JP7005971B2 - Vehicle open / close control device - Google Patents

Description

The present invention relates to a control device for a vehicle opening / closing body that operates a drive circuit of a motor that generates power to displace the vehicle opening / closing body.

For example, Patent Document 1 describes a control device that controls a sliding door (opening / closing body for a vehicle) of a vehicle and operates a motor that displaces the sliding door (paragraph "0072"). This control device sets the upper limit rotation speed, which is the upper limit value of the target rotation speed (target rotation speed) of the motor, as the final steady rotation speed when the distance between the position of the slide door and the stop position is within a predetermined value. If it is longer than a predetermined value, the longer the distance, the higher the rotation speed is set, and the target rotation speed is gradually increased from the start of displacement of the sliding door to the upper limit rotation speed.

Japanese Unexamined Patent Publication No. 2011-45204

In the case of the above control device, when the target rotation speed reaches the upper limit rotation speed after the displacement of the slide door starts, the target rotation speed switches from an increase to a decrease. Therefore, depending on the displacement start position, the rotation speed of the motor switches from rising to falling in a short period of time, and the rotation frequency of the motor switches from rising to falling in a short period of time, which causes a sense of discomfort to the user. Is a concern.

Hereinafter, means for solving the above problems and their actions and effects will be described.
1. 1. The control device for the vehicle opening / closing body includes the target value setting process for setting the target value of the speed parameter, which is a parameter having a positive correlation with the displacement speed of the vehicle opening / closing body for adjusting the opening degree of the vehicle opening. The operation process of operating the drive circuit of the motor that generates the power to displace the vehicle opening / closing body based on the target value is executed, and the target value setting process is performed by the vehicle opening / closing body being displaced. A gradual reduction process for gradually reducing the target value to a specified value and a vehicle opening / closing body on condition that the distance between the position of the opening / closing body and the stop position is changed from a state where the distance is larger than a predetermined value to a state where the distance is equal to or less than the predetermined value. When the distance between the displacement start position and the stop position is equal to or less than the threshold value , the target value setting process includes the restriction process of limiting the target value of the speed parameter to the specified value or less, and the displacement start process is performed. The threshold includes a gradual increase process of gradually increasing the target value to a reference value on condition that the distance between the position and the stop position is larger than the threshold value, and the target value reaches the reference value by the gradual increase process. It is set to be equal to or greater than the sum of the amount of displacement of the vehicle opening / closing body and the predetermined value .

In the above configuration, when the displacement start position of the vehicle opening / closing body is close to the stop position, the limiting process is executed, so that the target value of the speed parameter is limited to the specified value or less. For this reason, it is possible to suppress the change of the target value from the gradual increase to the gradual decrease in a short period of time. , It is possible to suppress the rotation frequency of the motor from switching from rising to falling in a short period of time.

2. 2. In the control device for the vehicle opening / closing body, the gradual increase process gradually increases to the reference value depending on whether the distance between the displacement start position and the stop position is equal to or less than the threshold value or larger than the threshold value. The gradual increase rate is set to the same value.

According to the setting of the above threshold value, the situation where the target value gradually increases due to the gradual increase process and the target value starts to gradually decrease before reaching the reference value is sufficiently suppressed. Therefore, it is suppressed that the target value is switched from rising to falling in a short period of time, and eventually the rotation frequency of the motor is suppressed from switching from rising to falling in a short period of time.

3. 3. In the control device for the vehicle opening / closing body, in the limiting process, the upper limit value at which the target value is gradually increased by the gradual increase process is set as the specified value, and the target value is fixed to the specified value by becoming the specified value. It is a process to do.

In the above configuration, by fixing the target value to the specified value by setting the target value to the specified value, it is possible to sufficiently suppress the change in the rotation frequency of the motor.
4. In the control device for the vehicle opening / closing body, a reversing process for reversing the displacement direction of the vehicle opening / closing body is executed on condition that the amount of decrease in the displacement speed of the vehicle opening / closing body is equal to or more than a predetermined amount. The stop position is a fully closed position of the vehicle opening / closing body.

