JP6946170B2 - Switchgear and its control method - Google Patents

Description

The present invention relates to a switchgear used in, for example, a vehicle and a control method thereof.

Conventionally, as the opening / closing device, as described in Patent Document 1, a speed measuring unit for measuring the speed of the opening / closing body of a vehicle, a position measuring unit for measuring the position of the opening / closing body, and an opening / closing direction of the opening / closing body are used. Some are provided with a direction determination unit for determination. In this opening / closing device, when the speed of the opening / closing body measured by the speed measuring unit at the position of the opening / closing body measured by the position measuring unit is equal to or higher than the speed threshold value at that position, the opening / closing body determined by the direction determining unit. The opening / closing body is driven by a motor in the opening / closing direction of. In this way, the manual force for opening and closing the opening / closing body is reduced.

Japanese Unexamined Patent Publication No. 2016-113861

By the way, in the above-mentioned conventional opening / closing device, when the speed of the opening / closing body measured by the speed measuring unit at the position of the opening / closing body measured by the position measuring unit becomes equal to or higher than the speed threshold value at that position, the opening / closing body is fully opened or fully opened. It continues to be driven by the motor until it is closed. Therefore, even if the user wants to open the opening / closing body halfway, the opening / closing body is fully opened or fully closed.

Therefore, the conventional switchgear has a problem that the switchgear cannot be stopped at a position desired by the user.

Therefore, an object of the present invention is to provide an opening / closing device and a control method thereof, which can reduce the manual force required for opening / closing the opening / closing body and can stop the opening / closing body at an arbitrary opening / closing position by a user. be.

The switchgear according to one aspect of the present invention is
An opening and closing body that opens and closes the opening provided in the object,
A drive unit that generates a driving force for opening and closing the opening / closing body,
An opening / closing speed detection unit that detects the opening / closing speed of the opening / closing body,
An opening / closing position detection unit that detects the opening / closing position of the opening / closing body,
An opening / closing direction determination unit that determines the opening / closing direction of the opening / closing body,
At the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit is set in advance in association with the opening / closing position of the opening / closing body. The first opening / closing speed determination unit that determines whether or not the threshold value is exceeded,
When the opening / closing speed of the opening / closing body is determined to be equal to or higher than the first threshold value, the driving unit is controlled so that the driving unit generates the driving force, and the opening / closing direction determination unit determines the opening / closing speed. An assist start part that starts an assist for moving the opening / closing body in the opening / closing direction of the body,
When the assist is performed, at the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detecting unit becomes the opening / closing position of the opening / closing body. A second opening / closing speed determination unit that determines whether or not the value has fallen below a preset second threshold value in association with each other.
When it is determined that the opening / closing speed of the opening / closing body is lower than the second threshold value, the driving unit is controlled so that the driving unit does not generate the driving force, and the assist ending unit that ends the assist is used. Prepare,
The first threshold value indicates the opening / closing speed estimated that the user manually opens / closes the opening / closing body, while the second threshold value indicates that the user does not manually open / close the opening / closing body. Indicates the opening / closing speed.

The method of controlling the switchgear according to one aspect of the present invention is as follows.
An opening / closing body that opens / closes an opening provided in an object, a driving unit that generates a driving force for opening / closing the opening / closing body, an opening / closing speed detecting unit that detects the opening / closing speed of the opening / closing body, and the opening / closing body. A control method for an opening / closing body device including an opening / closing position detecting unit for detecting an opening / closing position and an opening / closing direction determining unit for determining an opening / closing direction of the opening / closing body.
At the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit is set in advance in association with the opening / closing position of the opening / closing body. Judge whether the threshold is exceeded or not,
When the opening / closing speed of the opening / closing body is determined to be equal to or higher than the first threshold value, the driving unit is controlled so that the driving unit generates the driving force, and the opening / closing direction determination unit determines the opening / closing speed. Start assisting to move the opening / closing body in the opening / closing direction of the body,
When the assist is performed, at the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detecting unit becomes the opening / closing position of the opening / closing body. It is determined whether or not the value has fallen below the preset second threshold value in association with each other.
When it is determined that the opening / closing speed of the opening / closing body is lower than the second threshold value, the driving unit is controlled so that the driving unit does not generate the driving force, and the assist is terminated.
The first threshold value indicates the opening / closing speed estimated that the user manually opens / closes the opening / closing body, while the second threshold value indicates that the user does not manually open / close the opening / closing body. Indicates the opening / closing speed.

