JP6923321B2 - Automatic opening / closing control device for vehicles - Google Patents

Description

The present invention relates to an automatic opening / closing control device for vehicles.

There is a technique in which a slide door that opens and closes in the front-rear direction of the vehicle is provided on the side of the vehicle body, and the slide door is automatically opened and closed by an automatic opening / closing control device for vehicles (hereinafter referred to as an automatic opening / closing control device) (for example, Patent Document 1). In the automatic opening / closing control device described in Patent Document 1, a cable (chordee body) connected to the slide door from the front-rear direction of the vehicle is driven to be arranged on the vehicle body via reversing pulleys arranged at both ends of the guide rail. Guide to the unit. Then, a cable is wound around a drive drum provided in the drive unit, the drum is rotationally driven by a drive source composed of an electric motor, and the slide door is automatically opened and closed while being pulled by the cable. Further, since the movement path length of the cable changes when the sliding door is guided by the curved portion of the guide rail and pulled into the inside of the vehicle body, a tensioner mechanism is provided to absorb the change in the movement path length. ..

The automatic opening / closing control device described in Patent Document 1 includes a rotation sensor for detecting the rotation of the drive shaft of the electric motor (paragraph 0036 of Patent Document 1). This rotation sensor is a Hall IC (integrated circuit) and faces a multi-pole magnetizing magnet that rotates with the drive shaft. As a result, when the electric motor operates and the drive shaft rotates, the rotation sensor outputs a pulse signal having a period corresponding to the rotation of the drive shaft, that is, the multi-pole magnetizing magnet. The rotation speed of the drive shaft can be recognized based on the period of this pulse signal, and the amount of rotation of the drive shaft, that is, the door position of the sliding door can be recognized by counting the pulse signal.

Japanese Unexamined Patent Publication No. 2008-184880

In the cable-type automatic opening / closing control device as described above, a pulse shift (for example, a pulse even though the door position is the same) is caused by a difference in operation when the opening / closing body is fully closed, for example, manual or automatic operation. (The number of signal counts is different) may occur. For example, when the opening / closing body is driven by a drive unit provided with a tensioner mechanism as described in Patent Document 1, when the opening / closing body is automatically closed, the tensioner mechanism is in a state where the front side of the vehicle is crushed (the spring of the tensioner mechanism contracts). However, when the pulse count is manually closed, the pulse count is reset when the rear side of the vehicle is crushed. Therefore, for example, there is a possibility that the fully closed position of several pulses moves to the open side of the fully closed position of the main body. In this case, for example, if an attempt is made to control the door position and the rotation speed of the drive source in association with each other, the correspondence relationship will be deviated, which will cause deterioration of the feeling at the time of automatic operation.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic opening / closing control device for a vehicle capable of stabilizing the state of a tensioner mechanism when the opening / closing body is fully closed.

In order to solve the above problems, one aspect of the present invention is an automatic opening / closing control device for a vehicle that opens / closes an opening / closing body provided on a vehicle body, and a drive source for driving the opening / closing body by a cord body and the cord. A tensioner mechanism that applies a predetermined tension to the body, a control unit that controls the drive state of the drive source, and an ON state that drives the drive source to automatically operate the opening / closing body, or manually operates the opening / closing body. The drive source has a closer motor, and the closer motor includes a drive rod that moves forward and backward when the closer motor is driven, and a drive rod that moves the drive rod from its original position. It has an original position switch that turns off when the drive rod advances and turns on when the drive rod returns to the original position, and the control unit has the main switch in the OFF state and the opening / closing body in the open state. Automatic opening / closing control for vehicles that shifts to the half-door state, and after the opening / closing body shifts from the half-door state to the fully closed state, operates the drive source in the stopped state on the closed side until the original position switch is turned on. It is a device.

Further, one aspect of the present invention is the automatic opening / closing control device for a vehicle, wherein the control unit is a drive source in a stopped state after the opening / closing body shifts from an open state to a fully closed state within a predetermined time. Is operated by a predetermined amount on the closed side.

Further, one aspect of the present invention is the automatic opening / closing control device for a vehicle, in which the control unit operates the drive source to the closed side when a predetermined operator is operated, and the opening / closing body is not. After shifting from the fully closed state to the fully closed state, the drive source is stopped, and then the drive source in the stopped state is operated by a predetermined amount on the closed side.

Further, one aspect of the present invention is the automatic opening / closing control device for a vehicle, in which the control unit recognizes the position of the opening / closing body based on the amount of rotation of the drive source and responds to the recognized position. The driving state of the driving source is controlled.