According to the above configuration, when the opening degree of the opening decreases with the displacement of the vehicle opening / closing body, when a foreign substance is pinched, the pinching is performed by reversing the displacement direction of the vehicle opening / closing body by the reversing process. It will be possible to eliminate it. However, when the rotation speed of the motor suddenly changes from an increase to a decrease due to the control of displacement of the vehicle opening / closing body, there is a concern that the reversing process is erroneously executed when a foreign substance is not caught. On the other hand, according to the above configuration, if the limiting process is not executed, when the end point of the gradual increase process enters the area where the gradual decrease process is executed, the limit process is actually performed, so that the motor rotates. Since it is possible to suppress a sudden change in speed from an increase to a decrease, it is possible to prevent a situation in which the inversion process is erroneously executed.

5. In the control device for the vehicle opening / closing body according to any one of 1 to 4, the speed parameter is a voltage applied to the motor, and the gradual reduction process is a detection value of the position of the vehicle opening / closing body. This is a process of gradually reducing the target value as the vehicle opening / closing body approaches the stop position.

Although the voltage applied to the motor has a positive correlation with the displacement speed of the motor, it does not uniquely determine the displacement speed. Therefore, for example, when the tapering process is a process of gradually reducing the target value with the passage of time, the position where the target value reaches the specified value varies. On the other hand, in the above configuration, since the target value is gradually reduced based on the detected value of the position, it is possible to sufficiently suppress the variation in the position where the target value reaches the specified value.

The figure which shows the control apparatus which concerns on one Embodiment and the control object thereof. The flow chart which shows the procedure of the process which displaces a movable panel which concerns on the same embodiment. The figure which shows the setting of the target voltage applied to the same embodiment. The flow chart which shows the procedure of the target value setting process which concerns on the same embodiment. (A) and (b) are time charts illustrating the process of displacing the movable panel from an intermediate position to a fully closed position.

Hereinafter, an embodiment of the opening / closing body for a vehicle will be described with reference to the drawings.
On the right side of FIG. 1, a part of the vehicle 10 looking down from above is described. An opening 12 shown by a chain line is formed on the roof portion of the vehicle 10, and the opening degree of the opening 12 is determined by the movable panel 14 shown by a broken line blocking a part or all of the opening 12. It is adjustable. Of the openings 12, the left-hand side YL and the right-hand side YR of the vehicle are provided with an opening / closing drive mechanism 24 having a guide rail 20 and a moving body 22 movably provided on the guide rail 20. The movable panel 14 is displaced by the moving body 22 being displaced on the guide rail 20, and the opening degree of the opening 12 is adjusted.

The opening / closing drive mechanism 24 is driven by the actuator 30. The actuator 30 includes a motor 32 and a belt 34 driven by the motor 32. The belt 34 is connected to the moving body 22, and when the belt 34 is driven by the rotational power of the motor 32, the moving body 22 moves on the guide rail 20 from one (front XF of the vehicle 10) to the other (vehicle). Displace 10 backward XR) or from the other to the other. As a result, the movable panel 14 can be displaced by the motor 32, and the opening degree of the opening 12 can be adjusted.

In the present embodiment, a DC motor is exemplified as the motor 32, and an H-bridge circuit 50 having two sets of half-bridge circuits is connected to the motor 32. That is, the connection points of the high-side switch SH1 and the low-side switch SL1 constituting the first half-bridge circuit are connected to one of the two terminals of the motor 32, and the second half-bridge circuit is connected to the other. The connection points of the constituent high-side switch SH2 and low-side switch SL2 are connected. The positive electrode terminal of the battery 52 is connected to the high side switches SH1 and SH2 sides of the H bridge circuit 50, and the low side switches SL1 and SL2 sides are grounded.

The control device 60 controls the movable panel 14 and operates the H-bridge circuit 50. The control device 60 controls the opening degree by the movable panel 14 based on the output signal of the operation switch 54 operated by the user to instruct the adjustment of the opening degree of the opening portion 12. The control device 60 acquires the rotation angle θ of the motor 32 and the terminal voltage Vb of the battery 52 detected by the rotation angle sensor 56 for controlling the opening degree by the movable panel 14. In this embodiment, it is assumed that the rotation angle sensor 56 outputs a pulse signal every time the motor 32 rotates by a predetermined amount, and the rotation angle θ is grasped based on the pulse signal.