The switchgear and its control method of the present invention allow the user to manually operate the switchgear with a light force and stop the switchgear at an arbitrary opening / closing position.

It is a diagonal schematic rear view of the vehicle body which mounts the back door opening / closing device of one Embodiment of this invention. It is the schematic sectional drawing of the 1st spindle drive mechanism of the vehicle body. It is a block diagram of the back door opening / closing device of the said embodiment. It is a flowchart for demonstrating control of the back door opening / closing device of the said embodiment. It is a flowchart for demonstrating another control of the back door opening / closing device of the said embodiment. It is a graph which shows the change of the 1st and 2nd threshold value at the time of opening a back door. It is a graph which shows the change of the 1st and 2nd threshold value at the time of closing a back door.

Hereinafter, the switchgear of the present invention and its control method will be described in detail with reference to the illustrated embodiment.

FIG. 1 is a schematic view showing a rear portion of a vehicle body 1 equipped with a back door opening / closing device 17 (shown in FIG. 3) according to an embodiment of the present invention.

An opening 2 is provided at the rear of the vehicle body 1. The opening 2 is opened and closed by a back door 3 as an example of an opening / closing body. The vehicle body 1 is an example of an object.

A rotation shaft (not shown) is provided at the upper end of the back door 3. The back door 3 can rotate around the rotation shaft between a fully closed position in which the opening 2 is fully closed and a fully open position in which the opening 2 is fully opened. That is, the upper end portion of the back door 3 is attached to the upper edge portion of the opening 2, so that the back door 3 can rotate in the vertical direction. The back door 3 is rotated by the drive of the spindle drive mechanism 4.

Further, on the outer surface of the back door 3, a door open switch 19 that is operated when the back door 3 is opened is provided. When closing the back door 3, the door closing switch 18 is operated, and the door closing switch 18 is provided at the center of the lower end portion of the back door 3. A door latch device 20 is also provided at the center of the lower end of the back door 3 so as to be adjacent to the door closing switch 18.

The latch (not shown) of the door latch device 20 engages with the striker 50 provided at the lower edge of the opening 2 when the back door 3 is closed, and prohibits the back door 3 from rotating in the opening direction. do. The engagement between the latch and the striker 50 is released when the back door 3 is opened. For example, the door latch device described in Japanese Patent Application Laid-Open No. 2015-124488 may be used as the door latch device 20.

The spindle drive mechanism 4 is composed of a rod-shaped first spindle drive mechanism 4A and a rod-shaped second spindle drive mechanism 4B having the same structure as the first spindle drive mechanism 4A. The first spindle drive mechanism 4A is provided between one side portion of the back door 3 and one side edge portion of the opening 2. On the other hand, the second spindle drive mechanism 4B is provided between the other side portion of the back door 3 and the other side edge portion of the opening 2. Further, the spindle drive mechanisms 4A and 4B are connected to the vehicle body 1 and the back door 3. For example, the spindle drive mechanism described in Japanese Patent Application No. 2016-216860 may be used as the spindle drive mechanisms 4A and 4B.

FIG. 2 is a schematic cross-sectional view of the first spindle drive mechanism 4A cut along a plane parallel to the axial direction. Since the structure of the second spindle drive mechanism 4B is the same as that of the first spindle drive mechanism 4A, the schematic cross-sectional view of the second spindle drive mechanism 4B is not shown.

The first spindle drive mechanism 4A has a first housing 6 that houses an electric motor 5 and the like, and a second housing 7 that houses a spindle 9 and the like. The electric motor 5 is an example of a drive unit.

A door-side connecting member 51 that is rotatably connected to the joint ball 3a provided on the back door 3 is fixed to one end of the first housing 6. Further, in the first housing 6, a rotation sensor 15 for detecting the rotation speed of the rotation shaft 5a of the electric motor 5 corresponding to the opening / closing speed of the back door 3 is installed. The rotating shaft 5a of the electric motor 5 is connected to the spindle 9 in the second housing 7 via the reduction gear mechanism 8. Further, one end of the second housing 7 is connected to the other end of the first housing 6. The rotation sensor 15 may be a magnetic sensor that uses a Hall element, or an optical sensor that uses an LED (light emitting diode) and a PD (photodiode). The rotation sensor 15 is an example of an opening / closing speed detection unit.