According to the present invention, after the opening / closing body shifts from the non-fully closed state to the fully closed state, the control unit operates the drive source in the stopped state by a predetermined amount on the closed side, so that when the opening / closing body is fully closed. The state of the tensioner mechanism can be stabilized.

It is a top view which shows the outline of the automatic opening / closing control device 14 which concerns on one Embodiment of this invention. It is explanatory drawing which shows the control system of the automatic opening / closing control device 14 shown in FIG. (A) to (c) are explanatory views showing the operating state of the locking mechanism and the actuator when the latch is in the unlatch position, the half-latch position, and the full-latch position, respectively. It is an operation chart which shows the state of each switch when a sliding door in an open state is closed. It is a block diagram which shows the schematic structure of the automatic opening / closing control device 14 which concerns on one Embodiment of this invention. It is a flowchart which shows the operation example of the control unit 41 shown in FIG. It is a timing chart which shows the operation example of the control unit 41 shown in FIG. It is a flowchart which shows the other operation example of the control part 41 shown in FIG. It is a flowchart which shows the other operation example of the control part 41 shown in FIG.

(Configuration of automatic opening / closing control device for vehicles)
FIG. 1 is a plan view showing an outline of an automatic opening / closing control device 14 according to an embodiment of the present invention. As shown in FIG. 1, a slide door 12 (opening / closing body) as a driven body is mounted on a side portion of the vehicle 11 (vehicle body). The sliding door 12 is guided by a guide rail 13 fixed to the vehicle 11, and is movable in the front-rear direction of the vehicle, that is, can be opened and closed between the fully open position shown by the solid line in the figure and the fully closed position shown by the chain line. ..

The vehicle 11 is provided with an automatic opening / closing control device 14. The automatic opening / closing control device 14 automatically opens / closes the sliding door 12. The automatic opening / closing control device 14 has a drive unit 15 fixed to the vehicle 11. The drive unit 15 is provided with a drive cable 16 (chordee body). The cable 16 is hung on the reversing pulleys 17 arranged at both ends of the guide rail 13 and the reversing burry 18, and is connected to the slide door 12 from the front side and the rear side of the vehicle 11. When either one side of the cable 16 is pulled by the drive unit 15, the slide door 12 moves in the opening direction or the closing direction while being pulled by the cable 16.

FIG. 2 is an explanatory diagram showing a control system of the automatic opening / closing control device 14 shown in FIG. As shown in FIG. 2, the drive unit 15 is provided with a PSD (power slide door) motor 21 (drive source) which is an electric motor. As the PSD motor 21, a three-phase (U-phase, V-phase, and W-phase) brushless motor is used in this embodiment. However, the PSD motor 21 is not limited to the three-phase brushless motor, and may be, for example, a DC motor or the like. The PSD motor 21 operates when the applied voltage Vu, the applied voltage Vv, and the applied voltage Vw are supplied from the control unit 41 to each of the three phases according to a predetermined energization pattern. The rotation direction of the PSD motor 21 is switched between forward rotation and reverse rotation according to the positive and negative of the applied voltage supplied.

Further, a rotor 47 (permanent magnet) is fixed to the rotating shaft 21a of the PSD motor 21. In the vicinity of the rotation trajectory of the rotor 47, three hall ICs (integrated circuits) 48u, hall IC48v, and hall IC48w as position sensors for detecting the rotation position of the rotor 47 are 120 each other around the rotation shaft 21a. It is provided at a position having a phase difference of degrees. These three Hall IC48u, Hall IC48v, and Hall IC48w face, for example, a multi-pole magnetizing magnet that rotates together with the rotation shaft 21a (drive shaft) of the PSD motor 21. As a result, when the PSD motor 21 operates and the rotating shaft 21a rotates, the hall IC48u, the hall IC48v, and the hall IC48w output a pulse signal having a period corresponding to the rotation of the rotating shaft 21a, that is, the multi-pole magnetizing magnet. .. In this case, the hall IC 48u, the hall IC 48v, and the hall IC 48w send the pulse signal Su, the pulse signal Sv, and the pulse signal Sw, which are 120 degrees out of phase with each other, to the control unit 41 when the rotation shaft 21a of the PSD motor 21 rotates. Output to. When the hall IC48u, the hall IC48v, and the hall IC48w are collectively referred to as a rotation position sensor 290 (see FIG. 5).