The control device 60 includes a CPU 62, a ROM 64, and a RAM 66, and the CPU 62 executes the program stored in the ROM 64 to execute the above control.
FIG. 2 shows a procedure for processing related to control of the opening degree. The process shown in FIG. 2 is realized by the CPU 62 executing the program stored in the ROM 64 at a cycle in which a predetermined edge of the pulse signal appears when the movable panel 14 is requested to be displaced. In the following, the step number is expressed by a number with "S" added at the beginning.

In the series of processes shown in FIG. 2, the CPU 62 first calculates the rotation speed ω (n) of the motor 32 based on the time difference between the previous start timing and the current start timing of the series of processes shown in FIG. 2 (S10). .. The variable n specifies the sampling order, "n" is assigned to the value in the current control cycle of the series of processes shown in FIG. 2, and "n-1" is the previous control cycle. Is given to the value in. Next, the CPU 62 has a predetermined amount of decrease in the rotation speed ω (n) with respect to the previous rotation speed ω (n-1) of Δωth or more, and the CPU 62 with respect to the previous rotation speed ω (n-2). It is determined whether or not the logical product that the amount of decrease in the previous rotation speed ω (n-1) is a predetermined amount Δωth or more is true (S12). This process is a process for determining whether or not foreign matter is pinched due to the displacement of the movable panel 14.

When the CPU 62 determines that the logical product is false (S12: NO), the CPU 62 acquires the target value V * of the voltage applied to the motor 32 (S14). Next, the CPU 62 has an on-time for the pwm cycle of turning on / off the low-side switch SL1 or the low-side switch SL2 so that the voltage applied to the motor 32 becomes the target value V * based on the terminal voltage Vb of the battery 52. The time ratio D is calculated (S16). This is executed on the premise that the following processing is performed in the present embodiment. That is, the CPU 62 controls the rotation direction of the motor 32 by selecting whether to turn on the high-side switch SH1 and the low-side switch SL2 or turn on the high-side switch SH2 and the low-side switch SL1. Further, the CPU 62 controls the average value of the voltage applied to the motor 32 during the pwm cycle to the target value V * by operating the low-side switch SL1 or the low-side switch SL2 on and off at the time ratio D.

Then, the CPU 62 sends an operation signal MS to the H-bridge circuit 50 in order to turn on / off the low-side switch SL2 or the low-side switch SL1 according to the time ratio D while keeping the high-side switch SH1 or the high-side switch SH2 in the ON state. Output (S18). Then, the CPU 62 updates the variable n (S20). As a result, the rotation speed ω (n) calculated by the processing of S10 this time is set to "ω (n-1)", and the rotation speed ω (n-1) calculated by the processing of S10 last time is "ω". (N-2) ".

On the other hand, when it is determined that the logical product is true (S12: YES), the CPU 62 executes a process of reversing the rotation direction of the motor 32, assuming that the pinch is detected (S22). Specifically, the CPU 62 applies a voltage having a polarity opposite to the voltage previously applied to the motor 32.

When the processes of S20 and S22 are completed, the CPU 62 temporarily ends the series of processes shown in FIG. Incidentally, when the movable panel 14 is stopped (including the case where the processing of S22 is performed), the variable n is initialized.

Next, the setting process of the target value V * will be described.
In FIG. 3, from either the fully closed position which is the position of the movable panel 14 when the opening degree of the opening 12 is the minimum and the fully open position which is the position of the movable panel 14 when the opening degree is the maximum. The setting of the target value V * when displacing to the other is shown. Note that FIG. 3 illustrates a case where the fully open position is the displacement start position of the movable panel 14 and the fully closed position is the stop position of the movable panel 14, but the fully closed position is the displacement start position. In this case, the fully closed position in FIG. 3 may be read as the fully open position, and the fully open position may be read as the fully closed position.

As shown in FIG. 3, the target value V * is set to the drive start value Vst at the displacement start position, and is gradually increased according to the position x and displaced by the specified amount β during the period from the displacement start position to the specified amount β displacement. It is set to the reference value VR at the reference start position xst which is the position. The target value V * is maintained at the reference value VR for the period up to the reference end position xsp, which is a predetermined value γ before the stop position, and the position x in the period from the reference end position xsp to the stop position. It gradually decreases according to. The purpose of providing a gradual decrease period of the target value V * is to suppress the occurrence of an impact at the stop position. The target value V * at the stop position is a specified value Vsp higher than the drive start value Vst. This is a setting in view of the fact that excessive torque is likely to be generated due to the inrush current at the start of driving of the motor 32, and the controllability of the rotational speed of the motor 32 is likely to be lowered due to backlash. The position x is a parameter calculated by the CPU 62 based on the rotation angle θ.