The second housing 7 accommodates a spindle nut 10 that can move forward and backward along the axial direction of the second housing 7. More specifically, the spindle nut 10 is screwed into the spindle 9, and the front end of the spindle nut 10 (the end opposite to the first housing 6) is the rear end of the tubular push rod 11 (the first). 1 The end on the 6 side of the housing) is fixed. On the other hand, the front end of the tubular outer cylinder 13 is fixed to the front end of the push rod 11. The outer cylinder 13 is arranged coaxially with the push rod 11 and has an inner diameter larger than the outer diameter of the push rod 11. Further, the coil spring 12 is arranged relatively outside in the radial direction between the outer peripheral surface of the push rod 11 and the inner peripheral surface of the outer cylinder 13, while the rear end is fixed to the second housing 7. The tubular inner cylinder 14 is arranged relatively inside in the radial direction. The coil spring 12 extends spirally from one end side to the other end side of the second housing 7.

Further, a vehicle body side connecting member 52, which is aligned with the push rod 11 in the axial direction of the second housing 7, is fixed to the front end portion of the push rod 11. The vehicle body side connecting member 52 is rotatably connected to the joint ball 1a provided on the vehicle body 1.

In such a first spindle drive mechanism 4A, when the rotating shaft 5a of the electric motor 5 rotates in the forward direction, the spindle 9 also rotates in the forward direction, and the spindle nut 10 moves to the other end side of the second housing 7. As a result, the amount of protrusion of the outer cylinder 13 and the push rod 11 with respect to the second housing 7 increases, and the back door 3 rotates in the opening direction. On the other hand, when the rotating shaft 5a of the electric motor 5 rotates in the reverse direction, the spindle nut 10 moves to one end side of the second housing 7. As a result, the amount of protrusion of the outer cylinder 13 and the push rod 11 with respect to the second housing 7 is reduced, and the back door 3 rotates in the closing direction.

Further, the rotation sensor 15 outputs a signal indicating the rotation speed (rotation speed) and the rotation direction of the rotation shaft 5a of the electric motor 5 to the control device 31.

FIG. 3 is a block diagram for explaining the configuration of the back door opening / closing device 17. Further, in FIG. 3, the same constituent parts as the constituent parts of FIGS. 1 and 2 are given the same reference numbers as the reference numbers of the constituent parts of FIGS. 1 and 2.

The back door opening / closing device 17 includes a control device 31 including a microprocessor and an input / output circuit. A first spindle drive mechanism 4A, a second spindle drive mechanism 4B, a door latch device 20, a door closing switch 18, a door opening switch 19, a BCM (Body Control Module) 25, and the like are connected to the control device 31. ing. Further, the control device 31 communicates with the electronic key 26 via the BCM (Body Control Module) 25 and executes the authentication process described later.

The door latch device 20 includes a latch motor 21 that drives the latch in forward and reverse rotation, a full latch switch 22, a half latch switch 23, and a release switch 24. The full latch switch 22, the half latch switch 23, and the release switch 24 detect the position of the latch. Here, the positions of the latch are a position where the latch completely engages with the striker 50 (full latch position), a position where the latch does not completely engage with the striker 50 (release position), and these positions. Refers to one of the intermediate positions (half-latch position).

The door closing switch 18 outputs a door closing operation signal for moving the back door 3 to the fully closed position to the control device 31. At this time, the control device 31 outputs a PWM (Pulse Width Modulation) signal to the spindle drive mechanism 4 based on the door closing operation signal from the door closing switch 18, and closes the back door 3 in the closing direction. The control to rotate is executed.

The door open switch 19 outputs a door open operation signal for moving the back door 3 to the fully open position to the control device 31. At this time, the control device 31 outputs an open operation signal to the spindle drive mechanism 4 based on the door open operation signal from the door open switch 19, and executes control to rotate the back door 3 in the open direction.

Further, the control device 31 includes a speed position calculation unit 31a, an opening / closing direction determination unit 31b, a first opening / closing speed determination unit 31c, an assist start unit 31d, a second opening / closing speed determination unit 31e, an assist end unit 31f, and a PWM signal generation unit 31g. have. The speed position calculation unit 31a, the opening / closing direction determination unit 31b, the first opening / closing speed determination unit 31c, the assist start unit 31d, the second opening / closing speed determination unit 31e, and the assist end unit 31f are each composed of software.