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

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

A tensioner 32 (tensioner mechanism) is provided between the drum 31, the two reversing pulleys 17, and the reversing burry 18. The tensioner 32 takes the slack of the cable 16 between the drum 31 and the slide door 12 to maintain the cable tension within a certain range (applies a predetermined tension to the cable 16). The tensioner 32 has a fixed pulley 32a and a movable pulley 32b, respectively, and the movable pulley 32b is urged in the rotational direction by a spring member 32c with the fixed pulley 32a as an axis, and the cable 16 is of the pulleys 32a and 32b, respectively. It is hung in between. Therefore, when the cable 16 becomes loose, it is urged by the movable pulley 32b to increase the movement path of the cable 16, whereby the tension of the cable 16 is maintained.

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

The PSD motor 21 in the drive unit 15 is driven by the control unit 41. The control unit 41 controls the operation of the PSD motor 21 so as to open and close the slide door 12 at a preset target speed. Further, the control unit 41 short-circuits the input terminal of the PSD motor 21 to generate a regenerative braking force. Further, the control unit 41 counts the hall IC48u, the hall IC48v, and the pulse signal Su, the pulse signal Sv, and the pulse signal Sw output by the hall IC48w. The control unit 41 recognizes the rotation speed of the rotating shaft 21a based on the period of these pulse signals, and recognizes the rotation amount of the rotating shaft 21a, that is, the door position of the slide door 12 based on the count amount of the pulse signal. do. Then, the control unit 41 recognizes the position of the slide door 12 based on the rotation amount of the PSD motor 21, and controls the driving state of the PSD motor 21 according to the recognized position, for example.

On the other hand, as shown in FIG. 1, a closer unit 218 having a lock mechanism 215 and an actuator 216 is arranged on the slide door 12 at the front end of the vehicle.

As shown in FIGS. 3 (a) to 3 (c), the lock mechanism 215 includes a latch 221 and a ratchet 222, and the latch 221 engages with a striker 223 fixed to the open end of the vehicle 11. It is formed in a fork shape having an engaging groove 221a. Further, the latch 221 is supported by the latch shaft 224 and is rotatable, and when the slide door 12 is closed toward the fully closed position, the latch 221 is pushed by the striker 223 that has entered the engaging groove 221a, and is pushed by the striker 223 in FIG. 3 (a). ), The half-latch position shown in FIG. 3 (b), and the full latch position shown in FIG. 3 (c).

The ratchet 222 includes a locking claw portion 222a that projects toward the latch 221 and is rotatably supported by the ratchet shaft 225 on the same surface as the latch 221. Further, the ratchet 222 is urged in a direction (clockwise in FIG. 3) in which the locking claw portion 222a is brought into contact with the latch 221 by an urging means such as a spring (not shown).

As shown in FIG. 3B, the locking claw portion 222a engages with the half-latch locking groove 221b provided in the latch 221 when the latch 221 is in the half-latch position. As a result, the latch 221 that has rotated to the half-latch position is restricted from rotating toward the unlatch position by the ratchet 222, and the slide door 12 is held at the half-door position. Even when the locking claw portion 222a is engaged with the half-latch locking groove 221b, the latch 221 pushes up the locking claw portion 222a and can rotate toward the full latch position. As a result, the latch 221 in the half-latch position is restricted from rotating in the unlatch position direction, but is allowed to rotate in the full latch position direction. That is, when the latch 221 is between the half-latch position and the full-latch position, the slide door 12 is held in a temporarily connected state, that is, a half-door state, which is not held in the fully closed position but cannot be opened.

As shown in FIG. 3C, when the latch 221 rotates to the full latch position, the locking claw portion 222a engages with the engaging groove 221a of the latch 221 and the rotation of the latch 221 in the unlatch position direction is restricted. It is designed to be held in the full latch position. As a result, the sliding door 12 is held in the fully closed position.

That is, in this lock mechanism 215, the ratchet 222 engages with the latch 221 when the latch 221 is in the half latch position and the full latch position, whereby the latch 221 is moved to the half latch position and the full latch position, that is, the slide door 12. It is designed to be held in the half-door position and the fully closed position.

Door knobs 226 as door opening means operated by an operator such as an occupant are provided on the vehicle interior side and the vehicle exterior side of the slide door 12, respectively. The doorknob 226 is connected to the ratchet 222 via, for example, a connecting rod 227, and when the doorknob 226 is operated, the ratchet 222 rotates in a direction away from the latch 221 in conjunction with the operation. That is, when opening the slide door 12 held in the fully closed position or the half door position by the lock mechanism 215, the ratchet 222 is disengaged from the latch 221 by operating the door knob 226, whereby the latch 221 is released. The slide door 12 can be opened by being rotatable in the unlatch position direction. In the case shown in the drawing, the ratchet 222 is connected to the doorknob 226 by a connecting rod 227, but the present invention is not limited to this, and for example, the doorknob 226 and the ratchet 222 can be connected by using a wire or the like, or the doorknob 226 can be operated. The ratchet 222 may be disengaged from the latch 221 in conjunction with the operation of the doorknob 226, such as electrically detecting the ratchet 222 and driving the ratchet 222 with an electric motor or the like interlocking with the ratchet 222.