Since the voltage applied to the motor 32 has a positive correlation with the current flowing through the motor 32, it is a parameter having a positive correlation with the rotation speed of the motor 32. In the present embodiment, the target value V * is set to a value at which the displacement speed of the movable panel 14 is an appropriate speed. Therefore, in the present embodiment, the target value V * can be regarded as a feed forward operation amount for controlling the displacement speed of the movable panel 14 to the target speed. The displacement control of the movable panel 14 in the present embodiment is based on setting the target value V * as the reference value VR in order to control the speed of the movable panel 14 to the reference speed. Then, when the displacement of the movable panel 14 is started, the target value V * is gradually increased to the reference value VR in order to gradually increase the displacement speed from the viewpoint of suppressing the decrease in the controllability of the speed and suppressing the sudden change. To execute. Further, when the movable panel 14 is stopped, a process of gradually reducing the target value V * to the specified value Vsp is executed from the viewpoint of alleviating the impact at the time of stopping.

The target value V * shown in FIG. 3 is set when the displacement start position of the movable panel 14 is the fully open position or the fully closed position, but in reality, the movable panel 14 is set by the user operating the operation switch 54. May stop at a position between the fully open position and the fully closed position, and then that position becomes the displacement start position.

FIG. 4 shows a procedure for setting the target value V * when the displacement start position of the movable panel 14 is an arbitrary position. The process shown in FIG. 4 is realized by the CPU 62 executing the program stored in the ROM 64 on condition that the displacement request of the movable panel 14 occurs.

In the series of processes shown in FIG. 4, the CPU 62 first acquires the displacement start position x0 (S30). Next, the CPU 62 calculates the displacement amount α from the displacement start position x0 to the reference end position xsp (S32). The CPU 62 sets the reference end position xsp to a value different from each other depending on whether the displacement direction of the movable panel 14 is the fully closed direction or the fully open direction. Next, the CPU 62 determines whether or not the displacement amount α is smaller than the specified amount β (S34). This process is for determining whether or not the target value V * is gradually increased to the reference value VR. Then, when it is determined that the amount is equal to or greater than the specified amount β (S34: NO), the CPU 62 executes a process of gradually increasing the target value V * to the reference value VR (S36). That is, the CPU 62 sets the position separated from the displacement start position x0 by a specified amount β as the reference start position xst, and according to the following equation (c1) so as to have the reference value VR at the reference start position xst. The target value V * is gradually increased (S36, S38).

V * ← {(VR-Vst) / β} ・ | x-x0 | + Vst ... (c1)
Then, when the CPU 62 determines that the reference start position xst has been reached (S38: YES), the CPU 62 substitutes the reference value VR into the target value V * (S40). Then, the CPU 62 continues the state in which the reference value VR is substituted for the target value V * until the reference end position xsp (S42: NO). Then, when the CPU 62 determines that the reference end position xsp is reached (S42: YES), the CPU 62 gradually reduces the target value V * based on the following equation (c2) so that the target value V * is set to the specified value Vsp at the stop position. (S44, S46).

V * ← (-1) ・ {(VR-Vsp) / γ} ・ | x-xsp | + VR ... (c2)
On the other hand, when the CPU 62 determines that the displacement amount α is smaller than the specified amount β (S34: YES), the CPU 62 sets the target value V * from the drive start value Vst until the target value V * becomes the specified value Vsp. It is gradually increased according to the formula (c1) (S48, S50). Then, when the target value V * reaches the specified value Vsp (S50: YES), the CPU 62 fixes the target value V * to the specified value Vsp until the target value V * reaches the stop position (S54: NO) (S52).

When the CPU 62 reaches the stop position (S46, S54: YES), the CPU 62 temporarily ends the series of processes shown in FIG. If a stop command for the movable panel 14 is generated by the operation of the operation switch 54 during the process of FIG. 4, the CPU 62 forcibly ends the process of FIG. 4 and sets the target value V * to zero. Further, the CPU 62 forcibly terminates the process shown in FIG. 4 even when the process of S22 is executed during the execution of the process of FIG.