The speed position calculation unit 31a receives a signal from the rotation sensor 15 indicating the rotation speed of the rotation shaft 5a of the electric motor 5. At this time, the speed position calculation unit 31a calculates the opening / closing speed and the opening / closing position of the back door 3 based on the above signal. The opening / closing position of the back door 3 corresponds to, for example, a rotation angle with respect to the fully open position or the fully closed position, and is based on the number of rotations of the rotation shaft 5a of the electric motor 5 from the fully open position or the fully closed position of the back door 3. It is calculated.

The opening / closing direction determination unit 31b receives a signal indicating the rotation direction from the rotation sensor 15, and determines the opening / closing direction of the back door 3 based on this signal.

In the first opening / closing speed determination unit 31c, at the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a, the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is associated with the opening / closing position. It is determined whether or not the preset first threshold value is TH _{1 or higher.} The first threshold value TH ₁ indicates an opening / closing speed estimated that the user manually opens / closes the back door 3. _{For example, the first threshold value TH 1} can be obtained by analyzing vehicle experiment data performed by changing the inclination angle of the road where the vehicle body 1 is parked, the weight of the back door 3, and the like.

The assist start unit 31d outputs a PWM signal to the electric motor 5 so that the electric motor 5 generates a driving force when the opening / closing speed of the back door 3 _{is determined to be equal to or higher than the first threshold value TH 1, and the opening / closing direction.} Assistance for rotating the back door 3 in the opening / closing direction of the back door 3 determined by the determination unit 31b is started. That is, the electric motor 5 is driven according to the determination that the opening / closing speed of the back door 3 is equal to _{or higher than the first threshold value TH 1,} and the manual opening / closing operation of the back door 3 is assisted.

The second opening / closing speed determination unit 31e is the back calculated by the speed position calculation unit 31a at the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a when the manual opening / closing operation of the back door 3 is assisted. It is determined whether or not the opening / closing speed of the door 3 _{is lower than the second threshold value TH 2 set in association with the opening / closing position.} The second threshold value TH ₂ indicates an opening / closing speed estimated that the user has not manually opened / closed the back door 3. _{For example, the second threshold value TH 2} can also be obtained by analyzing vehicle experiment data performed by changing the inclination angle of the road on which the vehicle body 1 is parked, the weight of the back door 3, and the like.

When it is determined that the opening / closing speed of the back door 3 _{is lower than the second threshold value TH 2} , the assist end unit 31f stops the output of the PWM signal to the electric motor 5 so that the electric motor 5 does not generate a driving force. Then, the assist of the manual opening / closing operation of the back door 3 is terminated.

The PWM signal generation unit 31g generates a PWM signal to be supplied to the electric motor 5 when the manual opening / closing operation of the back door 3 is assisted. At this time, the duty ratio of the PWM signal supplied to the electric motor 5 is fixed. That is, the electric motor 5 is driven with a constant duty ratio. At this time, the duty ratio is set so that the drive torque obtained by the driving force of the electric motor 5 is equal to or less than the maximum torque (maximum opening / closing torque) required for opening / closing the back door 3.

More specifically, the minimum torque required to open and close the back door 3 (hereinafter referred to as "opening and closing torque") is determined by the influence of gravity on the back door 3 and in the spindle drives 4A and 4B. It depends on the opening / closing position of the back door 3 due to the influence of the urging force of the arranged coil spring 12. The duty ratio is set as large as possible so that sufficient assist force can be obtained even when the opening / closing position of the back door 3 requires the maximum opening / closing torque (maximum opening / closing torque) for opening / closing the back door 3. There is a need. However, if the duty ratio is set so that the drive torque exceeds the maximum opening / closing torque, the back door 3 continues to open / close automatically even if the back door 3 is released, so that the back door 3 is used by the user. It is not preferable because it moves against the intention of. Therefore, by setting the duty ratio so that the drive torque is equal to or less than the maximum opening / closing torque, it is possible to reduce the feeling of discomfort to the user during the assist operation.

Further, the duty ratio is the cogging of the electric motor 5 even if the drive torque obtained by the driving force of the electric motor 5 is equal to or less than the opening / closing torque of the back door 3 and the back door 3 cannot be directly driven. Assist is possible as long as the torque can be reduced.