On the other hand, as shown in FIGS. 3A to 3C, the actuator 216 has a closer motor 231 as a drive source, a power conversion mechanism 232, a drive rod 233, and an original position switch 263, and the closer motor 231 has a closer motor 231. When activated, the output is converted into a linear reciprocating motion by the power conversion mechanism 232, and the drive rod 233 moves back and forth. The moving direction of the drive rod 233 is set so as to deviate from the axis of the latch shaft 224 and pass on the moving locus of the latch 221. When the drive rod 233 advances from the original position, the latch 221 is pushed by the drive rod 233. It is designed to move to the full latch position. Further, after moving the latch 221 to the full latch position, the closer motor 231 reverses and the drive rod 233 moves backward to the original position so as to separate from the latch 221. The original position switch 263 is turned off when the drive rod 233 advances from the original position, and turns on when the drive rod 233 returns to the original position.

As the power conversion mechanism 232, for example, a rack and pinion mechanism or a ball screw mechanism is used, but other mechanisms may be used.

The automatic opening / closing control device 14 is provided with a half-latch switch 234 as a half-latch detecting means, a ratchet switch 235 as a ratchet detecting means, a full latch switch 236, and a doorknob operation detecting switch 237. Of these switches, the half-latch switch 234, the ratchet switch 235, and the full-latch switch 236 are collectively referred to as the latch switch 280 (FIG. 5). These switches 234 to 237 are limit switches, and output a detection signal when the switches 234 to 237 are pressed and turned on. Then, the control unit 41 detects the position, that is, the state of the slide door 12 based on the detection signals from these switches 234 to 237, and operates the actuator 216 when the slide door 12 shifts from the open state to the half-door state. The sliding door 12 is forcibly closed until it is fully closed.

FIG. 4 is an operation chart showing the state of each switch when the sliding door in the open state is closed. As shown in FIG. 4, the half-latch switch 234 is turned on by being pushed by the latch 221 when the latch 221 rotates from the unlatch position to the half-latch position (P3), that is, the half-latch switch. 234 detects that the latch 221 is in the half-latch position. The half-latch switch 234 remains ON when the latch 221 rotates toward the full latch direction from the half-latch position.

The ratchet switch 235 is pushed on by the ratchet 222 when the ratchet 222 engages with the latch 221 (P2 and P6), that is, the ratchet switch 235 engages the ratchet 222 with the latch 221. It has come to be detected. In this case, when the ratchet 222 engages with the engagement groove 221a of the latch 221, the ratchet switch 235 is turned on on the open side by a predetermined distance with respect to the half latch switch 234. , The half-latch state is detected by the half-latch switch 234 after the ratchet 222 is securely engaged with the latch 221. The half-latch state is a state in which the latch 221 is movable between the half-latch position and the full-latch position. At this time, the slide door 12 is not held in the fully closed position but opens. It becomes a temporary connection state that can not be done, that is, a half-door state.

The full latch switch 236 is pushed on by the latch 221 when the latch 221 is in the full latch position (P5), that is, the latch 221 is in the full latch position by the full latch switch 236. Is now detected.

When the slide door 12 is in the open state, the half-latch switch 234, the ratchet switch 235, and the full-latch switch 236 are all OFF (P1). Further, the ratchet switch 235 is turned on at the stage of transitioning from the open state to the half-door state (P2), and then temporarily turned off at the stage of transitioning from the half-door state to the fully closed state (P4), and is temporarily turned off (P4). After shifting to, it turns ON again (P6).

The doorknob operation detection switch 237 is turned on when the doorknob 226 is operated, that is, the doorknob operation detection switch 237 detects that the doorknob 226 has been operated.

On the other hand, the control unit 41 as a control means includes a microcomputer, peripheral circuits of the microcomputer, a three-phase inverter circuit for driving the PSD motor 21, and the like. The microprocessor included in the control unit 41 is a microprocessor (CPU (Central Processing Unit)) (not shown) that calculates control signals, a ROM (read-only memory, but flash) (not shown) that stores control programs, calculation formulas, map data, and the like. It is composed of a control circuit equipped with a RAM (including a memory and the like) and a RAM (random access memory) (not shown) for temporarily storing data, and has a function as a microcomputer.