Here, the operation of the present embodiment will be described.
FIG. 5A shows a case where the operation switch 54 is instructed to displace the movable panel 14 to the fully closed position after the movable panel 14 is stopped before the fully closed position. The transition of the target value V * of is shown.

As shown in FIG. 5A, when the displacement start position x0 is close to the stop position, the target value V * is gradually increased from the drive start value Vst to the specified value Vsp in order to displace the movable panel 14, and the target value V * When the specified value Vsp is reached, the specified value Vsp is maintained until the stop position is reached. Therefore, the rotational speed of the motor 32 is controlled to a substantially constant value up to the stop position after slowly starting up. Therefore, it is possible to prevent the rotation frequency of the motor 32 from switching from rising to falling in a short period of time with the start of displacement of the movable panel 14.

FIG. 5B shows a comparative example in which the target value V * is gradually increased from the same displacement start position x0 as in FIG. 5A to the reference end position xsp. In this case, the rotation frequency of the motor 32 switches from rising to falling in a short period of time with the start of displacement of the movable panel 14 due to the switching of the target value V * from the gradual increase to the gradual decrease at the reference end position xsp. In particular, in the present embodiment, since the motor 32 is provided in the upper part of the vehicle interior, fluctuations in the rotation frequency of the motor 32 tend to give the user a sense of discomfort.

According to the present embodiment described above, the effects described below can be further obtained.
(1) When the displacement amount α is smaller than the specified amount β, when the target value V * reaches the specified value Vsp, the displacement amount α is fixed to the specified value Vsp until the stop position. As a result, changes in the rotation frequency of the motor 32 can be sufficiently suppressed.

(2) The motor 32 was inverted on condition that the amount of decrease in the rotation speed ω was a predetermined amount Δωth or more. As a result, when a foreign substance is pinched, the pinching can be eliminated. However, when the rotational speed of the motor 32 suddenly changes from an increase to a decrease due to the control of displacement of the movable panel 14, a reversal process for erroneously reversing the displacement direction of the movable panel 14 when a foreign object is not caught is performed. There is a concern that it will be carried out. Therefore, when the target value V * is set as shown in FIG. 5B, there is a concern that the inversion process may be erroneously executed. On the other hand, in the present embodiment, in order to suppress the change in the target value V * as illustrated in FIG. 5A, it is possible to suppress the rapid change in the rotational speed of the motor 32 from an increase to a decrease. It is possible to prevent the situation where the inversion process is erroneously executed.

(4) The target value of the voltage applied to the motor 32 was set as the target value V *, and the target value V * was changed according to the position x in the gradual increase processing and the gradual decrease processing. Therefore, even when the sliding resistance when the moving body 22 is displaced on the guide rail 20 varies, the target value V * can be set to a desired value at a desired position x. Further, the displacement speed of the movable panel 14 is indirectly controlled by the target value V *, and the feedback control of the displacement speed is not executed. Even if the pinch occurs when the feedback control is executed, the feedback control controls the decrease in the displacement speed, so that the pinch detection accuracy may decrease. On the other hand, in the present embodiment, there is no possibility that the accuracy of the pinch detection is lowered due to the feedback control.

<Correspondence>
The correspondence between the matters in the above embodiment and the matters described in the above-mentioned "means for solving the problem" column is as follows. In the following, the correspondence is shown for each number of the solution means described in the column of "Means for solving the problem". [1] The vehicle opening / closing body corresponds to the movable panel 14, the speed parameter corresponds to the voltage, and the drive circuit corresponds to the H-bridge circuit 50. The operation process corresponds to the processes of S16 and S18, the target value setting process corresponds to the process shown in FIG. 4, the gradual decrease process corresponds to the process of S44, and the restriction process corresponds to the process of S48 to S54. do. [2] The gradual increase processing corresponds to the processing of S36 and S48, and the threshold value corresponds to "γ + β" by the processing of S34. [3] The "process of fixing to a specified value" corresponds to the process of S52. [4] The inversion process corresponds to the processes of S12 and S22, and it is exemplified in FIG. 5 that the stop position is the fully closed position.