On the other hand, the second threshold value TH ₂ is set to be higher than the opening / closing speed of the back door 3 operated by the PWM signal of the duty ratio set as described above. As a result, when the user stops the manual opening / closing operation of the back door 3, the opening / closing speed of the _{back door 3 is lower than the second threshold TH 2} , so that the opening / closing speed of the back door 3 ensures _{the second threshold TH 2.} Can be less than. As a result, the assist of the manual opening / closing operation of the back door 3 can be reliably terminated.

Hereinafter, control when the back door 3 is automatically opened will be described with reference to the flowchart of FIG.

When the above control is started, first, in step S1, it is determined whether or not the door open operation signal is received from the door open switch 19. This step S1 is repeated until it is determined that the door open operation signal has been received from the door open switch 19.

Next, in step S2, the authentication process of the electronic key 26 is executed. In this authentication process, the control device 31 requests the BCM 25 to authenticate the electronic key 26. After making a request for transmission of the authentication code to the electronic key 26, the BCM 25 compares the authentication code received from the electronic key 26 with the pre-registered regular code by a collating means (not shown), and this comparison is performed. The result is transmitted to the control device 31. Based on the result of the comparison, the control device 31 determines that the user has operated the door open switch 19 if the authentication code matches the normal code, completes the authentication process, and then completes the next authentication process. Go to the step. When the authentication process ends in failure, or when the authentication code does not match the regular code, the control ends.

Next, in step S3, a latch release signal for disengaging the latch and the striker 50 is output to the door latch device 20. As a result, the latch motor 21 is driven.

Next, in step S4, it is determined whether or not the latch is in a position (release position) that does not completely engage the striker 50. In other words, in step S4, it is determined whether or not the back door 3 is in a state where it can be safely opened. This step S4 is repeated until it is determined that the latch is in a position where it does not completely engage the striker 50.

Next, in step S5, a PWM signal for opening the back door 3 is output to the electric motor 5 of the spindle drive mechanism 4. At this time, the duty ratio of the PWM signal may be adjusted by feedback control.

Next, in step S6, it is determined whether or not the position of the back door 3 is the fully open position based on the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a. This step S6 is repeated until the position of the back door 3 is determined to be the fully open position.

Finally, in step S7, the output of the PWM signal to the electric motor 5 of the spindle drive mechanism 4 is stopped, and the above control is completed.

In this way, when the door open switch 19 is pressed, the back door 3 automatically rotates to the fully open position, so that the back door 3 can be opened without the user having to manually rotate the back door 3 in the open direction. It can be fully opened.

Hereinafter, control during manual opening and closing of the back door 3 will be described with reference to the flowchart of FIG.

When the above control is started, first, in the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a in step S21, the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is set to the opening / closing position. It is determined whether or not _{the first threshold value TH 1} set in association with each other is equal to or higher than that of the first threshold value TH 1. That is, it is determined whether or not the back door 3 has been manually operated. This step S21 is repeated until the opening / closing speed of the back door 3 is determined to be _{equal to or higher than the first threshold value TH 1.}

Next, in step S22, a PWM signal is output to the electric motor 5 so that the electric motor 5 generates a driving force, and assistance for the manual opening / closing operation of the back door 3 is started. At this time, the assist direction is the opening direction or the closing direction determined by the opening / closing direction determination unit 31b.

Next, in step S23, at the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a, the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is preset in association with the opening / closing position. It is determined whether or not the second threshold value TH _{2 has been determined.} That is, it is determined whether or not the manual opening / closing operation of the back door 3 has been stopped. At this time, if it is determined that the opening / closing speed of the back door 3 _{is not lower than the second threshold value TH 2} , the process proceeds to step S24.

When the process proceeds to step S24, it is determined whether or not the open / close position of the back door 3 calculated by the speed position calculation unit 31a is the fully open position or the fully closed position. At this time, if it is determined that the open / close position of the back door 3 is neither the fully open position nor the fully closed position, the process returns to step S23. On the other hand, if it is determined that the open / close position of the back door 3 is the fully open position or the fully closed position, in step S25, the output of the PWM signal to the electric motor 5 is stopped so that the electric motor 5 does not generate a driving force. , The assist of the manual opening / closing operation of the back door 3 is terminated, and the above control is terminated.

