state is held.

According to this configuration, the holding of the disturbance determination state is limited to a certain period of time, and the addition of the disturbance increment value to the sandwiching threshold value is limited to a certain period of time. Even after the fluctuation of the calculated load is completed, the disturbance increment value does not continue to be added to the sandwiching threshold value.

Preferably, the disturbance increment value calculation unit sets the disturbance increment value to be added to the sandwiching threshold value to the largest fluctuation amount of the calculated load from the maximum value while the disturbance determination state is held. It may be updated accordingly.

According to this configuration, even if the disturbance becomes large in the middle while the disturbance determination state is held, the disturbance increment value added to the sandwiching threshold value is the said from the maximum value. It is updated according to the maximum fluctuation amount of the calculated load. As a result, when the disturbance becomes large from the middle, the sandwiching threshold value becomes large accordingly, so that an error in the pinching determination due to the disturbance can be easily avoided.

Preferably, when the decrease amount of the calculated load per predetermined time exceeds the initial decrease amount threshold value in the initial period after the motor is started, the sandwiching threshold value setting unit sets the sandwiching threshold value. It may be increased temporarily.

According to this configuration, when the calculated load is relatively significantly reduced in the initial period after the motor is started, the sandwiching threshold value is temporarily increased, which is caused by the starting characteristics of the motor. Fluctuations in the calculated load are less likely to be erroneously determined as pinching.

Preferably, the reference value calculation unit obtains the result of the first weighted average of the new calculated load and the past reference value each time a new calculated load is calculated by the load calculation unit. It may be calculated as a reference value. If the new calculated load exceeds the maximum load in the initial period after the motor is started, the reference value calculation unit may match the new reference value with the maximum load, and the new reference value calculation unit may match the new calculated load with the maximum load. If the calculated load is smaller than the minimum load, the new reference value may be matched with the minimum load.

According to this configuration, the result of the first weighted average of the new calculated load and the past reference value is calculated as the new reference value. Further, in the initial period after the motor is started, the range of the newly calculated load is limited between the maximum load and the minimum load. As a result, even if a large fluctuation in the calculated load occurs due to the starting characteristics of the motor in the initial period, the calculation result of the reference value by the first weighted average converges to an appropriate range in a relatively short time. It will be easier.

Preferably, when the amount of decrease in the calculated load per predetermined time exceeds the first fluctuation threshold value in the initial period after the motor is started, the reference value calculation unit sets the new reference value. It may be matched with the calculated load.

According to this configuration, when the calculated load is relatively significantly reduced due to the fluctuation of the calculated load due to the starting characteristics of the motor in the initial period, the new reference value is made to match the new calculated load. Be done. As a result, even if the calculated load fluctuates due to the influence of the starting characteristics of the motor, the calculation result of the reference value by the first weighted average can easily converge to a value close to the calculated load in a relatively short time.

Preferably, when the increase amount of the calculated load per predetermined time exceeds the second fluctuation threshold value in the initial period after the motor is started, the reference value calculation unit uses the new calculated load and the past. The result of the second weighted average, which is the second weighted average with the reference value and has a faster response speed than the first weighted average, may be calculated as the new reference value.

According to this configuration, when the calculated load increases relatively significantly due to the fluctuation of the calculated load due to the starting characteristics of the motor in the initial period, the response speed is faster than that of the first weighted average. The reference value is calculated by the two-weighted average. As a result, even if the calculated load fluctuates due to the influence of the starting characteristics of the motor, the calculation result of the reference value by the second weighted average can easily converge to a value close to the calculated load in a relatively short time.

Preferably, when the calculated load and the reference value have a difference within the first range continuously for a predetermined time or more, the reference value calculation unit makes the new reference value match the new calculated load. Good.

According to this configuration, when the difference between the calculated load and the reference value continues to be widened, the new reference value is made to match the new calculated load, so that an error in the determination of pinching is avoided. It becomes easy to be done.

Preferably, the opening / closing control device may have an opening / closing body position detecting unit that detects the position of the opening / closing body. When the position of the opening / closing body detected by the opening / closing body position detecting unit is within a predetermined range close to the fully closed position of the opening / closing body, the reference value calculation unit includes the calculated load and the reference value. May match the new reference value with the new calculated load when there is a difference within the second range for a predetermined time or longer. The second range may be extended from the first range under the condition that the calculated load is smaller than the reference value.

According to this configuration, when the opening / closing body is located within the predetermined range close to the fully closed position and the calculated load continues to be smaller than the reference value, the calculated load and the reference value are maintained. The difference from the above is likely to be included in the second range extended from the first range. As a result, when the calculated load continues to be smaller than the reference value near the fully closed position, the new reference value is made to match the new calculated load, so that the delay in pinching determination is short. Become.

Preferably, in the reference value calculation unit, the difference between the new calculated load and the past reference value is larger than the difference threshold value, and the amount of change in the calculated load per predetermined time is the change amount threshold value. If it is larger, the new reference value may be matched with the past reference value.

According to this configuration, the difference between the new calculated load and the past reference value becomes larger than the difference threshold value due to the occurrence of pinching, and the amount of change in the calculated load per predetermined time is the amount of change. When it becomes larger than the threshold value, the new reference value is made to match the past reference value. As a result, when pinching occurs, the update of the reference value is stopped, and the calculated load becomes larger than the reference value.

Preferably, the sandwiching determination unit is based on a series of a plurality of calculated loads including the new calculated load each time a new calculated load is calculated by the load calculating unit, and a pattern of change in the calculated load. May be determined whether or not corresponds to a predetermined monotonous increase pattern. Further, in the pinch determination unit, the first condition in which the excess amount of the new calculated load with respect to the reference value is larger than the pinch threshold value, and the pattern of change in the calculated load corresponds to the monotonous increase pattern. When the two conditions are satisfied, it may be determined that the pinching has occurred.

According to this configuration, in addition to the first condition in which the excess amount of the new calculated load with respect to the reference value is larger than the sandwiching threshold value, the pattern of change in the calculated load corresponds to the pattern of monotonous increase. When the second condition is satisfied, it is determined that the pinching has occurred. As a result, the accuracy of the pinch determination is improved.

Preferably, when the increase amount of the calculated load per predetermined time is larger than the threshold value indicating the occurrence standard of pinching of a hard object, the pinching determination unit adds to the first condition and the second condition. Therefore, when the third condition that the change of the calculated load is accelerating is satisfied, it may be determined that the pinching has occurred.

According to this configuration, when the increase amount of the calculated load per predetermined time is larger than the threshold value indicating the occurrence standard of pinching of a hard object, the third condition in which the change of the calculated load is accelerated is sandwiched. Participate in the judgment conditions. As a result, the accuracy of the pinch determination is further improved.

The opening / closing operation control method according to the second aspect of the present invention controls the opening / closing operation of the opening / closing body by driving a motor. In this opening / closing operation control method, the detection result of the sensor that detects the current flowing through the motor is acquired, the detection result of the sensor that detects the voltage supplied to the motor is acquired, and the detection result of the current is obtained. Based on the above, the load in the opening / closing operation of the opening / closing body is calculated, the sandwiching threshold value that sets the upper limit of the calculated load obtained by the calculation of the load is set, and the calculated load is sandwiched. When the upper limit determined by the threshold value is exceeded, it is determined that the pinching of the object by the opening / closing body has occurred, and when it is determined that the pinching has occurred by the pinching determination, the rotation of the motor is reversed. It has the control of preventing pinching and the calculation of the result of the weighted average of the calculated load obtained by the calculation of the load as a reference value, and setting the pinch threshold is the reference. Including setting the sandwiching threshold value that determines the allowable range of the excess amount of the calculated load with respect to the value, determining the occurrence of the pinch means that the excess amount of the calculated load with respect to the reference value is the pinch threshold. If it is larger than the value, it includes determining that the object is pinched by the opening / closing body, and calculating the load includes a first load component proportional to the current of the detection result, the current of the detection result, and This includes calculating the load obtained by combining the second load component proportional to the angular acceleration of the rotation of the motor, which is approximated based on the voltage of the detection result.

The program according to the third aspect of the present invention is a program for causing a computer to execute the opening / closing operation control method according to the second aspect.

According to the present invention, it is possible to easily avoid an error in the determination of pinching.

It is a figure which shows an example of the structure of the opening / closing control device which concerns on this embodiment. It is a figure which showed the outline of the operation of the open / close control device in each stage after starting a motor. It is a flowchart for demonstrating the pinch prevention function in an opening / closing control device. It is a flowchart for demonstrating the calculation of a reference value. It is a flowchart for demonstrating the stability point search process in calculation of a reference value. It is a figure which shows the example of the stable point search process. FIG. 6A shows the case where the calculated load is smaller than the minimum load, FIG. 6B shows the case where the calculated load suddenly decreases, FIG. 6C shows the case where the calculated load suddenly increases, and FIG. 6D shows the case where the calculated load is suddenly increased. The case where it is larger than the maximum load is shown. It is a flowchart for demonstrating the weighted average processing in calculation of a reference value. It is a figure which shows the example of the weighted average processing. FIG. 8A shows an example in which the reference value is calculated by the weighted average processing. FIG. 8B shows an example in which the update of the reference value is stopped due to a sudden increase in the calculated load. It is a flowchart for demonstrating the reference value follow-up process in calculation of a reference value. It is a figure which shows the example of the reference value follow processing. It is a figure which shows the comparison of the case where the reference value follow processing is performed, and the case where it is not performed. FIG. 11A shows an example when the reference value tracking process is performed, and FIG. 11B shows a comparative example when the reference value tracking process is not performed. It is a figure which shows the example of the reference value tracking processing in the proximity range of a fully closed position. It is a figure which shows the comparison of the case where the reference value follow processing is performed, and the case where it is not performed in the proximity range of a fully closed position. FIG. 13A shows an example when the reference value tracking process is performed, and FIG. 13B shows a comparative example when the reference value tracking process is not performed. It is a flowchart for demonstrating disturbance detection. It is a flowchart for demonstrating the process which holds the maximum value of the calculated load. It is a figure which shows the example of the process which holds the maximum value of the calculated load. It is a flowchart for demonstrating the detection process of a large disturbance. It is a figure which shows the example of the detection processing of a large disturbance. It is a 1st flowchart for demonstrating the detection process of a small disturbance. It is a 2nd flowchart for demonstrating the detection process of a small disturbance. It is a figure which shows the example of the detection process of a small disturbance. It is a flowchart for demonstrating the calculation process of the disturbance increment value. It is a figure which shows the example of the retention period of the disturbance determination state. It is a figure which shows the example of the update of the disturbance increment value in the holding period of a disturbance determination state. It is the 1st flowchart for demonstrating the setting of the sandwiching threshold value. It is a 2nd flowchart for demonstrating the setting of the sandwiching threshold value. It is a figure which shows the example of the decrease of the calculated load in the initial period after starting a motor. It is a figure which shows the example of setting of the sandwiching threshold value in the proximity range of a fully closed position. It is a figure which shows the example of the change of the calculated load and the setting of the sandwiching threshold value with the fluctuation of the voltage of a motor. FIG. 29A shows a case where the voltage of the motor rises at a constant rate of change over time and a case where the voltage of the motor decreases at a constant rate of change over time, and FIG. 29B shows a stepped change in which the voltage of the motor rises discontinuously at a specific timing. The case where it occurs is shown. It is a 1st flowchart for demonstrating pinching determination. It is the 2nd flowchart for demonstrating pinching determination. It is a figure for demonstrating the condition of monotonous increase of the calculated load in pinch determination.

FIG. 1 is a diagram showing an example of a configuration of an opening / closing control device according to the present embodiment. The opening / closing control device according to the present embodiment is a device that controls the opening / closing operation of the opening / closing body 3 (window) driven by the motor 6, and in the example of FIG. 1, the opening / closing control device attached to the window frame 4 of the door 2 in the vehicle. Controls the opening and closing operation of the body 3 (window). The open / close control device shown in FIG. 1 includes a motor drive circuit 10, a voltage detection unit 20, a current detection unit 30, an operation unit 40, a processing unit 50, and a storage unit 60.

