JP7122983B2 - Vehicle opening/closing body control device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle opening/closing body control device that controls opening/closing of an opening/closing body using a motor.

Japanese Unexamined Patent Application Publication No. 2002-100001 discloses a vehicle door opening/closing control device including a position detection sensor (limit switch) for detecting the open limit position and the closed limit position of a vehicle door. Patent Literature 2 discloses an opening/closing body control device that determines the fully open position or the fully closed position of the opening/closing body based on the lock detection of the drive motor.

JP-A-5-112127 Japanese Patent Application Laid-Open No. 2003-314146

For example, a vehicle such as a one-box car may be equipped with a power slide door device (vehicle opening/closing member control device) that automatically controls the opening/closing of a slide door (opening/closing member) provided on the side of the vehicle body. A power sliding door device uses a drive unit (actuator) including a motor to open and close a sliding door between a fully closed position and a fully open position. For that purpose, it is necessary to define the fully closed position and the fully open position in some way. As a method for determining this, the methods of Patent Document 1 and Patent Document 2 are conceivable.

The method of Patent Document 1 mechanically determines the fully closed position and the fully open position by installing a position detection sensor (limit switch). In this case, it is possible to determine the fully closed position and the fully open position with high accuracy, but the installation of the limit switch may result in an increase in the number of parts (that is, an increase in cost). On the other hand, the method of Patent Document 2 electrically determines the fully closed position and the fully open position by detecting locking of the motor. In this case, the cost can be reduced because the position detection sensor is not required. However, since the motor is locked each time the sliding door is opened and closed, the drive unit is subject to frequent mechanical or electrical overloads, which may reduce durability.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and one of its objects is to provide a vehicle opening/closing body control device capable of reducing costs and improving durability. .

A vehicle opening/closing member control apparatus of the present invention includes a motor, a drive unit that uses the motor to open and close an opening/closing member of a vehicle between a fully closed position and a fully opened position, and a control unit that controls the drive unit. The control unit includes a drive signal generation unit that generates a closing direction drive signal for moving the opening/closing member from the opening direction to the closing direction or an opening direction drive signal for moving the opening/closing member from the closing direction to the opening direction; a drive control unit for controlling the drive unit to move the opening/closing member in the opening direction when the drive signal generation unit generates the opening direction drive signal; a position sensor that detects the position of the opening/closing member; and a position storage unit that stores information on the fully closed position of the opening/closing member and information on the fully open position based on the fully closed position as position learning information. The drive control section drives the opening/closing member in the closing direction when the drive signal generation section generates the opening direction drive signal and when the position storage section learns to store the position learning information. The position storage unit drives the opening/closing member in the closing direction using the learning closing direction driving unit, and the overload detection unit detects the overload state of the motor. It has a first position storage unit that stores first position information of the opening/closing member at the time of detection as information of the fully closed position.

In another aspect of the present invention, the position storage section further stores second position information based on the first position information of the opening/closing body as information on the fully open position. have

In another aspect of the present invention, the drive unit includes, in addition to the motor, a cable connected to the opening/closing body, a drum around which the cable is wound according to the rotation of the motor, and a cable that removes slack in the cable. and a tensioner mechanism.

In another aspect of the present invention, the drive control section controls the drive unit to move the opening/closing body in the opening direction after the first position storage section stores the information on the fully closed position. and the second position storage unit stores, when the overload state is detected by the overload detection unit, the difference between the position information of the opening and closing member at the time of the detection and the first position information. It is determined whether or not the value is equal to or greater than a specified value, and if the determination result is equal to or greater than the specified value, the information of the fully open position is stored based on the positional information of the opening/closing body.

In another aspect of the present invention, it is further determined whether or not information on the fully closed position is stored in the position storage unit, and if the information on the fully closed position is not stored, then the received position information is determined. It has a sequence determination section that outputs a start signal for starting an operation to the first position storage section according to the opening direction drive signal.

In another aspect of the present invention, an opening/closing body position monitoring unit that outputs an abnormality detection signal when the opening/closing body that has been driven to the fully open position in response to the opening direction drive signal moves in the closing direction; It is determined whether or not an abnormality detection signal has been output, and if the abnormality detection signal has been output, a start signal for starting an operation to the first position storage unit according to the opening direction drive signal received thereafter. and a sequence determination unit that outputs

In another aspect of the present invention, a usage history management unit that manages the usage history of the drive unit, and determining whether or not the usage history by the usage history management unit has reached a predetermined criterion; a sequence determination unit that outputs a start signal for starting an operation to the first position storage unit in response to the opening direction drive signal received thereafter when the usage history reaches a predetermined reference.

In another aspect of the present invention, when the drive signal generator generates the opening direction drive signal, the drive control section controls the information on the fully closed position and the information on the fully open position stored in the position storage section. and the second position storage unit detects the overload by the overload detection unit before the opening/closing body reaches the fully open position. When the state is detected, the information on the fully open position is updated with the third position information of the opening/closing member at the time of the detection.