FIG. 5 is a block diagram showing a connection relationship between the control unit 41 and a main device connected to the control unit 41. In FIG. 5, the same reference numerals are used for the same configurations as those described with reference to FIGS. 1 to 3. The output signals of the half-latch switch 234, the ratchet switch 235, and the full-latch switch 236 included in the latch switch 280 are input to the control unit 41. Further, the output signal of the original position switch 263 is input to the control unit 41. Further, the control unit 41 outputs a drive signal for forward rotation, reverse rotation or stop to the closer motor 231. Further, the output signal of the main switch 270 is input to the control unit 41. The main switch 270 is a switch for switching between automatically operating (ON) and manually operating (OFF) the slide door 12, and is operated by an operator.

The close switch 45 (open / close switch) is a switch for inputting an instruction to automatically open or close the slide door 12, and is operated by an operator. When the operator operates the close switch 45 and a signal for instructing the start of opening / closing of the door is input to the control unit 41, the control unit 41 outputs the rotation position sensor 290 (Hall IC48u, Hall IC48v, and Hall IC48w). A PWM (pulse width modulation) command signal is generated according to the signal to drive the three-phase inverter circuit. Here, the PWM command signal is a signal that turns on or off a plurality of switching elements constituting the three-phase inverter circuit in a predetermined control cycle, or turns on and off at a predetermined duty ratio. The control unit 41 refers to, for example, a speed map that associates the door position of the slide door 12 with the rotation speed of the PSD motor 21, and controls the rotation speed of the PSD motor 21 according to the door position of the slide door 12.

Further, the control unit 41 has a drive circuit of the release motor 264 inside, and drives and controls the release motor 264. The release motor 264 is a drive source for releasing the lock in a lock mechanism (not shown) that locks the fully open state of the slide door 12. Further, the control unit 41 inputs the output signal of the fully open sensor 265. The fully open sensor 265 is, for example, a switch that turns ON or OFF according to the operation of the lock mechanism in the fully open state (not shown) of the slide door 12, detects that the slide door 12 is in the fully open state, and represents the detection result. Output a signal.

Next, an operation example of the automatic opening / closing control device 14 of the present embodiment will be described with reference to FIGS. 6 to 9. 6 to 9 are views for explaining the closing operation of the slide door 12 by the automatic opening / closing control device 14. The automatic opening / closing control device 14 of the present embodiment corresponds to the following three types of closing methods of the sliding door 12. The first is a closing method (referred to as an auto-close operation) in which the slide door 12 is automatically closed from the open state to the fully closed state in response to an operation on the close switch 45 by the operator. The second is a closing method (referred to as easy closer operation) in which the sliding door 12 is automatically closed from the half-door state to the fully closed state when the slide door 12 is closed from the open state to the half-door state by a manual operation of the operator. The third is a closing method (called a door strong closing operation) in which the operator closes the slide door 12 by a manual operation from the open state to the fully closed state (after passing through the half-door state in a short time). FIG. 6 is a flowchart showing an operation example during the auto-close operation, and FIG. 7 is a timing chart of the operation example during the auto-close operation. FIG. 8 is a flowchart showing an operation example when the Easy Closer is operated. FIG. 9 is a timing chart showing an operation example when the door is strongly closed. FIG. 7 shows the time change of each operation of the close switch 45, the release motor 264, the PSD motor 21, the closer motor 231 and the ratchet switch 235, the half latch switch 234, the full latch switch 236 and the original position switch 263.

First, an operation example in the auto-close operation will be described with reference to FIGS. 6 and 7. When the close switch 45 (predetermined operator) is operated by the operator to close the slide door 12 (time t1 in FIG. 7), the control unit 41 starts the process shown in FIG. The control unit 41 first determines whether or not the operating conditions are satisfied (step S101). The operating conditions are, for example, that the main switch 270 is set to ON (automatic), the door knob 226 is unlocked, the lid of the fuel filler port on the slide door 12 side is closed, and the like. If the operating condition is not satisfied (NO in step S101), the control unit 41 does not operate the slide door 12 (step S102) and ends the process.

When the operating condition is satisfied (YES in step S101), the control unit 41 determines whether or not the door position of the slide door 12 is fully open (step S103). When the door position of the slide door 12 is fully open (YES in step S103), the control unit 41 operates the release motor 264 (step S104; time t2). On the other hand, when the door position of the slide door 12 is not fully opened (NO in step S103), or when the control unit 41 operates the release motor 264 (step S104), the control unit 41 slides the PSD motor 21 into the slide door 12. (Hereinafter referred to as closing operation) (step S105; time t3).