<Other embodiments>
In addition, at least one of each item of the said embodiment may be changed as follows.
・ "Regarding the predetermined value γ"
In the above embodiment, the predetermined value γ is set to the amount that the movable panel 14 is displaced while the target value V * is gradually reduced from the reference value VR to the specified value Vsp, but the present invention is not limited to this. For example, as described in the column of "gradual reduction processing", when the target value V * is maintained at the specified value Vsp after the target value V * reaches the specified value Vsp, the target value V * is changed from the reference value VR to the specified value. A predetermined value γ may be a longer distance than the amount by which the movable panel 14 is displaced while being gradually reduced to Vsp.

・ "About the threshold"
In the above embodiment, the threshold value of the distance from the displacement start position x0 to the stop position in limiting the target value V * to the specified value Vsp or less is set to “β + γ”, but the present invention is not limited to this. For example, the distance may be longer than "β + γ".

・ "About gradual reduction processing"
In the above embodiment, as the gradual reduction process, a process of monotonically and strongly decreasing the target value until the stop position is reached is exemplified, but the present invention is not limited to this. For example, the specified value Vsp may be reached just before the stop position, and then the specified value Vsp may be maintained. Further, in the above embodiment, the target value is changed in proportion to the change amount of the position x, but the target value is not limited to this, and may be inversely proportional to the change amount of the position x, for example.

The gradual reduction process is not limited to the process of gradually reducing the target value V * according to the position x. For example, the target value V * may be lowered with the passage of time from the reference end position xsp. The process of lowering the target value of the velocity parameter with the passage of time is performed when the displacement velocity is used as the velocity parameter and when the voltage is used as the velocity parameter, as described in the column of "Velocity parameter". Is also suitable.

・ "About gradual increase processing"
In the above embodiment, the target value V * is changed in proportion to the change amount of the position x, but the target value V * is not limited to this, and may be proportional to the square of the change amount of the position x, for example. The gradual increase process is not limited to the process of gradually increasing the target value V * according to the position x. For example, the target value V * may be gradually increased with the passage of time from the start of displacement. The process of gradually increasing the target value of the velocity parameter with the passage of time is performed when the displacement velocity is used as the velocity parameter and when the voltage is used as the velocity parameter, as described in the column of "Velocity parameter". Is also suitable.

・ "About speed parameters"
In the above embodiment, the voltage is used as the speed parameter, but the time ratio D is not limited to this, and for example, when a stable power supply in which the voltage fluctuation is sufficiently suppressed is adopted as the power supply of the H bridge circuit 50, the time ratio D is used. You may. Further, for example, it may be the displacement speed (rotational speed ω) of the movable panel 14 or the current flowing through the motor 32.

・ "About the standard value"
In the above embodiment, the reference value VR is set to a value that does not change depending on the position x, but the present invention is not limited to this. For example, if there is a region in which the torque of the motor 32 required to displace the movable panel 14 becomes large in the region when the movable panel 14 is displaced from the fully open state to the fully closed state, the reference value VR in that region is used. The value may be larger than the value in the other regions. As a result, in the case where there is a region where the torque becomes large, it is possible to suppress the fluctuation of the displacement speed of the movable panel 14 as compared with the case where the reference value VR is set to a constant value regardless of the position x.

・ "About the calculation method of the manipulated variable (time ratio D)"
In the above embodiment, the target value V * of the voltage for setting the displacement speed of the movable panel 14 to a desired speed is set, and the time ratio D is calculated accordingly, but the present invention is not limited to this. For example, as described in the column of "Velocity parameter", when the displacement velocity is used as the velocity parameter, even if the time ratio D is calculated according to the operation amount for feedback-controlling the actual displacement velocity to the target value. good. However, in this case, it is desirable to make the gain of the feedback control as small as possible by using the feedforward operation amount together.

・ "About operation processing"
In the above embodiment, the high-side switch SH1 (SH2) constituting one half-bridge circuit is maintained in the on state, and the low-side switch SL2 (SL1) constituting the other half-bridge circuit is turned on / off. The voltage applied to the motor 32 has been adjusted, but the present invention is not limited to this. For example, the low-side switch SL1 (SL2) constituting one half-bridge circuit may be maintained in the ON state, while the high-side switch SH2 (SH1) constituting the other half-bridge circuit may be turned on / off.