Advantageous Effects of Invention According to the present invention, it is possible to reduce costs and improve durability in a vehicle opening/closing body control device.

1 is a side view showing a schematic configuration example of a vehicle equipped with a vehicle opening/closing body control device according to an embodiment of the present invention; FIG. 2 is a plan view showing a configuration example of the vehicle opening/closing body control device in FIG. 1 ; FIG. 3 is a front view showing a configuration example of a drive unit in FIG. 2; FIG. 4 is a perspective view showing a configuration example of a drum in FIG. 3; 3 is a schematic diagram showing a configuration example of main parts around an ECU in FIG. 2; FIG. FIG. 6 is a schematic diagram showing a configuration example of main parts around a sequence control unit in FIG. 5; FIG. 6 is a flow diagram showing an example of processing contents of a sequence control unit in FIG. 5; FIG. 6 is a flow diagram showing an example of processing contents of a sequence control unit in FIG. 5; FIG. 9 is a supplementary diagram for explaining an example of the contents of open control in FIG. 8;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<<Overview of Vehicle Opening/Closing Body Control Device>>
FIG. 1 is a side view showing a schematic configuration example of a vehicle equipped with a vehicle opening/closing body control device according to an embodiment of the present invention. FIG. 2 is a plan view showing a configuration example of the vehicle opening/closing body control device shown in FIG. A vehicle 10 shown in FIG. 1 is, for example, a van. A slide door (opening/closing body) 13 that opens and closes an opening 12 along a guide rail 14 is provided on a side portion of a vehicle body 11 that forms the vehicle 10 . A roller assembly 13a is connected to the slide door 13, as shown in FIG. The roller assembly 13a moves together with the slide door 13 along the guide rail 14 fixed to the side of the vehicle body 11. As shown in FIG.

As a result, as shown in FIGS. 1 and 2, the slide door 13 opens and closes the opening 12 by moving in the longitudinal direction of the vehicle 10 between the "fully closed position" and the "fully opened position." Here, as shown in FIG. 2, a lead-in portion 14a that is curved toward the inside of the vehicle interior (upper side in the drawing) is provided in the portion of the guide rail 14 on the front side of the vehicle 10. As shown in FIG. By guiding the roller assembly 13 a to the retracting portion 14 a , the sliding door 13 closes the opening 12 and is housed flush with the side surface of the vehicle body 11 . More specifically, in addition to the guide rail 14 provided at the central portion of the vehicle body 11, guide rails (not shown) are provided at the upper and lower portions of the vehicle body 11, respectively.

In addition, as shown in FIG. 1, the vehicle 10 is provided with a latch mechanism 15 for holding the fully open slide door 13 and preventing it from moving in the closing direction. Therefore, in order to fully open the slide door 13, it is necessary to move the slide door 13 to a position where the latch mechanism 15 operates. Although details are omitted, the latch mechanism 15 has, for example, a structure in which a latch part fixed to the slide door 13 and a latch part fixed to the vehicle body 11 are fitted together when the slide door 13 is in a fully open position. The latch parts of the vehicle body 11 are installed, for example, on the upper and lower guide rails (not shown) of the vehicle body 11 described above.

In FIG. 2, a vehicle 10 is equipped with a power sliding door device (vehicle opening/closing body control device) 20 that automatically opens and closes a slide door 13 . The power sliding door device 20 is a cable-type opening and closing device in this example, and includes a drive unit 21 , an opening side cable 22 a , a closing side cable 22 b , and an ECU (Electronic Control Unit) 31 . The drive unit 21 is arranged, for example, in the vehicle interior of the vehicle body 11 and substantially centrally in the extending direction of the guide rail 14, and drives the slide door 13 to open and close using the motor MT. The ECU 31 controls the motor MT inside the drive unit 21 .

The opening-side cable 22a and the closing-side cable 22b are both connected to the slide door 13 via the roller assembly 13a and have the function of transmitting the power of the drive unit 21 to the slide door 13. As shown in FIG. Specifically, the open-side cable 22a is drawn into the drive unit 21 via a first reversing pulley 23a on the rear side of the vehicle 10, and the closed-side cable 22b is drawn into the second pulley on the front side of the vehicle 10. It is pulled into the drive unit 21 via the reversing pulley 23b. As a result, the drive unit 21 winds the opening cable 22a to drive the slide door 13 in the opening direction, and winds the closing cable 22b to drive the slide door 13 in the closing direction.

3 is a front view showing a configuration example of the drive unit in FIG. 2, and FIG. 4 is a perspective view showing a configuration example of the drum in FIG. The drive unit 21 shown in FIG. 3 includes a case 30 made of a resin material such as plastic. The case 30 also functions as a frame that supports each member or mechanism that constitutes the drive unit 21 . The drive unit 21 is fixed to the vehicle body 11 (see FIGS. 1 and 2) with bolts or the like (not shown) via four fixing portions FP provided on the case 30 .