Next, the control unit 41 determines whether or not the door position of the slide door 12 is other than fully open (step S106). When the door position is other than fully open (YES in step S106), the control unit 41 stops the release motor 264 (step S107; time t4). When the door position is not other than fully open (NO in step S106) or when the release motor 264 is stopped (step S107), the control unit 41 determines whether or not the latch switch 280 recognizes the half door. (Step S108). The control unit 41 repeatedly executes the processes of steps S106 to S108 until the latch switch 280 recognizes the half-door (until YES in step S108).

When the latch switch 280 recognizes the half door (YES in step S108; time t6), the control unit 41 determines whether or not the original position switch 263 is ON (step S109). In FIG. 7, the ratchet switch 235 changes from OFF to ON at time t5. When the original position switch 263 is not ON (NO in step S109), the control unit 41 reversely operates the closer motor 231 until the original position switch 263 is ON (YES in step S111). Steps S110 to S112).

When the original position switch 263 is ON (YES in step S109) or after the closer motor 231 is reversely operated until it returns to the original position (step S110), the closer motor 231 is stopped (step S112). , The control unit 41 pulls in and operates the closer motor 231 (step S113; time t7). The pull-in operation is an operation in which the closer motor 231 is rotated in the normal direction and the slide door 12 is pulled in to the fully closed position. In the example shown in FIG. 7, the original position switch 263 is in the ON state from the time t1, the step S109 becomes YES, and the process of the step S113 is executed at the time t7.

Next, the control unit 41 determines whether or not the latch switch 280 has recognized that the slide door 12 is fully closed (step S114). In this case, in step S114, the control unit 41 determines that the latch switch 280 has recognized that the slide door 12 is fully closed when all of the half latch switch 234, the full latch switch 236, and the ratchet switch 235 are turned on. In the example shown in FIG. 7, after the closer motor 231 starts the normal rotation operation at time t7, the original position switch 263 is turned off (time t8), the ratchet switch 235 is temporarily turned off (time t9), and the full latch switch 236 is turned off. Turns on (time t10), and when the ratchet switch 235 turns on (time t11), the control unit 41 determines that the latch switch 280 has recognized that the slide door 12 is fully closed (YES in step S114). When it is determined that the latch switch 280 has recognized that the slide door 12 is fully closed (YES in step S114), the control unit 41 stops the pulling operation of the closer motor 231 and also stops the closing operation of the PSD motor 21. (Step S115; time t12).

Next, the control unit 41 reversely operates the closer motor 231 (step S116; time t13). Next, the control unit 41 closes the PSD motor 21 (step S117; time t14). Further, in step S117, the control unit 41 starts measuring the elapsed time from the start of the closing operation of the PSD motor 21 using a predetermined timer.

Next, the control unit 41 waits until the original position switch 263 is turned from OFF to ON (NO is repeated in step S118). When the control unit 41 determines that the original position switch 263 has changed from OFF to ON (YES in step S118; time t15), the control unit 41 stops the reverse operation of the closer motor 231 (step S119; time t16). Further, the control unit 41 stops the closing operation of the PSD motor 21 when the elapsed time from the start of the closing operation of the PSD motor 21 in step S117 reaches a predetermined time (step S120; time t17). .. The process of step S120 may be executed before the process of step S119 or the like.

As described above, in the automatic opening / closing control device 14 of the present embodiment, after the control unit 41 shifts the slide door 12 (opening / closing body) from the non-fully closed state to the fully closed state (after a YES in step S114). After time t11), the stopped PSD motor 21 (drive source) is operated by a predetermined amount on the closed side (steps S117 and S120). According to this configuration, the state of the tensioner 32 when the slide door 12 is fully closed can be easily stabilized as compared with the case where the PSD motor 21 (drive source) in the stopped state is not operated by a predetermined amount on the closed side. Can be done. That is, according to the present embodiment, the state of the tensioner 32 can be made uniform by operating the drive source on the closed side for a predetermined time (or a predetermined distance) after the drive source is fully closed, and the stop position of the tensioner 32 depends on the operating state. Can be prevented from changing.

The predetermined amount when the PSD motor 21 in the stopped state is operated by a predetermined amount on the closed side may be defined by the operating time as described above, the amount of rotation speed, the size of the rotation angle, and the slide. It may be defined by the moving distance of the door 12 or the like.