The motor drive circuit 10 generates a voltage for driving the motor 6 in response to a control signal generated by the motor control unit 57 described later in the processing unit 50. In the example of FIG. 1, the motor drive circuit 10 has four switch elements (11 to 14) constituting a full bridge circuit. The switch elements 11 and 12 are connected in series between the power supply voltage Vbat of the battery or the like and the ground, and the connection midpoint is connected to one input terminal of the motor 6. The switch elements 13 and 14 are connected in series between the power supply voltage Vbat and the ground, and the connection midpoint is connected to the other input terminal of the motor 6. The motor 6 is, for example, a DC motor, and its rotation direction is reversed according to the polarity of the voltage applied to the two input terminals.

The voltage detection unit 20 detects the voltage supplied to the motor 6. In the example of FIG. 1, the voltage detection unit 20 has an amplification unit 21 and a filter unit 22. The amplification unit 21 amplifies the voltage applied to the two input terminals of the motor 6 with a predetermined gain. The filter unit 22 removes the switching frequency component from the output signal of the amplification unit 21 and outputs a signal corresponding to the average voltage supplied to the motor 6. The voltage detection unit 20 includes an AD converter, and outputs a digital signal corresponding to the voltage supplied to the motor 6 to the processing unit 50.

The current detection unit 30 detects the current flowing through the motor 6. In the example of FIG. 1, the current detection unit 30 includes a shunt resistor RS, an amplification unit 31, and a filter unit 32. The shunt resistor RS is provided in the current path between the full bridge circuit (11 to 14) of the motor drive circuit 10 and the ground, and generates a voltage corresponding to the current flowing through the motor 6. The amplification unit 31 amplifies the voltage generated in the shunt resistor RS with a predetermined gain. The filter unit 32 removes a switching frequency component from the output signal of the amplification unit 31 and outputs a signal corresponding to the average current flowing through the motor 6. The current detection unit 30 includes an AD converter, and outputs a digital signal corresponding to the current flowing through the motor 6 to the processing unit 50.

The voltage detection result of the motor 6 in the voltage detection unit 20 and the current detection result of the motor 6 in the current detection unit 30 are used in order to calculate the load of the opening / closing operation of the opening / closing body 3 in the load calculating unit 52 described later. Used. The voltage detection unit 20 and the current detection unit 30 are examples of the sensor in the present invention.

The operation unit 40 is a device for inputting a signal for the user to operate the opening / closing operation of the opening / closing body 3 to the processing unit 50, and includes, for example, a switch.

The processing unit 50 controls the overall operation of the open / close control device. The processing unit 50 includes, for example, a computer that executes processing according to an instruction code of a program stored in the storage unit 60. The processing unit 50 may execute all the processing by a computer, or may execute at least a part of the processing by a dedicated hardware circuit (random logic or the like).

The processing unit 50 includes an open / close body position detection unit 51, a load calculation unit 52, a reference value calculation unit 53, a disturbance detection unit 54, a pinch threshold setting unit 55, a pinch determination unit 56, and a motor control unit. It has 57 and.

[Opening / Closing Body Position Detection Unit 51]
The opening / closing body position detecting unit 51 detects the position of the opening / closing body 3 in the opening / closing operation. For example, the opening / closing body position detecting unit 51 detects the position of the opening / closing body 3 by utilizing the fact that a ripple occurs in the current of the motor 6 every time the motor 6 rotates by a certain angle. Specifically, the opening / closing body position detection unit 51 extracts and counts the ripple contained in the current of the motor 6, and uses the ripple count value corresponding to the rotation amount of the motor 6 as the position information of the opening / closing body 3. get.

If a device (such as a hall sensor) that generates a pulse each time the motor 6 rotates by a certain angle is provided, the opening / closing body position detecting unit 51 counts the pulse to generate the motor 6. The pulse count value corresponding to the rotation amount of may be acquired. In addition, the opening / closing body position detection unit 51 uses mechanical means such as a limit switch, electrical means utilizing electric resistance or capacitance, optical means utilizing light transmission or reflection, or the like to open / close body 3 The position of may be detected.

[Load calculation unit 52]
The load calculation unit 52 describes the current detected by the current detection unit 30 (hereinafter, may be referred to as “motor current Im”) and the voltage detected by the voltage detection unit 20 (hereinafter, referred to as “motor voltage V”). In some cases), the load F in the opening / closing operation of the opening / closing body 3 is calculated. That is, the load calculation unit 52 has a first load component F1 proportional to the motor current Im and a second load component F2 proportional to the angular acceleration of the rotation of the motor 6 approximated based on the motor current Im and the motor voltage V. The combined load F (hereinafter, may be referred to as “calculated load F”) is calculated. The calculated load F is expressed by the following equation.

The load calculation unit 52 calculates the calculated load F for each predetermined time based on the motor current Im and the motor voltage V acquired by the current detection unit 30 and the voltage detection unit 20 for each predetermined time Ts. That is, the load calculation unit 52 performs the calculation process of the calculated load F at a constant cycle (Ts). “N” in the formula (1) is an integer indicating each processing cycle in the periodic calculation processing of the calculated load F. When the value of "n" increases by one, the order of the processing cycle advances by one (time advances by a predetermined time Ts). Therefore, "n" can be regarded as a numerical value representing a time in which a predetermined time Ts is a unit. In the following description, "n" may be used as a numerical value representing time.

The first load component F1 (n) is represented by the following equation.

In the formula (2), “Kt” indicates the motor torque constant [N ・ m / A], and “L” indicates the amount of movement [m / rad] of the opening / closing body 3 per unit rotation angle.

The second load component F2 (n) is represented by the following equation.

In the formula (3), “C” indicates the second load component adjustment parameter [N · sec ² ]. Further, "ω (n)" indicates the angular velocity in the nth processing cycle, and "ω (n-1)" indicates the angular velocity in the n-1st processing cycle. As shown in the formula (3), the second load component F2 is proportional to the temporal change rate (angular acceleration) of the angular velocity ω at a predetermined time Ts.

The angular velocity ω (n) is expressed by the following equation.

In the formula (4), “Ke” indicates the motor back electromotive force constant [V · sec / rad], and “Rm” indicates the motor resistance [Ω]. As shown in the formula (4), the angular velocity ω (n) of the rotation of the motor 6 is approximated based on the motor current Im (n) and the motor voltage V (n).

[Reference value calculation unit 53]
The reference value calculation unit 53 calculates the result of the weighted average of the calculated load F (n) calculated by the load calculation unit 52 as the reference value B (n). For example, in the reference value calculation unit 53, each time a new calculated load F (n) is calculated by the load calculation unit 52, the new calculated load F (n) and the past (recent) reference value B (n−) are calculated. The result of the weighted average (also referred to as the first weighted average) with 1) is calculated as a new reference value B (n). The first weighted average is expressed by the following equation, where the weighting coefficient is "M".

However, at the initial stage of starting the motor 6, the calculated load F (n) fluctuates greatly due to the starting characteristics of the motor 6. If such fluctuations are simply weighted and averaged by the equation (5), the reference value B (n) deviates significantly from the calculated load F (n) without pinching, and an error in pinching determination is likely to occur. Become. Therefore, the reference value calculation unit 53 sets the reference value B (n), which is the starting point of the weighted average, according to the range of the value of the calculated load F (n) and the tendency of change in the initial period after the motor 6 is started. Is changed as appropriate. Hereinafter, the reference value B (n), which is the starting point of the weighted average, may be referred to as a “stable point”. Further, the process of changing the stable point after the motor 6 is started may be referred to as "stable point search process".

The reference value calculation unit 53 limits the range of the reference value B (n) in the initial period after the motor 6 is started as the stable point search process. That is, when the new calculated load F (n) exceeds the maximum load Bmax, the reference value calculation unit 53 matches the new reference value B (n) with the maximum load Bmax, and the new calculated load F (n) becomes If it is smaller than the minimum load Bmin, the new calculated load F (n) is made to match the minimum load Bmin.

Further, as a stable point search process, the reference value calculation unit 53 sets the amount of decrease in the calculated load F per predetermined time p1 “F (n−p1) −F (n)” in the initial period after the motor 6 is started. When exceeds the first fluctuation threshold value ΔFp1, the new reference value B (n) is matched with the new calculated load F (n).

Further, as a stability point search process, the reference value calculation unit 53 increases the calculated load F per predetermined time p3 “F (n) −F (n−p3)” in the initial period after the motor 6 is started. Is a weighted average of the new calculated load F (n) and the past reference value B (n-1) when the second fluctuation threshold value ΔFp3 is exceeded, and the response speed is faster than the first weighted average. (Hereinafter, it may be referred to as "second weighted average".) The result is calculated as a new reference value B (n). The second weighted average is expressed by the following equation, where the weighting coefficient is "Q".

The weighting coefficient “Q” of the second weighted average (Equation (6)) is smaller than the weighting coefficient “M” of the first weighted average (Equation (5)).

Further, when the calculated load F (n) and the reference value B (n) have a difference within the first range continuously for a predetermined time or longer, the reference value calculation unit 53 newly sets a new reference value B (n). Match the calculated load F (n). Hereinafter, this process may be referred to as "reference value follow-up process". When the change of the reference value B (n) due to the first weighted average is delayed with respect to the change of the calculated load F (n), the calculated load F (n) and the reference value B (n) are constantly set. Differences may occur. By performing the reference value tracking process, this steady difference is immediately eliminated, so that it is easy to avoid an error in the determination of pinching.

The first range is, for example, a range in which the difference “F (n) −B (n)” between the calculated load F (n) and the reference value B (n) is larger than the threshold value Dmin1 and smaller than the threshold value Dmax. is there.

On the other hand, when the position of the opening / closing body 3 detected by the opening / closing body position detecting unit 51 is within a predetermined range close to the fully closed position of the opening / closing body 3, the reference value calculation unit 53 determines the calculated load F (n). When the reference value B (n) and the reference value B (n) have a difference within the second range continuously for a predetermined time or longer, the new reference value B (n) is made to match the new calculated load F (n). Here, the second range is extended from the first range under the condition that the calculated load F (n) is smaller than the reference value B (n).

The second range is, for example, a range in which the difference “F (n) −B (n)” between the calculated load F (n) and the reference value B (n) is larger than the threshold value Dmin2 and smaller than the threshold value Dmax. is there. The threshold value Dmin2 in the second range is a negative value smaller than the threshold value Dmin1 in the first range. Near the fully closed position of the opening / closing body 3, a steady difference may occur when the calculated load F (n) is smaller than the reference value B (n), and the threshold value Dmin2 in the second range is this. Set to include steady differences.

For example, the reference value calculation unit 53 performs the reference value tracking process according to the above-mentioned second range within a predetermined range close to the fully closed position, and in other ranges, the reference value according to the above-mentioned first range. Follow-up processing is performed.

In the reference value calculation unit 53, the difference “| F (n) −B (n-1) |” between the new calculated load F (n) and the past reference value B (n-1) is the difference threshold value ΔFB. If it is larger and the change amount “| F (n) −F (n−p2) |” of the calculated load F per predetermined time p2 is larger than the change amount threshold value ΔFp2, a new reference value B (n) Is matched with the past reference value B (n-1). That is, when the calculated load F suddenly changes and the difference between the calculated load F and the reference value B suddenly increases, the reference value calculation unit 53 stops updating the reference value B, thereby causing the calculated load F. The difference between the value and the reference value B is quickly increased.

[Disturbance detection unit 54]
The disturbance detection unit 54 monitors the fluctuation of the calculated load F (n), and the fluctuation of the calculated load F (n) is based on the comparison between the fluctuation amount of the calculated load F (n) and the first disturbance threshold value ΔX1. Detects the disturbance that causes.

In the example of FIG. 1, the disturbance detection unit 54 includes a maximum value holding unit 541, a disturbance determination unit 542, and a disturbance increment value calculation unit 543.