In this way, in the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a, the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is set in advance in association with the opening / closing position. It is determined whether or not it is 1 threshold value or more. When this opening / closing speed is _{determined to be equal to or higher than the first threshold value TH 1} , a PWM signal is output to the electric motor 5 so that the electric motor 5 generates a driving force, and the assist of the manual opening / closing operation of the back door 3 is started. do. Here, the first threshold value TH ₁ indicates an opening / closing speed estimated that the user manually opens / closes the back door 3. Therefore, when the user manually opens and closes the back door 3, an assist for rotating the back door 3 in the opening and closing direction can be obtained, so that the manual force applied to the back door 3 can be reduced.

Further, when the manual opening / closing operation of the back door 3 is assisted, at the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a, the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is determined. It is determined whether or not _{the second threshold value TH 2} set in association with the opening / closing position has been exceeded. When it is determined that the opening / closing speed is _{lower than the second threshold value TH 2} , the output of the PWM signal to the electric motor 5 is stopped so that the electric motor 5 does not generate a driving force, and the back door 3 is manually opened / closed. Assist ends. Here, the second threshold value TH ₂ indicates an opening / closing speed estimated that the user has not manually opened / closed the back door 3. Therefore, when the user stops the manual opening / closing operation of the back door 3, the assist of the manual opening / closing operation of the back door 3 can be eliminated, so that the user can stop the back door 3 at an arbitrary opening / closing position.

FIG. 6 is a graph showing changes in the _first and second thresholds TH 1 and TH ₂ when the back door 3 is rotated from the fully closed position 0 to the fully open position N. Further, FIG. 7 is a graph showing changes in the _first and second thresholds TH 1 and TH ₂ when the back door 3 is rotated from the fully open position N to the fully closed position 0. _{The graphs of FIGS. 6 and 7 show the first and second thresholds TH 1} and TH ₂ obtained from vehicle experiment data obtained by changing the inclination angle of the road where the vehicle body 1 is parked, the weight of the back door 3, and the like. It is a simplification of change.

As can be seen from FIGS. 6 and 7, regardless of whether the back door 3 is rotated in the opening direction or the closing direction, the second threshold value TH ₂ is the first threshold value TH at each opening / closing position of the back door 3. It is set larger than _1. That is, when the first and second threshold values TH ₁ and TH ₂ are compared at the same opening / closing position, the second threshold value TH ₂ is larger than the first threshold value TH _1. As a result, the opening / closing speed of the back door 3 falls below _{the second threshold value TH 2} of the opening / closing position corresponding to this opening / closing speed in a short time after the user stops the manual opening / closing operation of the back door 3. Therefore, it is possible to shorten the time from when the user stops the manual opening / closing operation of the back door 3 to the end of assisting the manual opening / closing operation of the back door 3.

Further, when the manual opening / closing operation of the back door 3 is assisted, the duty ratio of the PWM signal supplied to the electric motor 5 is fixed, so that the opening / closing speed when the user stops the manual opening / closing operation of the back door 3 can be determined. It can be easily estimated. That is, the selection of the second threshold value TH ₂ becomes easy.

Further, a PWM signal is supplied to the electric motor 5. At this time, the duty ratio of the PWM signal is set so that the drive torque obtained by the driving force of the electric motor 5 is equal to or less than the maximum torque (maximum opening / closing torque) required for opening / closing the back door 3. As a result, even if the user's hand is separated from the back door 3, the back door 3 does not continue to open and close automatically, and it is possible to prevent the user from feeling uncomfortable when the assist is activated.

In the above embodiment, in step S21, the speed position calculation unit 31a calculates the determination as to whether or not the back door 3 has been manually operated at the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a. It is performed by determining whether or not the opening / closing speed of the back door 3 is equal to _{or higher than the first threshold value TH 1} set in advance in association with the opening / closing position. For example, the back calculated by the speed position calculation unit 31a. At the opening / closing position of the door 3, the state in which the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is equal to _{or higher than the first threshold value TH 1} set in advance in association with the opening / closing position is the predetermined first duration. If it is continuously detected, it may be determined that a manual operation is being performed. With this configuration, it is possible to sufficiently secure a time when the manual operation is started and the opening / closing speed of the back door 3 exceeds the first threshold value TH ₁ to the second threshold value TH ₂ , and malfunction can be prevented. The first duration may be set to a time sufficient for the opening / closing speed of the back door 3 by manual operation _{to exceed the first threshold value TH 1} to the second threshold value TH _2.