・ "About pinch detection processing"
In the above embodiment, the pinch is detected by detecting the drop in the rotation speed ω twice in succession, but the present invention is not limited to this. For example, pinching may be detected when a drop in the rotation speed ω is detected three or more times in a row, or pinching may be detected when a drop in the rotation speed ω is detected once, for example.

・ "About the opening and closing body for vehicles"
The opening / closing body for a vehicle is not limited to the movable panel 14. For example, it may be a window glass or a sliding door of a vehicle.

・ "About the drive circuit"
The drive circuit is not limited to the H-bridge circuit 50, and for example, the motor may be a three-phase brushless motor and the drive circuit may be a three-phase inverter. In this case, for example, in the energization period by the well-known 120 ° energization method, either the low-side switch or the high-side switch may be periodically turned on and off, and the time ratio D may be made variable.

・ "About control device"
The control device is not limited to the one provided with the CPU 62 and the ROM 64 to execute software processing. For example, a dedicated hardware circuit (for example, ASIC or the like) for hardware processing of at least a part of the software processed in the above embodiment may be provided. That is, the control device may have any of the following configurations (a) to (c). (A) A processing device that executes all of the above processing according to a program and a program storage device such as a ROM for storing the program are provided. (B) A processing device and a program storage device that execute a part of the above processing according to a program, and a dedicated hardware circuit for executing the remaining processing are provided. (C) A dedicated hardware circuit for executing all of the above processes is provided. Here, there may be a plurality of software processing circuits including a processing device and a program storage device, and a plurality of dedicated hardware circuits. That is, the processing may be performed by a processing circuit comprising at least one of one or more software processing circuits and one or more dedicated hardware circuits.

10 ... Vehicle, 12 ... Opening, 14 ... Movable panel, 20 ... Guide rail, 22 ... Moving body, 24 ... Open / close drive mechanism, 30 ... Actuator, 32 ... Motor, 34 ... Belt, 50 ... H-bridge circuit, 52 ... Battery, 54 ... operation switch, 56 ... rotation angle sensor, 58 ... temperature sensor, 60 ... control device, 62 ... CPU, 64 ... ROM, 66 ... RAM, 70 ... communication line.

Claims (5)

Target value setting processing for setting the target value of the speed parameter, which is a parameter having a positive correlation with the displacement speed of the vehicle opening / closing body that adjusts the opening degree of the opening of the vehicle,
The operation process of operating the drive circuit of the motor that generates the power to displace the vehicle opening / closing body based on the target value is executed.
The target value setting process is
The target value is set to a specified value on condition that the distance between the position of the vehicle opening / closing body and the stop position becomes larger than the predetermined value to the predetermined value or less due to the displacement of the vehicle opening / closing body. Gradual reduction processing to gradually reduce to
When the distance between the displacement start position and the stop position of the vehicle opening / closing body is equal to or less than the threshold value, the limiting process for limiting the target value of the speed parameter to the specified value or less is included.
The target value setting process includes a gradual increase process of gradually increasing the target value to a reference value on condition that the distance between the displacement start position and the stop position is larger than the threshold value.
The threshold value is a control device for a vehicle opening / closing body set to be equal to or greater than the sum of the amount of displacement of the vehicle opening / closing body until the target value reaches the reference value by the gradual increase processing and the predetermined value . In the gradual increase process, the gradual increase rate for gradually increasing to the reference value is set to the same value when the distance between the displacement start position and the stop position is equal to or less than the threshold value and when the distance is larger than the threshold value. The control device for a vehicle opening / closing body according to claim 1. The limitation process is the process according to claim 1 or 2, wherein the upper limit value at which the target value is gradually increased by the gradual increase process is set as the specified value, and the target value is fixed to the specified value by becoming the specified value. A control device for an opening / closing body for vehicles. A reversing process for reversing the displacement direction of the vehicle opening / closing body is executed on condition that the amount of decrease in the displacement speed of the vehicle opening / closing body becomes a predetermined amount or more.
The control device for a vehicle opening / closing body according to any one of claims 1 to 3, wherein the stop position is a fully closed position of the vehicle opening / closing body. The speed parameter is a voltage applied to the motor.
The step according to any one of claims 1 to 4, wherein the gradual reduction process is a process of gradually reducing the target value as the vehicle switch approaches the stop position based on the detected value of the position of the vehicle switch. Control device for the opening and closing body for vehicles.

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