The maximum value holding unit 541 holds the maximum value Fmax (n-1) of the calculated load F, and each time a new calculated load F (n) is calculated by the load calculation unit 52, a new calculated load F (n) is calculated. ) And the maximum value Fmax (n-1). If the new calculated load F (n) is larger than the maximum value Fmax (n-1), the maximum value holding unit 541 holds the new calculated load F (n) as the new maximum value Fmax (n). If the new calculated load F (n) is equal to or less than the maximum value Fmax (n-1), the maximum value Fmax (n-1) is continuously held as the maximum value Fmax (n). Further, the maximum value holding unit 541 reduces the held maximum value Fmax (n) with the passage of time. For example, when the maximum value holding unit 541 continues to hold the maximum value Fmax (n-1) as the new maximum value Fmax (n), the new maximum value Fmax (n) is set to the maximum value Fmax (n-1). Decrease by the fixed value "Ds" from. The fixed value "Ds" is a value set for each characteristic of the vehicle.

The disturbance determination unit 542 has a large disturbance when the fluctuation amount “Fmax (n) −F (n)” of the load F (n) calculated from the maximum value Fmax (n) is larger than the first disturbance threshold value ΔX1. Is determined.

Further, the disturbance determination unit 542 reduces the calculated load F (n) to a range in which the fluctuation amount “Fmax (n) −F (n)” exceeds the second disturbance threshold value ΔX2, and the fluctuation amount “Fmax (n)”. ) -F (n) ”is counted as the number of times that the calculated load F (n) is alternately increased to a range below the third disturbance threshold value ΔX3, and if there is the disturbance according to the number of times. judge. However, the first disturbance threshold value ΔX1 is the largest, the second disturbance threshold value ΔX2 is the second largest, and the third disturbance threshold value ΔX3 is the smallest. That is, the magnitude relationship is "ΔX1> ΔX2> ΔX3".

For example, the disturbance determination unit 542 determines the fluctuation amount “Fmax (n)” after the calculated load F (n) decreases until the fluctuation amount “Fmax (n) −F (n)” exceeds the second disturbance threshold value ΔX2. When the calculated load F (n) rises until “−F (n)” falls below the third disturbance threshold value ΔX3, a set of this decrease and rise is counted as one fluctuation of the calculated load F (n). .. When the number of fluctuations of the calculated load F (n) exceeds a predetermined number, the disturbance determination unit 542 determines that there is a small disturbance.

The disturbance determination unit 542 holds the disturbance determination state for a certain period of time each time it determines that there is a disturbance. When it is determined that there is further disturbance in the disturbance determination state, the disturbance determination unit 542 holds the disturbance determination state for a further fixed period from the time of the determination.

When the disturbance increment value calculation unit 543 determines that there is a disturbance in the disturbance determination unit 542, the fluctuation amount “Fmax (n) −F (n)” of the calculated load F (n) from the maximum value Fmax (n). The disturbance increment value ΔFX corresponding to is calculated.

The disturbance increment value calculation unit 543 calculates the disturbance increment value ΔFX to be added to the sandwiching threshold value Fth while the disturbance determination state in the disturbance determination unit 542 is held, and calculates the load F (n) from the maximum value Fmax (n). ) Is updated according to the largest fluctuation amount "Fmax (n) -F (n)". That is, when the calculated load F (n) drops significantly in the middle of the disturbance determination state and a large fluctuation amount “Fmax (n) −F (n)” is obtained, the disturbance increment value calculation unit 543 performs the disturbance increment value. Change ΔFX to a larger value.

[Pinch threshold value setting unit 55]
The sandwiching threshold value setting unit 55 sets the sandwiching threshold value Fth that determines the upper limit of the calculated load F (n). For example, the sandwiching threshold value Fth is the difference between the calculated load F (n) and the reference value B (n) “F (n) −B (n)” (calculated load F (n) with respect to the reference value B (n)). Establish the allowable range of (excess amount). In this case, the sum of the sandwiching threshold value Fth and the reference value B (n) corresponds to the upper limit of the calculated load F (n).

The sandwiching threshold value setting unit 55 sandwiches between the initial period after the motor 6 is started (for example, the period during which the stable point search process of the reference value calculation unit 53 is performed) and the period after the initial period. The value that is the base of the value Fth is switched. That is, the sandwiching threshold value setting unit 55 sets the start-up threshold value Fth1 in the initial period, and sets the steady state threshold value Fth2 in the period after the initial period. The start-up threshold value Fth1 has a value larger than the steady-state threshold value Fth2 in order to prevent erroneous determination due to a large fluctuation of the calculated load F (n) in the initial period.

Further, in the sandwiching threshold value setting unit 55, in the initial period after the motor 6 is started, the amount of decrease in the calculated load F per predetermined time p4 “F (n−p4) −F (n)” is the initial decrease amount. When the threshold value ΔFp4 is exceeded, the sandwiching threshold value Fth is temporarily increased. That is, when the reduction amount "F (n-p4) -F (n)" exceeds the initial reduction amount threshold value ΔFp4 in the initial period, the sandwiching threshold value setting unit 55 has a threshold for sandwiching only during the initial period. Add the incremental value ΔFD to the value Fth.

When the position of the opening / closing body 3 detected by the opening / closing body position detecting unit 51 is within a predetermined range close to the fully closed position, the sandwiching threshold value setting unit 55 increases as the position P of the opening / closing body 3 approaches the fully closed position. The increasing increment value ΔFS (P) is sandwiched and added to the threshold value Fth. As a result, the increase in sliding friction in the close range of the fully closed position is less likely to be erroneously determined as pinching.

When the disturbance detection unit 54 detects a disturbance, the sandwiching threshold value setting unit 55 sets the sandwiching threshold value Fth so as to raise the upper limit of the calculated load F (n). For example, when a disturbance is detected by the disturbance detection unit 54, the sandwiching threshold value setting unit 55 adds the disturbance increment value ΔFX according to the amount of fluctuation of the calculated load F (n) due to the disturbance to the sandwiching threshold value Fth. .. The sandwiching threshold value setting unit 55 adds the disturbance increment value ΔFX to the sandwiching threshold value Fth while the disturbance determination state is held by the disturbance determination unit 542, and when the disturbance determination state ends, the disturbance increment value. The addition of ΔFX is also completed.

Further, the sandwiching threshold value setting unit 55 changes the upper limit of the calculated load F (n) in the sandwiching determination according to the change in the calculated load F (n) accompanying the change in the voltage supplied to the motor 6. The sandwiching threshold value Fth is set based on the motor voltage V detected by the voltage detection unit 20. That is, the sandwiching threshold value setting unit 55 is a correction value according to a change in the calculated load F (n) accompanying a change in the voltage supplied to the motor 6 based on the motor voltage V detected by the voltage detection unit 20. Is sandwiched and added to the threshold value Fth. For example, when the motor voltage V rises, the sandwiching threshold value setting unit 55 adds an increment value ΔFV (n) corresponding to the rise width ΔV (n) of the motor voltage V to the sandwiching threshold value Fth as a correction value. .. The increment value ΔFV (n) is expressed by, for example, the following equation.

In the formula (7), “K1” is a constant term related to the magnitude of fluctuation of the calculated load F (n) according to the increase width ΔV (n) of the motor voltage V. Further, "K2" is a constant term that determines the speed of attenuation of the increment value ΔFV (n) when the rise width ΔV (n) of the motor voltage V is zero, and is set to a positive number smaller than 1. The closer the constant K2 is to zero, the faster the incremental value ΔFV (n) decays.

The sandwiching threshold value setting unit 55 sets the increment value ΔFV (n) to a value of zero or more. Therefore, when the result of the equation (7) is negative, the sandwiching threshold value setting unit 55 sets the increment value ΔFV (n) to zero.

[Pinch determination unit 56]
When the calculated load F (n) exceeds the upper limit set by the pinching threshold value Fth, the pinching determination unit 56 determines that the pinching of the object by the opening / closing body 3 has occurred. For example, when the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is larger than the sandwiching threshold value Fth, the sandwiching determination unit 56 is an object by the opening / closing body 3. It is determined that the pinching has occurred.

For example, the sandwiching determination unit 56 calculates each time a new calculated load F (n) is calculated by the load calculation unit 52, based on a series of a plurality of calculated loads F including the new calculated load F (n). It is determined whether or not the change pattern of the load F corresponds to a predetermined monotonous increase pattern. The sandwiching determination unit 56 determines that the first condition in which the difference “F (n) −B (n)” between the calculated load F (n) and the reference value B (n) is larger than the sandwiching threshold value Fth and the calculated load F. When the change pattern satisfies the second condition corresponding to the monotonous increase pattern, it is determined that pinching has occurred.

Further, the pinching determination unit 56 determines that the increase amount “F (n) −F (n−q3)” of the calculated load F per predetermined time q3 is larger than the threshold value ΔFh indicating the pinching occurrence standard of a hard object. In addition to the first condition and the second condition described above, it is determined that pinching has occurred when the third condition in which the change of the calculated load F is accelerating is satisfied.

[Motor control unit 57]
The motor control unit 57 generates a control signal of the motor 6 according to the operation signal input by the operation unit 40, and outputs the control signal to the motor drive circuit 10. The motor control unit 57 generates a control signal to be output to the motor drive circuit 10 so as to satisfy preset conditions such as the rotation direction and rotation speed of the motor 6 for each of the closing operation and the opening operation.

Further, the motor control unit 57 performs pinch prevention control for reversing the rotation of the motor 6 when the pinch determination unit 56 determines that the pinch of the object has occurred. For example, when the pinching determination unit 56 determines that pinching has occurred during the closing operation, the motor control unit 57 reverses the motor 6 to perform the opening operation and stops the opening / closing body 3 at an appropriate position.
The above is the description of the processing unit 50.

The storage unit 60 stores a computer program 61 in the processing unit 50, constant data used in the processing of the processing unit 50, variable data temporarily held in the process of the processing unit 50, and the like. The storage unit 60 includes, for example, a storage device such as a DRAM, an SRAM, a flash memory, or a hard disk.

The program 61 may be stored in the storage unit 60 in advance, or may be downloaded from another server or the like via an interface device (not shown) and stored in the storage unit 60, or may be stored in the storage unit 60 in a non-temporary manner. What is read from a medium (optical disk, USB memory, etc.) by a reading device (not shown) may be stored in the storage unit 60.

Next, the operation of the open / close control device according to the present embodiment having the above-described configuration will be described.

FIG. 2 is a diagram showing an outline of the operation of the open / close control device in each stage after the motor is started. The open / close control device according to the present embodiment executes different operations for each of the four stages (first stage S1 to fourth stage S4) according to the rotational state of the motor 6. The first stage S1 to the fourth stage S4 are periods divided according to the elapsed time from the start time of the motor 6, and the elapsed time from the start time becomes longer in this order. As shown in FIG. 2, the rotational state of the motor 6 is more unstable in the stage closer to the start time, but is generally stable in the stage S4.

As shown in FIG. 2, the open / close control device determines whether or not the object is pinched in the second stage S2 or later, and does not perform the determination in the first stage S1. Therefore, the open / close control device does not set the sandwiching threshold value Fth (calculate the incremental value, etc.) in the first stage S1.

As shown in FIG. 2, the open / close control device performs the stability point search process in the first stage S1 and the second stage S2, and does not perform the third stage S3 and thereafter. Further, the open / close control device does not perform the disturbance detection process in the first stage S1 and the second stage S2, but performs it in the third stage S3 or later.

FIG. 3 is a flowchart for explaining the pinch prevention function in the open / close control device. The process shown in FIG. 3 is repeatedly executed, for example, every Ts for a predetermined time.

ST100, ST105:
The processing unit 50 acquires the current detected by the current detection unit 30 and the voltage detected by the voltage detection unit 20. The opening / closing body position detecting unit 51 detects the position of the opening / closing body 3 that opens / closes based on a ripple component or the like included in the current of the motor 6. When the position of the opening / closing body 3 is in the pinching monitoring area where the pinching prevention control should be performed, the processing unit 50 executes the processing after step ST110. When the position of the opening / closing body 3 is not in the sandwich monitoring area (for example, when the opening / closing body 3 is in the non-reversing area where the opening / closing body 3 does not invert in the vicinity of the fully closed position), the processing unit 50 skips step ST110 and the process and ends the process. ..

ST110:
The processing unit 50 determines which of the first stage S1 to the fourth stage S4 shown in FIG. 2 is in the first stage S1 to the fourth stage S4 shown in FIG. 2 based on the elapsed time (value of “n”) from the start time of the motor 6.