Further, in the above operation example, the closing operation of the PSD motor 21 is stopped after the latch switch 280 recognizes the fully closed state, but the closing operation of the PSD motor 21 is stopped after the latch switch 280 recognizes the half-door state. You may.

Next, an operation example when the Easy Closer is operated will be described with reference to FIG. When the main switch 270 (predetermined operator) is turned off, the control unit 41 repeatedly executes the process shown in FIG. 8, for example, at a fixed cycle. The control unit 41 waits until the latch switch 280 recognizes the half door (NO is repeated in step S201). Next, when the control unit 41 determines that the latch switch 280 is turned from OFF to ON and recognizes the half door (YES in step S201), the control unit 41 determines whether or not the original position switch 263 is ON. (Step S202). When the original position switch 263 is not ON (NO in step S202), the control unit 41 reversely operates the closer motor 231 until the original position switch 263 is ON (YES in step S204). Steps S203 to S205).

When the original position switch 263 is ON (YES in step S202) or after the closer motor 231 is reversely operated until it returns to the original position (step S203), the closer motor 231 is stopped (step S205). , The control unit 41 pulls in and operates the closer motor 231 (step S206).

Next, the control unit 41 determines whether or not all the latch switches 280 are ON, that is, whether or not the slide door 12 is fully closed (step S207). When it is determined that the latch switch 280 has recognized that the slide door 12 is fully closed (YES in step S207), the control unit 41 stops the pull-in operation of the closer motor 231 (step S208).

Next, the control unit 41 reversely operates the closer motor 231 (step S209). Next, the control unit 41 closes the PSD motor 21 (step S210). Further, in step S210, the control unit 41 starts measuring the elapsed time from the start of the closing operation of the PSD motor 21 by using a predetermined timer.

Next, the control unit 41 waits until the original position switch 263 is turned from OFF to ON (NO is repeated in step S211). When the control unit 41 determines that the original position switch 263 has changed from OFF to ON (YES in step S211), the control unit 41 stops the reverse operation of the closer motor 231 (step S212). Further, the control unit 41 stops the closing operation of the PSD motor 21 when the elapsed time from the start of the closing operation of the PSD motor 21 in step S210 reaches a predetermined time (step S213). The process of step S213 may be executed before the process of step S212 and the like.

As described above, in the automatic opening / closing control device 14 of the present embodiment, the control unit 41 shifts the sliding door 12 (opening / closing body) from the open state to the half-door state (YES in step S201), and further, the sliding door 12 After shifting from the half-door state to the fully closed state (after YES in step S07), the stopped PSD motor 21 (drive source) is operated by a predetermined amount on the closed side (steps S210 and S213). According to this configuration, the state of the tensioner 32 when the slide door 12 is fully closed can be easily stabilized as compared with the case where the PSD motor 21 (drive source) in the stopped state is not operated by a predetermined amount on the closed side. Can be done. Further, in the easy closer operation, since the slide door 12 is operated to the half-door state by manual operation, the fully closed position tends to shift as compared with the auto-close operation, but according to the present embodiment, the pulse shift is easily performed. Can be prevented.

Next, with reference to FIG. 9, an operation example when the door is strongly closed will be described. When the main switch 270 (predetermined operator) is turned off, the control unit 41 repeatedly executes the process shown in FIG. 9, for example, at a fixed cycle. The control unit 41 determines whether or not all the latch switches 280 have changed from OFF to ON within a predetermined recognition time (step S301). In step S301, the control unit 41 can determine whether or not the operator manually closed the slide door 12 from the open state to the fully closed state (after passing the half-door state in a short time). .. When it is determined that all the latch switches 280 have changed from OFF to ON within a predetermined recognition time (YES in step S301), the control unit 41 closes the PSD motor 21 (step S302). Further, in step S302, the control unit 41 starts measuring the elapsed time from the start of the closing operation of the PSD motor 21 by using a predetermined timer. Next, the control unit 41 stops the closing operation of the PSD motor 21 when the elapsed time from the start of the closing operation of the PSD motor 21 in step S302 reaches a predetermined time (step S303).

As described above, in the automatic opening / closing control device 14 of the present embodiment, after the control unit 41 shifts the sliding door 12 (opening / closing body) from the open state to the fully closed state within a predetermined time (after YES in step S301). ), The stopped PSD motor 21 (drive source) is operated by a predetermined amount on the closed side (steps S302 and S303). According to this configuration, the state of the tensioner 32 when the slide door 12 is fully closed can be easily stabilized as compared with the case where the PSD motor 21 (drive source) in the stopped state is not operated by a predetermined amount on the closed side. Can be done. Further, according to the present embodiment, pulse deviation can be prevented even when the door is strongly closed.