In the above embodiment, in step S23, the speed position calculation unit 31a calculates the determination as to whether or not the manual opening / closing operation of the back door 3 has been stopped at the opening / closing position of the back door 3 calculated by the speed position calculation unit 31a. It is performed by determining whether or not the opening / closing speed of the back door 3 _{is lower than the second threshold value TH 2} set in association with the opening / closing position. For example, it is calculated by the speed position calculation unit 31a. At the opened / closed position of the back door 3, the state in which the opening / closing speed of the back door 3 calculated by the speed position calculation unit 31a is lower than _{the second threshold value TH 2 set in advance in association with the opening / closing position is predetermined.} When the second duration is continuously detected, it may be determined that the manual opening / closing operation of the back door 3 has been stopped. With this configuration, it is possible to sufficiently secure a time during which the manual operation is stopped and the opening / closing speed of the back door 3 _{decreases from the second threshold value TH 2} and falls below the first threshold value TH ₁ , and malfunction can be prevented. .. The second duration may be set to a time sufficient for the opening / closing speed of the back door 3 _{to decrease from the second threshold value TH 2} to fall below the first threshold value TH _{1 due to the suspension of the manual operation.}

In the above embodiment, the second threshold value is set to be larger than the first threshold value, but the first threshold value and the second threshold value may be the same, and the first threshold value is larger than the second threshold value. It may be set to be large.

In the above embodiment, the duty ratio of the PWM signal supplied to the spindle drive mechanism 4 is fixed to a constant value during the assist operation, but the duty ratio is not limited to this, and can be obtained by, for example, the driving force of the electric motor 5. The drive torque to be generated may be set to be variable according to the opening / closing torque of the back door 3. With this configuration, a substantially uniform assist force can be obtained regardless of the opening / closing position of the back door 3, so that it is possible to reduce the feeling of discomfort to the user.

In the above embodiment, the duty ratio of the PWM signal supplied to the spindle drive mechanism 4 at the time of assist operation is set so that the drive torque obtained by the driving force of the spindle drive mechanism 4 is equal to or less than the maximum opening / closing torque required for opening / closing the back door 3. However, the present invention is not limited to this, and for example, the duty ratio may be set so that the drive torque is equal to or greater than the maximum opening / closing torque. Even in this case, if the second threshold value TH ₂ is set to be higher than the opening / closing speed of the back door 3 operated by the PWM signal of the duty ratio set as described above, the user can manually open / close the back door 3. When the operation is stopped, the opening / closing speed of the back door 3 _{is lower than the second threshold value TH 2} , so that the assist of the manual opening / closing operation of the back door 3 can be terminated.

In the above embodiment, the switchgear and the control method thereof according to the embodiment of the present invention are applied to the back door 3 of the car, but are applied to, for example, the electric side door of the car, the power window, the sunroof, and the like. You may. That is, the side door, power window, sunroof, and the like may be examples of the opening / closing body. At this time, the opening / closing method of the side door, the power window, the sunroof, etc. may be, for example, a slide type or a rotary type. Further, the switchgear according to the embodiment of the present invention and the control method thereof may be applied to an automatic door of a building.

In the above embodiment, the case where the two first and second spindle drive mechanisms 4A and 4B are attached to the vehicle body 1 has been described, but one or three or more drive mechanisms may be attached to the vehicle body 1. When one or three or more drive mechanisms are attached to the vehicle body 1, the same control as the control of the back door opening / closing device 17 may be performed.

In the above embodiment, the speed position calculation unit 31a, the opening / closing direction determination unit 31b, the first opening / closing speed determination unit 31c, the assist start unit 31d, the second opening / closing speed determination unit 31e, and the assist end unit 31f are each composed of software. However, at least one may be composed of hardware.

Although the specific embodiment of the present invention has been described, the present invention is not limited to the above-described embodiment and its modifications, and various modifications can be made within the scope of the present invention. For example, a part of the contents described in the above embodiment may be deleted or replaced as one embodiment of the present invention.