ST115:
The load calculation unit 52 calculates by the equations (1) to (4) based on the motor current Im (n) detected by the current detection unit 30 and the motor voltage V (n) detected by the voltage detection unit 20. The load F (n) is calculated.

ST120:
The reference value calculation unit 53 calculates the result of the weighted average of the calculated load F (n) calculated by the load calculation unit 52 as the reference value B (n).

ST125:
The disturbance detection unit 54 monitors the fluctuation of the calculated load F (n), and the fluctuation of the calculated load F (n) is based on the comparison between the fluctuation amount of the calculated load F (n) and the first disturbance threshold value ΔX1. Detects the disturbance that causes.

ST130:
The sandwiching threshold value setting unit 55 allows the difference "F (n) -B (n)" between the calculated load F (n) calculated in step ST115 and the reference value B (n) calculated in step ST120. Set the sandwiching threshold value Fth that defines the range.

ST135:
When the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is larger than the pinching threshold value, the pinching determination unit 56 causes pinching of the object by the opening / closing body 3. Judge that it has occurred.

ST140, ST145:
When the pinch determination unit 56 determines that there is pinch, the motor control unit 57 performs pinch prevention control that reverses the rotation of the motor 6. For example, when it is determined that pinching has occurred during the closing operation, the motor control unit 57 reverses the motor 6 to perform the opening operation.

Next, each process of steps ST120 to ST135 shown in FIG. 3 will be described in more detail with reference to a flowchart and the like.

(1) Reference value calculation FIG. 4 is a flowchart for explaining the calculation of the reference value B (FIG. 3, ST120).
The reference value calculation unit 53 initializes each variable and state used for calculating the reference value B in the case of the initial state after the start of the motor 6 (ST200, Yes) (ST205). For example, the reference value calculation unit 53 sets the reference value B (n) to the minimum load Bmin, and initializes the coefficient value CNT used in the reference value tracking process (ST220) to zero.

The reference value calculation unit 53 performs a stable point search process (ST210) when it is in the initial period (first stage S1 and second stage S2) after the motor 6 is started.

Next, the reference value calculation unit 53 performs the first weighted average (Equation (5)) of the new calculated load F (n) and the past reference value B (n-1), and obtains the result as the new reference value. Calculated as B (n) (ST215).

After calculating the new reference value B (n), the reference value calculation unit 53 performs the reference value tracking process for eliminating the steady difference between the calculated load F (n) and the reference value B (n). (ST220)

(1-1) Stability point search process FIG. 5 is a flowchart for explaining a stable point search process (FIG. 4, ST210) in calculating a reference value.
When the reference value calculation unit 53 is in the period (first stage S1 and second stage S2) for performing the stable point search process (ST300, Yes), the reference value calculation unit 53 compares the calculated load F (n) with the minimum load Bmin, and calculates the calculated load. If F (n) is equal to or less than the minimum load Bmin (ST305, No), the new reference value B (n) is matched with the minimum load Bmin (ST310).

When the calculated load F (n) is larger than the minimum load Bmin (ST305, Yes), the reference value calculation unit 53 determines the amount of decrease in the calculated load F per predetermined time p1 “F (n−p1) −F (n)”. Is compared with the first fluctuation threshold ΔFp1. When the amount of decrease in the calculated load F "F (n-p1) -F (n)" is larger than the first fluctuation threshold value ΔFp1 (ST315, Yes), the reference value calculation unit 53 determines the new reference value B (n). Is matched with the calculated load F (n) (ST320).

When the amount of decrease in the calculated load F “F (n−p1) −F (n)” is equal to or less than the first fluctuation threshold value ΔFp1 (ST315, No), the reference value calculation unit 53 uses the calculated load per predetermined time p3. The amount of increase in F "F (n) -F (n-p3)" is compared with the second fluctuation threshold value ΔFp3. When the amount of increase in the calculated load F "F (n) -F (n-p3)" is larger than the second fluctuation threshold value ΔFp3 (ST325, Yes), the reference value calculation unit 53 responds faster than the first weighted average. The result of the fast second weighted average (Equation (6)) is calculated as a new reference value B (n) (ST330).

After step ST320 or step ST330, the reference value calculation unit 53 compares the reference value B (n) with the maximum load Bmax, and when the reference value B (n) is larger than the maximum load Bmax (ST335, Yes), the reference value Match B (n) with the maximum load Bmax (ST340).

FIG. 6 is a diagram showing an example of a stable point search process (FIG. 5). FIG. 6A shows a case where the calculated load F is smaller than the minimum load Bmin, FIG. 6B shows a case where the calculated load F suddenly decreases, FIG. 6C shows a case where the calculated load F suddenly increases, and FIG. 6D. Indicates a case where the calculated load F is larger than the maximum load Bmax.

As shown in FIGS. 6A and 6D, in the first stage S1 and the second stage S2 after the motor 6 is started, the range of the calculated load F is limited between the maximum load Bmax and the minimum load Bmin. As a result, even if a large fluctuation in the calculated load F due to the starting characteristics of the motor 6 occurs in the initial period (S1, S2) after the motor 6 is started, the reference value according to the first weighted average (Equation (5)). The calculation result of B can easily converge to an appropriate range in a relatively short time.

Further, as shown in FIG. 6B, when the calculated load F is relatively significantly reduced due to the fluctuation of the calculated load F due to the starting characteristics of the motor 6 in the initial period (S1 and S2) after the motor 6 is started, it is a reference. The value B (n) is matched with the calculated load F (n). As a result, even if the calculated load F fluctuates due to the influence of the starting characteristics, the calculation result of the reference value B by the first weighted average (Equation (5)) can easily converge to a value close to the calculated load F in a relatively short time. Become.

Further, as shown in FIG. 6C, when the calculated load F rises relatively significantly due to the fluctuation of the calculated load F due to the starting characteristics of the motor 6 in the initial period (S1, S2) after the motor 6 is started, the first The reference value B is calculated by the second weighted average (Equation (6)), which has a faster response speed than the one-weighted average. As a result, even if the calculated load F fluctuates due to the influence of the starting characteristic, the calculation result of the reference value B by the second weighted average can easily converge to a value close to the calculated load F in a relatively short time.

In this way, in the initial period (S1, S2) after the motor 6 is started, the calculation result of the reference value B when there is no pinching converges to a value close to an appropriate range (calculated load F) in a relatively short time. By making it easier to perform, it becomes possible to accurately determine the pinching even in the initial period (S1, S2).

(1-2) Weighted Average Processing FIG. 7 is a flowchart for explaining the weighted average processing (FIG. 4, ST215) in the calculation of the reference value.
The reference value calculation unit 53 sets the difference “| F (n) −B (n-1) |” between the new calculated load F (n) and the past reference value B (n-1) as the difference threshold value ΔFB. Compare with (ST400). When the difference "| F (n) -B (n-1) |" between the new calculated load F (n) and the past reference value B (n-1) is smaller than the difference threshold ΔFB (ST400, Yes) ), The reference value calculation unit 53 calculates the reference value B (n) by the first weighted average (Equation (5)) (ST410).

When the difference "| F (n) -B (n-1) |" between the new calculated load F (n) and the past reference value B (n-1) is equal to or greater than the difference threshold ΔFB (ST400, No. ), The reference value calculation unit 53 compares the change amount “| F (n) −F (n−p2) |” of the calculated load F per predetermined time p2 with the change amount threshold value ΔFp2 (ST405). When the change amount "| F (n) -F (n-p2) |" of the calculated load F is smaller than the change amount threshold value ΔFp2 (ST405, Yes), the reference value calculation unit 53 sets the reference value B (n). Is calculated by the first weighted average (Equation (5)) (ST410).

When the reference value B (n) calculated by the first weighted average (Equation (5)) is zero or less (ST415, No), the reference value calculation unit 53 sets the reference value B (n) to zero (ST420).

The difference "| F (n) -B (n-1) |" between the new calculated load F (n) and the past reference value B (n-1) is equal to or greater than the difference threshold value ΔFB and is predetermined. When the change amount "| F (n) -F (n-p2) |" of the calculated load F per time p2 is the change amount threshold value ΔFp2 or more (No in both ST400 and ST405), the reference value. The calculation unit 53 makes the new reference value B (n) match the past reference value B (n-1) (ST425). That is, the reference value calculation unit 53 stops updating the reference value B (n).

FIG. 8 is a diagram showing an example of weighted average processing (FIG. 7). FIG. 8A shows an example in which the reference value B is calculated by the weighted average processing. FIG. 8B shows an example in which the update of the reference value B is stopped due to a sudden rise in the calculated load F.

As shown in FIG. 8A, the difference “| F (n) −B (n-1) |” between the new calculated load F (n) and the past reference value B (n-1) is the difference threshold value ΔFB. If it is smaller, or if the change amount “| F (n) −F (n−p2) |” of the calculated load F per predetermined time p2 is smaller than the change amount threshold value ΔFp2, the reference value calculation unit 53 uses the reference value calculation unit 53 as a reference. The value B (n) is calculated by the first weighted average (Equation (5)). In this case, the reference value B (n) indicates a change that generally follows the calculated load F (n).

As shown in FIG. 8B, when pinching occurs, the difference between the new calculated load F (n) and the past reference value B (n-1) suddenly increases, and the calculated load F changes over time. Is likely to grow suddenly. Therefore, in such a case, by stopping the update of the reference value B, the difference between the calculated load F and the reference value B increases rapidly, so that the occurrence of pinching can be detected promptly.

(1-3) Reference value tracking process FIG. 9 is a flowchart for explaining a reference value tracking process (FIG. 4, ST220) in calculating a reference value.
The reference value calculation unit 53 determines whether or not the position of the opening / closing body 3 detected by the opening / closing body position detecting unit 51 is outside a predetermined proximity range of the fully closed position (ST500). When the opening / closing body 3 is outside the proximity range of the fully closed position (ST500, Yes), the reference value calculation unit 53 determines the difference "F (n)-" between the calculated load F (n) and the reference value B (n). "B (n)" is compared with the threshold values Dmin1 and Dmax, respectively (ST505, ST510). When the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is included in the first range larger than the threshold value Dmin1 and smaller than the threshold value Dmax. (In the case of Yes in both ST505 and ST510), the reference value calculation unit 53 increments the count value CNT (ST515). When the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is not included in the first range (when at least one of ST505 and ST510 is No), the reference. The value calculation unit 53 initializes the count value CNT to zero (ST520).

When the opening / closing body 3 is inside the proximity range of the fully closed position (ST500, No), the reference value calculation unit 53 determines the difference "F (n)-" between the calculated load F (n) and the reference value B (n). "B (n)" is compared with the threshold values Dmin2 and Dmax, respectively (ST525, ST530). When the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is included in the second range larger than the threshold value Dmin2 and smaller than the threshold value Dmax. (In the case of Yes in both ST525 and ST530), the reference value calculation unit 53 increments the count value CNT (ST535). When the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is not included in the second range (when at least one of ST525 and ST530 is No), the reference. The value calculation unit 53 initializes the count value CNT to zero (ST540).

After performing an operation such as incrementing the count value CNT (ST515, ST520, ST535, ST540), the reference value calculation unit 53 compares the count value CNT with the threshold value ΔCNTth (ST545). When the coefficient value CNT is larger than the threshold value ΔCNTth (ST545, Yes), the reference value calculation unit 53 determines the difference between the calculated load F (n) and the reference value B (n) “F (n) −B (n). Is continuously in the first range or the second range for a time corresponding to the threshold value ΔCNTth. In this case, the reference value calculation unit 53 matches the reference value B (n) with the calculated load F (n) and initializes the count value CNT to zero (ST550).

FIG. 10 is a diagram showing an example of reference value tracking processing (FIG. 9) outside the proximity range of the fully closed position. As shown in FIG. 10, when a steady difference within the first range occurs continuously for a certain period of time or more between the reference value B (n) and the calculated load F (n), this is performed by the reference value tracking process. The steady difference is eliminated.

FIG. 11 is a diagram showing a comparison between the case where the reference value tracking process is performed and the case where the reference value tracking process is not performed. FIG. 11A shows an example when the reference value tracking process is performed, and FIG. 11B shows a comparative example when the reference value tracking process is not performed. As can be seen by comparing FIGS. 11A and 11B, by eliminating the constant difference between the calculated load F (n) and the reference value B (n) by the reference value tracking process, an error in the determination of pinching can be made. It can be avoided effectively.