As described above, according to the present embodiment, the control unit 41 operates the PSD motor 21 in the stopped state by a predetermined amount on the closed side after the slide door 12 shifts from the non-fully closed state to the fully closed state. The state of the tensioner 32 can be stabilized when the door 12 is fully closed. For example, when fully closed by automatic operation, the tensioner 32 when fully closed by driving the PSD motor 21 is in a crushed state on the front side of the vehicle, but in the present embodiment, the PSD motor 21 is fully closed. By operating a predetermined amount on the closed side, the tensioner 32 on the front side of the vehicle can be in a crushed state when the vehicle is manually closed, as in the case where the vehicle is fully closed by the automatic operation. Therefore, it is possible to eliminate the pulse deviation due to the difference between the two operations, that is, when the operation is fully closed manually and when the operation is fully closed automatically. That is, by recognizing the fully closed state when the PSD motor 21 in the stopped state is operated by a predetermined amount on the closed side, resetting the pulse count and setting the count to 0, it is possible to prevent the pulse shift from occurring due to the fully closed operation. be able to.

Therefore, according to the present embodiment, it is possible to suppress deterioration of the feeling at the time of automatic operation due to pulse deviation and suppression of pinching erroneous reversal. In addition, various constants that have been a factor of pulse deviation can be set to better constants. Further, by improving the sandwiching threshold value, the sandwiching reversal load can be reduced. Further, by improving the sandwiching mask area, it is possible to achieve an effect such as reducing the area where the sandwiching cannot be detected.

Although the embodiments of the present invention and modifications thereof have been described above, the motor control device of the present invention is not limited to the above-mentioned illustrated examples, and various changes are made within the range not deviating from the gist of the present invention. Of course it can be added.

11 ... Vehicle, 12 ... Sliding door, 13 ... Guide rail, 14 ... Automatic opening / closing control device, 15 ... Drive unit, 16 ... Cable, 21 ... PSD motor, 32 ... Tensioner, 32a ... Fixed pulley, 32b ... Movable pulley, 32c ... Spring member, 41 ... Control unit, 48u, 48v, 48w ... Hall IC, 215 ... Lock mechanism, 216 ... Actuator, 218 ... Closer unit, 221 ... Latch, 221a ... Engagement groove, 221b ... Half ratchet locking groove, 222 ... Ratchet, 222a ... Locking claw, 223 ... Striker, 224 ... Latch shaft, 225 ... Ratchet shaft, 226 ... Doorknob, 227 ... Connecting rod, 231 ... Closer motor, 232 ... Power conversion mechanism, 233 ... Drive rod, 234 ... Half latch switch, 235 ... Ratchet switch, 236 ... Full latch switch, 237 ... Doorknob operation detection switch, 263 ... Original position switch, 280 ... Latch switch, 290 ... Rotation position sensor

Claims (4)

An automatic opening / closing control device for vehicles that opens and closes the opening / closing body provided on the vehicle body.
A drive source that drives the opening / closing body by a chordee body,
A tensioner mechanism that applies a predetermined tension to the chordee body,
A control unit that controls the drive state of the drive source,
It is provided with a main switch that switches between an ON state in which the drive source is driven to automatically operate the opening / closing body and an OFF state in which the opening / closing body is manually operated.
The drive source has a closer motor and
The closer motor
A drive rod that moves forward and backward when the closer motor is driven,
It has an original position switch that turns off when the drive rod advances from the original position and turns on when the drive rod returns to the original position.
The control unit is in a stopped state after the main switch is in the OFF state, the opening / closing body shifts from the open state to the half-door state, and the opening / closing body shifts from the half-door state to the fully closed state. An automatic opening / closing control device for a vehicle that operates the drive source on the closed side until the original position switch is turned on. The automatic opening / closing control device for a vehicle according to claim 1, wherein the control unit operates the driving source in the stopped state by a predetermined amount after the opening / closing body shifts from the open state to the fully closed state within a predetermined time. .. The control unit operates the drive source to the closed side when a predetermined operator is operated, stops the drive source after the opening / closing body shifts from the non-fully closed state to the fully closed state, and then stops the drive source. The automatic opening / closing control device for a vehicle according to claim 1 or 2 , wherein the drive source in a stopped state is operated by a predetermined amount on the closed side. The control unit recognizes the position of the opening / closing body based on the amount of rotation of the drive source, and controls the drive state of the drive source according to the recognized position. Any one of claims 1 to 3. The automatic opening / closing control device for vehicles described in the section.

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