1 Body 2 Opening 3 Back door 4 Spindle drive mechanism 4A 1st spindle drive mechanism 4B 2nd spindle drive mechanism 5 Electric motor 6 1st housing 7 2nd housing 8 Reduction gear mechanism 9 Spindle 10 Spindle nut 11 Push rod 12 Coil spring 13 Outer cylinder 14 Inner cylinder 15 Rotation sensor 17 Back door opening / closing device 18 Door closing switch 19 Door opening switch 20 Door latch device 21 Latch motor 22 Full latch switch 23 Half latch switch 24 Release switch 25 BCM
26 Electronic key 50 Striker 31 Control device 31a Speed position calculation unit 31b Open / close direction determination unit 31c First open / close speed determination unit 31d Assist start unit 31e Second open / close speed determination unit 31f Assist end unit 31g PWM signal generation unit

Claims (6)

An opening and closing body that opens and closes the opening provided in the object,
A drive unit that generates a driving force for opening and closing the opening / closing body,
An opening / closing speed detection unit that detects the opening / closing speed of the opening / closing body,
An opening / closing position detection unit that detects the opening / closing position of the opening / closing body,
An opening / closing direction determination unit that determines the opening / closing direction of the opening / closing body,
At the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit is set in advance in association with the opening / closing position of the opening / closing body. The first opening / closing speed determination unit that determines whether or not it is above the threshold value,
When the opening / closing speed of the opening / closing body is determined to be equal to or higher than the first threshold value, the driving unit is controlled so that the driving unit generates the driving force, and the opening / closing direction determination unit determines the opening / closing speed. An assist start part that starts an assist for moving the opening / closing body in the opening / closing direction of the body,
When the assist is performed, at the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detecting unit becomes the opening / closing position of the opening / closing body. A second opening / closing speed determination unit that determines whether or not the value has fallen below a preset second threshold value in association with each other.
When it is determined that the opening / closing speed of the opening / closing body is lower than the second threshold value, the driving unit is controlled so that the driving unit does not generate the driving force, and the assist ending unit that ends the assist is used. Prepare,
The first threshold value indicates the opening / closing speed estimated that the user manually opens / closes the switchgear, while the second threshold value indicates that the user does not manually open / close the switchgear. An opening / closing device characterized by indicating an opening / closing speed. In the switchgear according to claim 1,
An opening / closing device characterized in that the second threshold value corresponding to the opening / closing position is larger than the first threshold value corresponding to the opening / closing position detected by the opening / closing position detecting unit. In the switchgear according to claim 1 or 2.
A PWM signal generation unit that generates a PWM signal to be supplied to the drive unit when the assist is performed is provided.
A switchgear characterized in that the duty ratio of the PWM signal is fixed. In the switchgear according to claim 3,
The duty ratio is an opening / closing device characterized in that the torque obtained by the driving force of the driving unit is set to be equal to or less than the maximum torque required for opening / closing the opening / closing body. In the switchgear according to any one of claims 1 to 4,
The above object is a vehicle
The switchgear is a switchgear characterized by being a door provided on the vehicle. An opening / closing body that opens / closes an opening provided in an object, a driving unit that generates a driving force for opening / closing the opening / closing body, an opening / closing speed detecting unit that detects the opening / closing speed of the opening / closing body, and the opening / closing body. A control method for an opening / closing body device including an opening / closing position detecting unit for detecting an opening / closing position and an opening / closing direction determining unit for determining an opening / closing direction of the opening / closing body.
At the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detection unit is set in advance in association with the opening / closing position of the opening / closing body. Judge whether the threshold is exceeded or not,
When the opening / closing speed of the opening / closing body is determined to be equal to or higher than the first threshold value, the driving unit is controlled so that the driving unit generates the driving force, and the opening / closing direction determination unit determines the opening / closing speed. Start assisting to move the opening / closing body in the opening / closing direction of the body,
When the assist is performed, at the opening / closing position of the opening / closing body detected by the opening / closing position detecting unit, the opening / closing speed of the opening / closing body detected by the opening / closing speed detecting unit becomes the opening / closing position of the opening / closing body. It is determined whether or not the value has fallen below the preset second threshold value in association with each other.
When it is determined that the opening / closing speed of the opening / closing body is lower than the second threshold value, the driving unit is controlled so that the driving unit does not generate the driving force, and the assist is terminated.
The first threshold value indicates the opening / closing speed estimated that the user manually opens / closes the switchgear, while the second threshold value indicates that the user does not manually open / close the switchgear. A control method for a switchgear, which comprises indicating an opening / closing speed.

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