FIG. 12 is a diagram showing an example of reference value tracking processing (FIG. 9) in the proximity range of the fully closed position. As shown in FIG. 12, near the fully closed position of the opening / closing body 3, a steady difference may occur in a state where the calculated load F (n) is smaller than the reference value B (n). If the calculated load F (n) is smaller than the reference value B (n), the timing of pinching detection tends to be delayed. Therefore, in the proximity range of the fully closed position, the range in which the reference value is followed is expanded as compared with the outside of the proximity range. That is, the threshold value Dmin2 in the second range is set so as to include the case where the calculated load F (n) is smaller than the reference value B (n) and the difference between the two is large. For example, the threshold Dmin1 in the first range is set to a positive value, while the threshold Dmin2 in the second range is set to a negative value. As a result, even if a steady difference occurs when the calculated load F (n) is smaller than the reference value B (n), this steady difference is eliminated by the reference value tracking process.

FIG. 13 is a diagram showing a comparison between the case where the reference value tracking process is performed and the case where the reference value tracking process is performed in the proximity range of the fully closed position. FIG. 13A shows an example when the reference value tracking process is performed, and FIG. 13B shows a comparative example when the reference value tracking process is not performed. In these examples, pinching occurs near the fully closed position, and the calculated load F rises sharply. As can be seen by comparing FIG. 13A and FIG. 13B, the calculated load F (n) is obtained by eliminating the constant difference between the calculated load F (n) and the reference value B (n) by the reference value tracking process. Since the time to reach "B + Fth", which is the criterion for detecting pinching, is shortened, the load at the time of pinching can be effectively reduced.

(2) Disturbance detection FIG. 14 is a flowchart for explaining disturbance detection (FIG. 3, ST125).
Each time a new calculated load F (n) is calculated, the maximum value holding unit 541 compares the maximum value Fmax (n-1) of the already held calculated load F with the new calculated load F (n). , Whichever is larger is held as the next maximum value Fmax (n) (ST600). Further, the maximum value holding unit 541 reduces the held maximum value Fmax (n) with the passage of time.

Next, the disturbance determination unit 542 compares the fluctuation amount “Fmax (n) −F (n)” of the calculated load F (n) from the maximum value Fmax (n) with the first disturbance threshold value ΔX1. Based on this comparison result, it is determined whether or not there is a large disturbance (ST605).

Further, the disturbance determination unit 542 calculates in a range in which the fluctuation amount “Fmax (n) −F (n)” of the calculated load F (n) from the maximum value Fmax (n) is smaller than the first disturbance threshold value ΔX1. The number of times the load F (n) causes a predetermined fluctuation is counted, and it is determined whether or not there is a small disturbance based on this number of times (ST610).

When it is determined in step ST605 or ST610 that there is a disturbance, the disturbance increment value calculation unit 543 calculates the disturbance increment value ΔFx to be added to the sandwiching threshold value Fth (ST615).

(2-1) Holding the Maximum Value of the Calculated Load F FIG. 15 is a flowchart for explaining a process of holding the maximum value of the calculated load F (FIG. 14, ST600).
The maximum value holding unit 541 makes the maximum value Fmax (n) of the calculated load F match the calculated load F (n) before the second stage S2 (ST700, Yes) when the disturbance detection is started (ST700, Yes). In the third stage S3 or later (ST700, No) when the disturbance detection is started, the maximum value holding unit 541 compares the held maximum value Fmax (n-1) with the calculated load F (n) (ST710). When the calculated load F (n) is larger than the maximum value Fmax (n) (ST710, Yes), the maximum value holding unit 541 matches the maximum value Fmax (n) with the calculated load F (n) (ST705). On the other hand, when the calculated load F (n) is equal to or less than the maximum value Fmax (n) (ST710, No), the maximum value holding unit 541 subtracts the fixed value “Ds” from the held maximum value Fmax (n-1). The value is held as the next new maximum value Fmax (n) (ST715).

FIG. 16 is a diagram showing an example of a process (FIG. 15) for holding the maximum value of the calculated load F. As shown in FIG. 16, the maximum value holding unit 541 reduces the maximum value Fmax with time when the calculated load F larger than the held maximum value Fmax does not appear. When the fluctuation of the calculated load F becomes small, the maximum value Fmax tends to be close to the calculated load F. Therefore, the amount of fluctuation of the calculated load F with respect to the maximum value Fmax is a value representing the magnitude of the fluctuation of the calculated load F.

(2-2) Large Disturbance Detection Process FIG. 17 is a flowchart for explaining a large disturbance detection process (FIG. 14, ST605).
When the current state is "there is no large disturbance" (ST800, Yes), the disturbance determination unit 542 determines the amount of fluctuation "Fmax (n) -F" of the calculated load F (n) from the maximum value Fmax (n). (N) ”is compared with the first disturbance threshold value ΔX1 (ST805). When the fluctuation amount “Fmax (n) −F (n)” is larger than the first disturbance threshold value ΔX1 (ST805, Yes), the disturbance determination unit 542 shifts to the “large disturbance” state and “large”. The timekeeping of the holding time in the "disturbed" state is started (ST810). This timekeeping is performed, for example, by counting the number of times it is determined in step ST800 that there is a "large disturbance" state.

On the other hand, even when the disturbance determination unit 542 determines in step ST800 that there is a “large disturbance” (ST800, No), the fluctuation amount “Fmax (n) −F (n)” is set to the first disturbance threshold value ΔX1. Compare with (ST815). When the fluctuation amount “Fmax (n) −F (n)” is larger than the first disturbance threshold value ΔX1 (ST815, Yes), the disturbance determination unit 542 initializes the time counting time (ST820). The initialization of the time counting time is performed, for example, by resetting (zeroing) the number of times in step ST800 that is determined to be in the "large disturbance" state.

When the fluctuation amount "Fmax (n) -F (n)" is equal to or less than the first disturbance threshold value ΔX1 (ST815, No) in the state of "there is a large disturbance" (ST800, No), the disturbance determination unit 542 determines. It is determined whether or not the time counting time exceeds the predetermined time (ST825). This determination is made, for example, based on a comparison between the number of times the "large disturbance" state is determined in step ST800 and a predetermined threshold value. When the time counting time exceeds the predetermined time, the disturbance determination unit 542 shifts to the state of "no major disturbance" and initializes the time counting time (ST830).

FIG. 18 is a diagram showing an example of a large disturbance detection process. The black circle surrounded by a circle in FIG. 18 indicates the calculated load F when it is determined that there is a large disturbance. As shown in FIG. 18, when the fluctuation amount of the calculated load F with respect to the maximum value Fmax is larger than the first disturbance threshold value ΔX1 in the period when the maximum value Fmax decreases with time, the disturbance determination unit 542 determines that there is a large disturbance. judge.

(2-3) Small disturbance detection process FIGS. 19 and 20 are flowcharts for explaining a small disturbance detection process (FIGS. 14, ST610).
The disturbance determination unit 542 has a maximum value when the current state is "no small disturbance" (ST900, Yes) and when the current state is "monitoring a decrease in load" (ST905, Yes). The fluctuation amount “Fmax (n) −F (n)” of the load F (n) calculated from Fmax (n) is compared with the second disturbance threshold value ΔX2 (ST910). The second disturbance threshold value ΔX2 is smaller than the first disturbance threshold value ΔX1 used in the large disturbance detection process (FIG. 17).

When the fluctuation amount "Fmax (n) -F (n)" is larger than the second disturbance threshold value ΔX2 (ST910, Yes), the disturbance determination unit 542 increments the "number of fluctuations of the calculated load F" (ST915). , It is determined whether or not the number of fluctuations has reached a predetermined number (ST920). When the "number of fluctuations of the calculated load F" is smaller than a predetermined number (ST920, No), the disturbance determination unit 542 shifts from the "monitoring the decrease in load" state to the "monitoring the increase in load" state (ST925). ..

Next, in the case of the "no small disturbance" state (ST900, Yes) and the "monitoring the increase in load" state (ST905, No), the disturbance determination unit 542 starts from the maximum value Fmax (n). The fluctuation amount “Fmax (n) −F (n)” of the calculated load F (n) is compared with the third disturbance threshold value ΔX3 (ST930). The third disturbance threshold value ΔX3 is even smaller than the second disturbance threshold value ΔX2.

When the fluctuation amount "Fmax (n) -F (n)" is lower than the third disturbance threshold value ΔX3 (ST930, Yes), that is, the calculated load F (n) rises and approaches the maximum value Fmax (n). If so, the disturbance determination unit 542 returns to the state of "monitoring the decrease in load" again (ST935). After that, when the calculated load F (n) decreases and the fluctuation amount “Fmax (n) −F (n)” becomes larger than the second disturbance threshold value ΔX2, the process of steps ST900 to ST915 is performed again, and the “calculated load” is obtained. The number of fluctuations of F "is incremented. In this way, the calculated load F (n) decreases to the range where the fluctuation amount “Fmax (n) −F (n)” exceeds the second disturbance threshold value ΔX2, and the fluctuation amount “Fmax (n) −F (n)” Every time "n)" is alternately repeated to increase the calculated load F (n) to a range below the third disturbance threshold value ΔX3, the “number of fluctuations of the calculated load F” is incremented by one.

When it is determined in step ST920 that the number of fluctuations of the calculated load F (n) has reached a predetermined number (ST920, Yes), the disturbance determination unit 542 shifts to the “small disturbance” state and “there is a small disturbance”. The timekeeping of the state holding time is started (ST940). This timekeeping is performed, for example, by counting the number of times it is determined in step ST900 that there is a "small disturbance" state.

When the disturbance determination unit 542 is in the state of "there is a small disturbance" (ST900, No), the disturbance amount "Fmax (n) -F (n)" of the calculated load F (n) from the maximum value Fmax (n) is set. Compare with the second disturbance threshold ΔX2 (ST945). When the fluctuation amount “Fmax (n) −F (n)” is larger than the second disturbance threshold value ΔX2 (ST945, Yes), the disturbance determination unit 542 initializes the time counting time (ST950). The initialization of the time counting time is performed, for example, by resetting (zeroing) the number of times in step ST900 that is determined to be in the "small disturbance" state.

When the fluctuation amount “Fmax (n) −F (n)” is equal to or less than the second disturbance threshold value ΔX2 (ST945, No) in the “small disturbance” state (ST900, No), the disturbance determination unit 542 determines. It is determined whether or not the time counting time exceeds the predetermined time (ST955). This determination is made, for example, based on a comparison between the number of times the "small disturbance" state is determined in step ST900 and a predetermined threshold value. When the time counting time exceeds the predetermined time (ST955, Yes), the disturbance determination unit 542 shifts to the state of "monitoring the decrease in load" in the state of "no small disturbance" and initializes the time counting time (ST955, Yes). ST960).

FIG. 21 is a diagram showing an example of a small disturbance detection process (FIGS. 19 and 20). The black circle surrounded by a circle in FIG. 21 indicates the calculated load F when it is determined that there is a small disturbance. In the example of FIG. 21, the calculated load F (n) decreases in the range where the fluctuation amount “Fmax (n) −F (n)” exceeds the second disturbance threshold value ΔX2, and the fluctuation amount “Fmax (n) −” The increase of the calculated load F (n) to the range where "F (n)" is below the third disturbance threshold value ΔX3 is repeated alternately, and a small disturbance occurs when the calculated load F (n) decreases for the third time. Is determined.

(2-3) Disturbance Incremental Value Calculation Process FIG. 22 is a flowchart for explaining a disturbance increment value calculation process (FIG. 14, ST615).
The disturbance increment value calculation unit 543 determines whether or not there is one or both of the "small disturbance" state and the "large disturbance" state (ST1000). In the case of neither state (ST1000, No), the disturbance increment value calculation unit 543 holds the current fluctuation amount “Fmax (n) −F (n)” as the maximum value ΔFmax (n) of the fluctuation amount (ST1005). ). Further, the disturbance increment value calculation unit 543 sets the disturbance increment value ΔFX to be added to the sandwiching threshold value Fth to zero (ST1010).

After that, when it is determined that there is one or both of the "small disturbance" state and the "large disturbance" state due to the fluctuation of the calculated load F (n) (ST1000, Yes), the disturbance increment value calculation unit. 543 compares the retained maximum value ΔFmax (n-1) with the current fluctuation amount “Fmax (n) −F (n)” (ST1015). When the current fluctuation amount "Fmax (n) -F (n)" is larger than the maximum value ΔFmax (n-1) (ST1015, Yes), the disturbance increment value calculation unit 543 determines the current fluctuation amount "Fmax (n)". −F (n) ”is held as a new maximum value ΔFmax (n) (ST1020). On the other hand, when the current fluctuation amount "Fmax (n) -F (n)" is equal to or less than the maximum value ΔFmax (n-1), the disturbance increment value calculation unit 543 keeps the retained maximum value ΔFmax (n-1) as it is. It is held as the maximum value ΔFmax (n) (ST1025). After step ST1020 or ST1025, the disturbance increment value calculation unit 543 calculates the sum of the maximum value ΔFmax (n) of the new fluctuation amount and the fixed value “ΔFXs” as the disturbance increment value ΔFX (ST1030). The fixed value "ΔFXs" is a value set for each characteristic of the vehicle.

FIG. 23 is a diagram showing an example of a retention period of the disturbance determination state.
At time t1, it is determined that the disturbance determination unit 542 has a larger disturbance, and the disturbance determination state starts. In the disturbance determination state, the disturbance increment value ΔFX is added to the sandwiching threshold value Fth, so that the sandwiching threshold value Fth becomes large. In the example of FIG. 23, the sandwiching threshold value Fth is increased by adding the disturbance increment value ΔFX during the time t1 to t7, which is the disturbance determination state. The disturbance determination state is extended for a certain period from that point each time the disturbance determination unit 542 determines that there is a disturbance. Although it is not determined that there is a disturbance between the times t3 and t4, the disturbance determination state is maintained because it is within a certain period. Since the determination that there is a disturbance at the end of the time t6 is eliminated, the holding period of the disturbance determination state ends at the time t7. When the disturbance determination state ends, the addition of the disturbance increment value ΔFX to the sandwiching threshold value Fth ends, and the sandwiching threshold value Fth returns to the original level.

As shown in FIG. 23, the retention of the disturbance determination state is limited to a certain period, and the addition of the disturbance increment value ΔFX to the sandwiching threshold value Fth is limited to a certain period. Therefore, the disturbance increment value ΔFX does not continue to be added to the sandwiching threshold value Fth even after the fluctuation of the calculated load F (n) due to the single-shot disturbance is completed. That is, when the state without disturbance is returned, the pinch threshold value Fth also returns to the original level, so that it is possible to avoid a decrease in the response speed from the occurrence of the pinch to the detection.

FIG. 24 is a diagram showing an example of updating the disturbance increment value during the holding period of the disturbance determination state, and the waveform of the graph is the same as that of FIG. 23.
When the disturbance determination state starts at time t1, the fluctuation amount “Fmax (n) −F (n)” of the calculated load F (n) from the maximum value Fmax (n) is “a”. Therefore, the disturbance increment value calculation unit 543 holds “a” as the maximum value ΔFmax of the fluctuation amount. The disturbance increment value calculation unit 543 calculates the sum “a + ΔFXs” of the maximum value ΔFmax “a” and the fixed value “ΔFXs” as the disturbance increment value ΔFX.

At time t2, the fluctuation amount “Fmax (n) −F (n)” becomes “b”, which is larger than “a” at time t1. Therefore, the disturbance increment value calculation unit 543 updates the maximum value ΔFmax of the fluctuation amount from “a” to “b”, and disturbs the sum “b + ΔFXs” of the maximum value ΔFmax “b” and the fixed value “ΔFXs”. Calculated as an incremental value ΔFX. As a result, the sandwiching threshold value Fth increases at time t2.

Further, at time t5, the fluctuation amount “Fmax (n) −F (n)” becomes “c”, which is even larger than “b” at time t2. Therefore, the disturbance increment value calculation unit 543 updates the maximum value ΔFmax of the fluctuation amount from “b” to “c”, and disturbs the sum “c + ΔFXs” of the maximum value ΔFmax “c” and the fixed value “ΔFXs”. Calculated as an incremental value ΔFX. As a result, the sandwiching threshold value Fth becomes even larger at time t5.

As shown in FIG. 24, when the disturbance becomes large while the disturbance determination state is held, the maximum value ΔFmax of the fluctuation amount “Fmax (n) −F (n)” is updated according to the maximum value ΔFmax. The disturbance increment value ΔFX is also updated. As a result, the pinch threshold value Fth increases in response to the disturbance that increases from the middle, so that it becomes easy to avoid an error in the pinch determination due to the disturbance.

(3) Setting of pinching threshold value FIGS. 25 and 26 are flowcharts for explaining the setting of the sandwiching threshold value (FIG. 3, ST130).
The sandwiching threshold value setting unit 55 uses the base value of the sandwiching threshold value Fth at startup in the initial period (for example, first stage S1 and second stage S2) after the motor 6 is started (ST1105, Yes). The value is set to Fth1 (ST1100), and in the period after the initial period (ST1105, No), the base value of the sandwiching threshold value Fth is set to the steady threshold value Fth2 (ST1115). Since the start-up threshold value Fth1 has a value larger than the steady-state threshold value Fth2, fluctuations in the calculated load F (n) in the initial period are less likely to be erroneously determined as pinching.

Further, in the initial period after the start of the motor 6 (ST1105, Yes), the sandwiching threshold value setting unit 55 reduces the calculated load F per predetermined time p4 “F (n−p4) −F (n)”. Is determined whether or not exceeds the initial reduction amount threshold value ΔFp4 (ST1120). When the reduction amount “F (n−p4) −F (n)” exceeds the initial reduction amount threshold value ΔFp4, the sandwiching threshold value setting unit 55 temporarily increases the sandwiching threshold value Fth. That is, the sandwiching threshold value setting unit 55 adds the incremental value ΔFD to the sandwiching threshold value Fth only during the initial period (ST1125).

FIG. 27 is a diagram showing an example of a decrease in the calculated load in the initial period after the motor 6 is started. As shown in FIG. 27, a large fluctuation of the calculated load F (n) may occur in the initial period, and a sharp decrease in the calculated load F (n) may occur particularly immediately after the start-up. When the calculated load F (n), which is not related to the pinching, is lowered, the pinching threshold value Fth can be temporarily increased to prevent erroneous determination of the pinching.

Next, when the position of the opening / closing body 3 detected by the opening / closing body position detecting unit 51 is in a predetermined range close to the fully closed position (ST1130, Yes), the sandwiching threshold value setting unit 55 is the position of the opening / closing body 3. An increment value ΔFS (P) that increases as P approaches the fully closed position is sandwiched and added to the threshold value Fth (ST1135).

FIG. 28 is a diagram showing an example of setting the sandwiching threshold value Fth in the proximity range of the fully closed position. In the example of FIG. 28, the position where the value of the position P is “0” is set as the fully closed position, and the more the value of the position P increases positively (from the right to the left in the figure), the farther away from the fully closed position. The increment value ΔFS (P) is, for example, a linear function of the position P, and is expressed by the following equation.

In equation (8), "α" is a coefficient representing the slope of the linear function. The proximity range of the fully closed position to which the incremental value ΔFS (P) is added is the range from “0” to “Pu” at the position P, and the incremental value ΔFS when the value of the position P is “Pu”. (P) becomes zero. In the example of FIG. 28, the boundary “Px” between the sandwiched monitoring area and the non-inverted area is included in the proximity range (0 to Pu) of the fully closed position to which the incremental value ΔFS (P) is added.

Return to FIG.
When the disturbance detection unit 54 detects a disturbance (ST1140, Yes), the sandwiching threshold value setting unit 55 adds the disturbance increment value ΔFX to the sandwiching threshold value Fth (ST1145). The sandwiching threshold value setting unit 55 maintains the addition of the disturbance increment value ΔFX to the sandwiching threshold value Fth while the disturbance determination state is held by the disturbance determination unit 542.

Further, when the motor voltage V detected by the voltage detection unit 20 changes, the sandwiching threshold value setting unit 55 calculates an increment value ΔFV (n) according to the amount of change (ST1150). For example, the sandwiching threshold value setting unit 55 calculates the increment value ΔFV (n) of the equation (7) according to the increase width ΔV (n) of the motor voltage V when the motor voltage V rises. However, when the incremental value ΔFV (n) is negative (ST1155, Yes), the sandwiching threshold value setting unit 55 sets the incremental value ΔFV (n) to zero (ST1160). The sandwiching threshold value setting unit 55 adds this increment value ΔFV (n) to the sandwiching threshold value Fth (ST1165).

FIG. 29 is a diagram showing an example of a change in the calculated load F and a setting of the sandwiching threshold value Fth due to a fluctuation in the motor voltage V. FIG. 29A shows a case where the motor voltage V rises at a constant time change rate and a case where the motor voltage V decreases at a constant time change rate, and FIG. 29B shows a stepped change in which the motor voltage V rises discontinuously at a specific timing. The case where it occurs is shown. As can be seen from FIGS. 29A and 29B, as the motor voltage V increases, the calculated load F also increases. Further, after the increase in the motor voltage V, the amount of increase in the calculated load F tends to decrease with the passage of time. Since the incremental value ΔFV (n) is a value indicating a change relatively close to the change in the calculated load F accompanying the change in the motor voltage V, the sandwiching threshold value Fth to which the incremental value ΔFV (n) is added is , It changes in the same tendency as the calculated load F. As a result, even if the calculated load F changes due to the change in the motor voltage V, the erroneous determination of pinching is effectively avoided.

(4) Pinching determination FIGS. 30 and 31 are flowcharts for explaining the pinching determination (FIGS. 3 and ST135).
The sandwiching determination unit 56 compares the difference “F (n) −B (n)” between the calculated load F (n) and the reference value B (n) with the sandwiching threshold value Fth, and sets the calculated load F (n). When the difference "F (n) -B (n)" from the reference value B (n) is equal to or less than the sandwiching threshold value Fth (ST1200, No), it is determined that there is no sandwiching (ST1250).

When the difference "F (n) -B (n)" between the calculated load F (n) and the reference value B (n) is larger than the sandwiching threshold value Fth (ST1200, Yes), the sandwiching determination unit 56 calculates the calculated load. It is further determined whether or not the change pattern of F corresponds to a predetermined monotonous increase pattern (ST1205 to ST1225).

FIG. 32 is a diagram for explaining a condition (ST1205 to ST1225) for monotonically increasing the calculated load F in the pinch determination. The sandwiching determination unit 56 determines whether or not the increase amount of the calculated load F is included in the predetermined maximum change range (−ΔFe to ΔFLmax) in each of the three consecutive times q1. That is, the sandwiching determination unit 56 has an increase in the calculated load F “F (n) −F (n−q1)” in step ST1205, and an increase in the calculated load F “F (n−q1) −F” in step ST1210. Regarding "(n-2.q1)", in step ST1215, for the amount of increase in the calculated load F "F (n-2.q1) -F (n-3.q1)", "-ΔFe" or more and "ΔFLmax" or less, respectively. Judge whether it is included in the range of. When it is determined in one or more of steps ST120 to 1215 that the increase amount of the calculated load F is not included in the maximum change range (−ΔFe to ΔFLmax), the pinch determination unit 56 determines that there is no pinch (ST1250). ..

Further, the sandwiching determination unit 56 determines whether or not the increase amount of the calculated load F is equal to or more than the predetermined minimum increase amount ΔFLmin at each of the two consecutive times q2 (> q1). That is, in step ST1220, the sandwiching determination unit 56 increases the calculated load F “F (n) −F (n−q2)”, and in step ST1225, increases the calculated load F “F (n−q2) −F”. For each of (n-2 and q2), it is determined whether or not the minimum increase amount is ΔFLmin or more. When it is determined in one or more of steps ST1220 and ST1225 that the increase amount of the calculated load F is smaller than the minimum increase amount ΔFLmin, the pinch determination unit 56 determines that there is no pinch (ST1250).

In this way, by setting whether or not the pattern of change of the calculated load F corresponds to the pattern of monotonous increase as the condition for the pinch determination, it is possible to reduce the case of erroneous judgment by pinching, for example, the impact of disturbance or noise. Therefore, the accuracy of the pinch determination is improved.

It is determined that the increase amount of the calculated load F is included in the maximum change range (−ΔFe to ΔFLmax) in each of steps ST120 to 1215, and the increase amount of the calculated load F is the minimum increase amount ΔFLmin in each of steps ST1220 and ST1225. If it is determined as above, the sandwiching determination unit 56 further proceeds to the determination in steps ST1230 to ST1240.

The sandwiching determination unit 56 increases the calculated load F per predetermined time q3 "F (n) -F (n-q3)" in the third stage S3 or later (ST1230, Yes) in which the rotation of the motor 6 is relatively stable. Is equal to or greater than the threshold value ΔFh indicating the occurrence criterion of pinching of a hard object (ST1235). When the increase amount "F (n) -F (n-q3)" of the calculated load F is equal to or greater than the threshold value ΔFh (ST1235, Yes), the pinch determination unit 56 determines whether the change of the calculated load F is accelerating. (ST1240). That is, the pinch determination unit 56 has a value obtained by subtracting a fixed value “ΔFe” corresponding to an error such as noise from the latest increase amount “F (n) −F (n-1)” of the calculated load F, and the previous value. Compare with the increase amount "F (n-1) -F (n-2)" of the calculated load F, and if the former is the latter or more, it is determined that the change of the calculated load F is accelerating (step ST1240, Yes). When it is determined in step ST1240 that the change in the calculated load F is accelerating, the pinching determination unit 56 determines that there is pinching (ST1245), and if not, it determines that there is no pinching (ST1250). In addition, when the pinching determination unit 56 determines in step ST1230 that it is before the third stage S3 (ST1230, No), or in step ST1235, the amount of increase in the calculated load F "F (n) -F (n-q3)". When it is determined that is smaller than the threshold value ΔFh (ST1235, No), the determination in step ST1240 is omitted, and it is determined that there is pinching (ST1245).

In this way, by investigating the acceleration of the change in the calculated load F (n) when the calculated load F (n) rises sharply, the calculated load F occurs when a hard object is pinched and when the impact of disturbance occurs. Since it is possible to distinguish the case where (n) has changed, it is possible to reduce the erroneous determination of pinching.

(Summary)
According to the open / close control device according to the present embodiment, a correction value (ΔFV (n)) according to a change in the calculated load F accompanying a change in the motor voltage V based on the motor voltage V detected by the voltage detection unit 20. Is added to the sandwiching threshold value Fth. As a result, when the calculated load F changes with the change in the motor voltage V, the sandwiching threshold value Fth changes according to the change. Therefore, when comparing the excess amount (FB) of the calculated load F with respect to the reference value B and the sandwiching threshold value Fth, the change in the calculated load F due to the change in the motor voltage V is unlikely to affect the comparison result. Become. That is, even when the calculated load F fluctuates due to the fluctuation of the motor voltage V, it is possible to reduce the error of the pinching determination based on the comparison result between the excess amount (FB) and the pinching threshold value Fth.

According to the open / close control device according to the present embodiment, when a disturbance is detected based on the comparison between the fluctuation amount of the calculated load F and the disturbance threshold value, the disturbance increment value ΔFX according to the fluctuation amount of the calculated load F is calculated. It is added to the sandwiching threshold value Fth. As a result, the sandwiching threshold value Fth increases according to the magnitude of the disturbance estimated from the fluctuation amount of the calculated load F, so that it is possible to reduce an error in determining pinching due to the disturbance.

According to the open / close control device according to the present embodiment, the disturbance amount “Fmax (n) −F (n)” from the maximum value Fmax (n) of the calculated load F is larger than the first disturbance threshold value ΔX1. Is determined, and the disturbance increment value ΔFX corresponding to the fluctuation amount “Fmax (n) −F (n)” is added to the sandwiching threshold value Fth. Therefore, even if the calculated load F fluctuates for a short time due to the disturbance, the pinch threshold value Fth becomes large due to the addition of the disturbance increment value ΔFX, so that it is possible to reduce the case where the disturbance is erroneously determined as pinch. it can.
Further, since the maximum value Fmax (n) decreases with the passage of time after the maximum value Fmax (n) is updated, the amount of fluctuation after the one-shot fluctuation of the calculated load F (n) due to the disturbance is completed. “Fmax (n) −F (n)” becomes smaller. As a result, the determination that there is a disturbance can be automatically canceled after an appropriate period has elapsed.

According to the open / close control device according to the present embodiment, since the disturbance is relatively small, the fluctuation amount “Fmax (n) −F (n)” from the maximum value Fmax (n) of the calculated load F is the first disturbance threshold. Even when the value is smaller than ΔX1, the presence or absence of a disturbance can be determined based on the number of times the calculated load F (n) repeats rising and falling, so that it is possible to reduce an error in the pinching determination due to a relatively small disturbance.

According to the open / close control device according to the present embodiment, the object is pinched based on the calculated load F in which the first load component F1 proportional to the motor current Im and the second load component F2 proportional to the angular acceleration are combined. Detected. By including the second load component F2 in the calculation result of the calculated load F, the calculation accuracy of the calculated load F becomes higher than in the case of only the first load component F1, and the accuracy of pinching detection can be improved. Further, when a relatively hard object is pinched, the second load component F2 is rapidly increased, so that the timing of detecting the pinching is earlier. As a result, the time from the occurrence of pinching to the start of the operation of the pinch prevention control can be shortened.

The present invention is not limited to the above-mentioned form, but includes various other variations.

In the above embodiment, an example in which the present invention is applied to an opening / closing control device (power window, etc.) of a vehicle window is given, but the present invention is not limited to this, and a sunroof, a sliding door, or the like is given. , And various other open / close control devices.

2 ... Door, 3 ... Opening and Closing Body, 4 ... Window Frame, 6 ... Motor, 10 ... Motor Drive Circuit, 11-14 ... Switch Element, 20 ... Voltage Detection Unit, 21 ... Amplification Unit, 22 ... Filter Unit, 30 ... Current Detection unit, 31 ... Amplification unit, 32 ... Filter unit, 40 ... Operation unit, 50 ... Processing unit, 51 ... Switch position detection unit, 52 ... Load calculation unit, 53 ... Reference value calculation unit, 54 ... Disturbance detection unit, 541 ... Maximum value holding unit, 542 ... Disturbance determination unit, 543 ... Disturbance increment value calculation unit, 55 ... Pinching threshold setting unit, 56 ... Pinching determination unit, 57 ... Motor control unit, 60 ... Storage unit, 61 ... Program

Claims (23)

An open / close control device that controls the open / close operation of the open / close body driven by a motor.
A current detector that detects the current flowing through the motor,
A voltage detector that detects the voltage supplied to the motor,
A load calculation unit that calculates the load of the opening / closing body in the opening / closing operation based on the current detected by the current detection unit.
The sandwiching threshold setting unit that sets the sandwiching threshold value that sets the upper limit of the calculated load calculated by the load calculation unit, and the sandwiching threshold value setting unit.
When the calculated load exceeds the upper limit determined by the pinching threshold value, the pinching determination unit for determining that the pinching of the object by the opening / closing body has occurred, and the pinching determination unit.
If the pinching said pinching in the determination unit is determined to have occurred, and the motor control unit for pinch prevention control to reverse the rotation of the motor,
It has a reference value calculation unit that calculates the result of the weighted average of the calculated load calculated by the load calculation unit as a reference value.
The sandwiching threshold value setting unit sets the sandwiching threshold value that determines an allowable range of the excess amount of the calculated load with respect to the reference value.
When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, the pinching determination unit determines that the pinching of the object by the opening / closing body has occurred.
The load calculation unit includes a first load component proportional to the detected current and a second load component proportional to the angular acceleration of rotation of the motor approximated based on the detected current and the detected voltage of the voltage detection unit. Calculates the combined load,
Open / close control device. An open / close control device that controls the open / close operation of the open / close body driven by a motor.
A current detector that detects the current flowing through the motor ,
Based on the detection current before Symbol current detection unit, a load calculation unit which calculates the load in the opening and closing operation of the closing body,
The sandwiching threshold setting unit that sets the sandwiching threshold value that sets the upper limit of the calculated load calculated by the load calculation unit, and the sandwiching threshold value setting unit.
When the calculated load exceeds the upper limit determined by the pinching threshold value, the pinching determination unit for determining that the pinching of the object by the opening / closing body has occurred, and the pinching determination unit.
If the pinching said pinching in the determination unit is determined to have occurred, and the motor control unit for pinch prevention control to reverse the rotation of the motor,
A reference value calculation unit that calculates the result of the weighted average of the calculated load calculated by the load calculation unit as a reference value, and
It has a disturbance detection unit that detects the disturbance that causes the fluctuation of the calculated load based on the comparison between the fluctuation amount of the calculated load and the first disturbance threshold value.
The sandwiching threshold value setting unit sets the sandwiching threshold value that determines an allowable range of the excess amount of the calculated load with respect to the reference value.
When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, the pinching determination unit determines that the pinching of the object by the opening / closing body has occurred.
When the disturbance is detected by the disturbance detection unit, the sandwiching threshold value setting unit adds a disturbance increment value according to the fluctuation amount of the calculated load to the sandwiching threshold value.
The disturbance detection unit
The maximum value of the calculated load is held, and each time a new calculated load is calculated by the load calculation unit, the new calculated load is compared with the held maximum value, and the new calculated load is calculated as described above. If it is larger than the held maximum value, the new calculated load is held as a new maximum value, and the held maximum value is reduced with the passage of time.
When the fluctuation amount of the calculated load from the maximum value is larger than the first disturbance threshold value, the disturbance determination unit for determining that there is the disturbance, and the disturbance determination unit.
When the disturbance determination unit determines that there is the disturbance, the disturbance increment value calculation unit that calculates the disturbance increment value according to the fluctuation amount of the calculated load from the maximum value is included.
Open / close control device. A second disturbance threshold value smaller than the first disturbance threshold value and a third disturbance threshold value smaller than the second disturbance threshold value are defined.
In the disturbance determination unit, the decrease of the calculated load to the range where the fluctuation amount of the calculated load from the maximum value exceeds the second disturbance threshold value, and the fluctuation amount of the calculated load from the maximum value are said. The number of times the calculated load is alternately increased to a range below the third disturbance threshold value is counted, and it is determined that there is the disturbance according to the number of times.
The open / close control device according to claim 2. The disturbance determination unit holds the disturbance determination state for a certain period of time each time it determines that there is a disturbance.
The sandwiching threshold value setting unit adds the disturbance increment value to the sandwiching threshold value while the disturbance determination state is held.
The open / close control device according to claim 2 or 3. The disturbance increment value calculation unit updates the disturbance increment value to be added to the sandwiching threshold value according to the largest fluctuation amount of the calculated load from the maximum value while the disturbance determination state is held. To do,
The opening / closing control device according to claim 4. An open / close control device that controls the open / close operation of the open / close body driven by a motor.
A current detector that detects the current flowing through the motor ,
Based on the detection current before Symbol current detection unit, a load calculation unit which calculates the load in the opening and closing operation of the closing body,
The sandwiching threshold setting unit that sets the sandwiching threshold value that sets the upper limit of the calculated load calculated by the load calculation unit, and the sandwiching threshold value setting unit.
When the calculated load exceeds the upper limit determined by the pinching threshold value, the pinching determination unit for determining that the pinching of the object by the opening / closing body has occurred, and the pinching determination unit.
If the pinching said pinching in the determination unit is determined to have occurred, and the motor control unit for pinch prevention control to reverse the rotation of the motor,
It has a reference value calculation unit that calculates the result of the weighted average of the calculated load calculated by the load calculation unit as a reference value.
The sandwiching threshold value setting unit sets the sandwiching threshold value that determines an allowable range of the excess amount of the calculated load with respect to the reference value.
When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, the pinching determination unit determines that the pinching of the object by the opening / closing body has occurred.
The sandwiching threshold value setting unit temporarily sets the sandwiching threshold value when the amount of decrease in the calculated load per predetermined time exceeds the initial reduction amount threshold value in the initial period after the motor is started. Increase,
Open / close control device. An open / close control device that controls the open / close operation of the open / close body driven by a motor.
A current detector that detects the current flowing through the motor ,
Based on the detection current before Symbol current detection unit, a load calculation unit which calculates the load in the opening and closing operation of the closing body,
The sandwiching threshold setting unit that sets the sandwiching threshold value that sets the upper limit of the calculated load calculated by the load calculation unit, and the sandwiching threshold value setting unit.
When the calculated load exceeds the upper limit determined by the pinching threshold value, the pinching determination unit for determining that the pinching of the object by the opening / closing body has occurred, and the pinching determination unit.
If the pinching said pinching in the determination unit is determined to have occurred, and the motor control unit for pinch prevention control to reverse the rotation of the motor,
It has a reference value calculation unit that calculates the result of the weighted average of the calculated load calculated by the load calculation unit as a reference value.
The sandwiching threshold value setting unit sets the sandwiching threshold value that determines an allowable range of the excess amount of the calculated load with respect to the reference value.
When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, the pinching determination unit determines that the pinching of the object by the opening / closing body has occurred.
The reference value calculation unit
Every time the new calculated load is calculated by the load calculation unit, the result of the first weighted average of the new calculated load and the past reference value is calculated as the new reference value.
In the initial period after the motor is started, if the new calculated load exceeds the maximum load, the new reference value is matched with the maximum load, and if the new calculated load is smaller than the minimum load, Matching the new reference value to the minimum load,
Open / close control device. When the amount of decrease in the calculated load per predetermined time exceeds the first fluctuation threshold value in the initial period after the motor is started, the reference value calculation unit sets the new reference value as the new calculated load. To match,
The opening / closing control device according to claim 7. In the initial period after the motor is started, the reference value calculation unit determines the new calculated load and the past reference value when the amount of increase in the calculated load per predetermined time exceeds the second fluctuation threshold value. The result of the second weighted average, which is the second weighted average of and has a faster response speed than the first weighted average, is calculated as a new reference value.
The open / close control device according to claim 7 or 8. When the calculated load and the reference value have a difference within the first range continuously for a predetermined time or more, the reference value calculation unit makes the new reference value match the new calculated load.
The open / close control device according to any one of claims 7 to 9. It has an opening / closing body position detecting unit that detects the position of the opening / closing body, and has an opening / closing body position detecting unit.
When the position of the opening / closing body detected by the opening / closing body position detecting unit is within a predetermined range close to the fully closed position of the opening / closing body, the reference value calculation unit includes the calculated load and the reference value. When there is a difference within the second range for a predetermined time or longer, the new reference value is matched with the new calculated load.
The second range is extended from the first range under the condition that the calculated load is smaller than the reference value.
The opening / closing control device according to claim 10. In the reference value calculation unit, when the difference between the new calculated load and the past reference value is larger than the difference threshold value and the amount of change in the calculated load per predetermined time is larger than the change amount threshold value. , Match the new reference value with the past reference value,
The opening / closing control device according to any one of claims 7 to 11. An open / close control device that controls the open / close operation of the open / close body driven by a motor.
A current detector that detects the current flowing through the motor ,
Based on the detection current before Symbol current detection unit, a load calculation unit which calculates the load in the opening and closing operation of the closing body,
The sandwiching threshold setting unit that sets the sandwiching threshold value that sets the upper limit of the calculated load calculated by the load calculation unit, and the sandwiching threshold value setting unit.
When the calculated load exceeds the upper limit determined by the pinching threshold value, the pinching determination unit for determining that the pinching of the object by the opening / closing body has occurred, and the pinching determination unit.
If the pinching said pinching in the determination unit is determined to have occurred, and the motor control unit for pinch prevention control to reverse the rotation of the motor,
It has a reference value calculation unit that calculates the result of the weighted average of the calculated load calculated by the load calculation unit as a reference value.
The sandwiching threshold value setting unit sets the sandwiching threshold value that determines an allowable range of the excess amount of the calculated load with respect to the reference value.
The pinch determination unit
When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
Each time a new calculated load is calculated by the load calculation unit, the pattern of change in the calculated load corresponds to a predetermined monotonous increase pattern based on a series of a plurality of calculated loads including the new calculated load. Judge whether to do or not,
When the first condition in which the excess amount of the new calculated load with respect to the reference value is larger than the sandwiching threshold value and the second condition in which the change pattern of the calculated load corresponds to the monotonous increase pattern are satisfied. It is determined that the pinching has occurred.
Open / close control device. When the increase amount of the calculated load per predetermined time is larger than the threshold value indicating the occurrence standard of pinching of a hard object, the pinching determination unit may add the first condition and the second condition to the pinching determination unit. When the third condition that the change of the calculated load is accelerating is satisfied, it is determined that the pinching has occurred.
The opening / closing control device according to claim 13. It has a voltage detector that detects the voltage supplied to the motor.
The sandwiching threshold setting unit is based on the detection voltage of the voltage detection unit so that the upper limit changes according to the change in the calculated load accompanying the change in the voltage supplied to the motor. Set the value,
The opening / closing control device according to any one of claims 1 to 14. Based on the detection voltage of the voltage detection unit, the sandwiching threshold value setting unit adds a correction value according to the change of the calculated load accompanying the change of the voltage supplied to the motor to the sandwiching threshold value. ,
The opening / closing control device according to claim 15. The sandwiching threshold value setting unit reduces the incremental value to be added to the sandwiching threshold value as the correction value with the passage of time.
The opening / closing control device according to claim 16. It is an opening / closing operation control method that controls the opening / closing operation of the opening / closing body by driving a motor.
Acquiring the detection result of the sensor that detects the current flowing through the motor,
Acquiring the detection result of the sensor that detects the voltage supplied to the motor,
Based on the current detection result, the load in the opening / closing operation of the opening / closing body is calculated, and
Setting the sandwiching threshold that sets the upper limit of the calculated load obtained by calculating the load, and
When the calculated load exceeds the upper limit determined by the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
When it is determined that the pinch has occurred by the pinch determination, the pinch prevention control for reversing the rotation of the motor is performed .
It has the purpose of calculating the weighted average result of the calculated load obtained by the calculation of the load as a reference value.
Setting the sandwiching threshold includes setting the sandwiching threshold that determines the allowable range of the excess amount of the calculated load with respect to the reference value.
Determining the occurrence of the pinching includes determining that the pinching of the object by the opening / closing body has occurred when the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value.
The calculation of the load is proportional to the first load component proportional to the current of the detection result, and the angular acceleration of the rotation of the motor approximated based on the current of the detection result and the voltage of the detection result. 2 Including calculating the load in which the load component is combined,
Opening and closing operation control method. It is an opening / closing operation control method that controls the opening / closing operation of the opening / closing body by driving a motor.
Acquiring the detection result of the sensor that detects the current flowing through the motor ,
And that on the basis of the detection result before Symbol current, calculates the load in the opening and closing operation of the closing body,
Setting the sandwiching threshold that sets the upper limit of the calculated load obtained by calculating the load, and
When the calculated load exceeds the upper limit determined by the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
When it is determined that the pinch has occurred by the pinch determination, the pinch prevention control for reversing the rotation of the motor is performed .
The result of the weighted average of the calculated load obtained by the calculation of the load is calculated as a reference value, and
Based on the comparison between the fluctuation amount of the calculated load and the first disturbance threshold value, the disturbance that causes the fluctuation of the calculated load is detected.
Setting the sandwiching threshold includes setting the sandwiching threshold that determines the allowable range of the excess amount of the calculated load with respect to the reference value.
Determining the occurrence of the pinching includes determining that the pinching of the object by the opening / closing body has occurred when the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value.
Setting the pinch threshold value includes adding a disturbance increment value according to the fluctuation amount of the calculated load to the pinch threshold value when the disturbance is detected by detecting the disturbance. ,
Detecting the disturbance
Each time a new calculated load is calculated by holding the maximum value of the calculated load and calculating the load, the new calculated load is compared with the held maximum value, and the new calculated load is compared. If is greater than the retained maximum value, the newly calculated load is retained as a new maximum value, and the retained maximum value is reduced over time.
When the fluctuation amount of the calculated load from the maximum value is larger than the first disturbance threshold value, it is determined that there is the disturbance.
When it is determined that there is the disturbance by determining the disturbance, the disturbance increment value is calculated according to the fluctuation amount of the calculated load from the maximum value.
Opening and closing operation control method. It is an opening / closing operation control method that controls the opening / closing operation of the opening / closing body by driving a motor.
Acquiring the detection result of the sensor that detects the current flowing through the motor ,
And that on the basis of the detection result before Symbol current, calculates the load in the opening and closing operation of the closing body,
Setting the sandwiching threshold that sets the upper limit of the calculated load obtained by calculating the load, and
When the calculated load exceeds the upper limit determined by the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
When it is determined that the pinch has occurred by the pinch determination, the pinch prevention control for reversing the rotation of the motor is performed .
It has the purpose of calculating the weighted average result of the calculated load obtained by the calculation of the load as a reference value.
Setting the sandwiching threshold includes setting the sandwiching threshold that determines the allowable range of the excess amount of the calculated load with respect to the reference value.
Determining the occurrence of the pinching includes determining that the pinching of the object by the opening / closing body has occurred when the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value.
Setting the sandwiching threshold temporarily sets the sandwiching threshold when the amount of decrease in the calculated load per predetermined time exceeds the initial decrease threshold in the initial period after the motor is started. Including increasing
Opening and closing operation control method. It is an opening / closing operation control method that controls the opening / closing operation of the opening / closing body by driving a motor.
Acquiring the detection result of the sensor that detects the current flowing through the motor ,
And that on the basis of the detection result before Symbol current, calculates the load in the opening and closing operation of the closing body,
Setting the sandwiching threshold that sets the upper limit of the calculated load obtained by calculating the load, and
When the calculated load exceeds the upper limit determined by the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
When it is determined that the pinch has occurred by the pinch determination, the pinch prevention control for reversing the rotation of the motor is performed .
It has the purpose of calculating the weighted average result of the calculated load obtained by the calculation of the load as a reference value.
Setting the sandwiching threshold includes setting the sandwiching threshold that determines the allowable range of the excess amount of the calculated load with respect to the reference value.
Determining the occurrence of the pinching includes determining that the pinching of the object by the opening / closing body has occurred when the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value.
To calculate the reference value
Every time a new calculated load is calculated by calculating the load, the result of the first weighted average of the new calculated load and the past reference value is calculated as the new reference value.
In the initial period after the motor is started, if the new calculated load exceeds the maximum load, the new reference value is matched with the maximum load, and if the new calculated load is smaller than the minimum load, Including matching the new reference value with the minimum load.
Opening and closing operation control method. It is an opening / closing operation control method that controls the opening / closing operation of the opening / closing body by driving a motor.
Acquiring the detection result of the sensor that detects the current flowing through the motor ,
And that on the basis of the detection result before Symbol current, calculates the load in the opening and closing operation of the closing body,
Setting the sandwiching threshold that sets the upper limit of the calculated load obtained by calculating the load, and
When the calculated load exceeds the upper limit determined by the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
When it is determined that the pinch has occurred by the pinch determination, the pinch prevention control for reversing the rotation of the motor is performed .
It has the purpose of calculating the weighted average result of the calculated load obtained by the calculation of the load as a reference value.
Setting the sandwiching threshold includes setting the sandwiching threshold that determines the allowable range of the excess amount of the calculated load with respect to the reference value.
Determining the occurrence of the pinching is
When the excess amount of the calculated load with respect to the reference value is larger than the pinching threshold value, it is determined that the pinching of the object by the opening / closing body has occurred.
Each time a new calculated load is calculated by calculating the load, the pattern of change of the calculated load is a predetermined monotonous increase pattern based on a series of a plurality of calculated loads including the new calculated load. To determine whether or not it corresponds to
When the first condition in which the excess amount of the new calculated load with respect to the reference value is larger than the sandwiching threshold value and the second condition in which the change pattern of the calculated load corresponds to the monotonous increase pattern are satisfied. Including determining that the pinching has occurred,
Opening and closing operation control method. A program for causing a computer to execute the opening / closing operation control method according to any one of claims 18 to 22.

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