The case 30 is provided with a motor MT that serves as a power source for the drive unit 21 . The motor MT is, for example, a flat brushless motor that can rotate in forward and reverse directions. By using a brushless motor, it is possible to suppress an increase in the thickness dimension of the drive unit 21 . Inside the case 30 and near the motor MT, a speed reduction mechanism (not shown) made up of a planetary gear speed reducer is provided. The reduction mechanism reduces the rotation of the motor MT at a predetermined ratio to increase the torque, and rotates the output shaft 32 with the driving force of the increased torque.

An electromagnetic clutch (not shown) is provided between the speed reduction mechanism and the output shaft 32 . When the slide door 13 is manually opened and closed, the electromagnetic clutch is released, thereby interrupting the power transmission path between the speed reduction mechanism and the output shaft 32 . As a result, the slide door 13 can be smoothly opened and closed with a small force. A substantially cylindrical drum housing chamber 30 a is provided in the substantially central portion of the case 30 . The drum storage chamber 30a is arranged coaxially with respect to the motor MT, and the drum 33 is rotatably stored therein.

As shown in FIG. 4, the drum 33 is formed in a substantially cylindrical shape having a spiral guide groove 33a on its outer peripheral surface, and its axis is fixed to an output shaft 32 projecting into the drum housing chamber 30a. be. One end of the open side cable 22a (similar to the closed side cable 22b) is fixed to the drum 33 by a locking block 34. As shown in FIG. The open-side cable 22a is wound along the guide groove 33a from one axial side when the drum 33 rotates counterclockwise. The closing cable 22b is wound along the guide groove 33a from the other side in the axial direction when the drum 33 rotates clockwise.

In FIG. 3, a substrate storage chamber (not shown) is provided on the back side of the drum storage chamber 30a and near the opening side tensioner mechanism 40a and the closing side tensioner mechanism 40b (lower portion in the figure). A control board that controls the operation of the motor MT and the electromagnetic clutch and corresponds to the ECU 31 in FIG. 2 is housed in the board housing chamber. The control board (ECU 31) is electrically connected to a battery (power source) mounted on the vehicle 10, an operation switch inside the vehicle, and the like via connector connection portions 35a and 35b.

Here, the control board (ECU 31) rotationally drives the motor MT counterclockwise according to the "open operation" of the operation switch. Accordingly, the output shaft 32 and the drum 33 rotate counterclockwise with high torque, and the opening cable 22 a is wound around the drum 33 while pulling the slide door 13 . As a result, the slide door 13 is automatically controlled to open. At this time, the closed-side cable 22b is sent out from the drum 33 to the outside of the case 30 .

Similarly, the control board (ECU 31) rotates the motor MT clockwise according to the "close operation" of the operation switch. Accordingly, the output shaft 32 and the drum 33 rotate clockwise with high torque, and the closing cable 22b is wound around the drum 33 while pulling the slide door 13. As shown in FIG. As a result, the sliding door 13 is automatically controlled in the closing direction. At this time, the open-side cable 22 a is delivered from the drum 33 to the outside of the case 30 . Each of the cables 22a and 22b is covered with a flexible outer tube TU in the section between the entrance/exit of the drive unit 21 and the reversing pulleys 23a and 23b (see FIG. 2). It's becoming

Adjacent to the drum housing chamber 30a, the case 30 is provided with an open side tensioner housing chamber 30b and a closed side tensioner housing chamber 30c. The open-side tensioner accommodation chamber 30b and the closed-side tensioner accommodation chamber 30c respectively accommodate an open-side tensioner mechanism 40a and a closed-side tensioner mechanism 40b that apply a predetermined tension to the open-side cable 22a and the closed-side cable 22b. Each of the open side tensioner mechanism 40 a and the closed side tensioner mechanism 40 b includes a pulley 46 that rotates about a pulley shaft 45 and a coil spring (elastic member) 44 that presses the pulley 46 .

The open side cable 22a is wound around the drum 33 after being wound around the pulley 46 of the open side tensioner mechanism 40a. Similarly, the closing cable 22b is wound around the drum 33 after being wound around the pulley 46 of the closing tensioner mechanism 40b. At this time, the opening-side tensioner mechanism 40a and the closing-side tensioner mechanism 40b press the pulley 46 with the coil spring 44, respectively, thereby removing slack in the opening-side cable 22a and the closing-side cable 22b. For example, the length of each cable 22a, 22b may be extended by repeatedly pulling the slide door 13 having a large weight. Each tensioner mechanism 40a, 40b removes the slack associated with this lengthening of the cable.

<<Problem of opening/closing body control device for vehicle>>
As described above, when the power sliding door device (vehicle opening/closing member control device) 20 shown in FIG. 22b is taken up. Here, in the specification, the stroke value required to move the sliding door 13 between the fully closed position and the fully open position is referred to as the required stroke value. is called the control stroke value.

Ideally, the control stroke value should match the required stroke value. However, in reality, it is not always possible to maintain this consistent state due to structural changes (changes over time) associated with operation endurance, various environmental changes, and the like. For example, if the cable length of each cable 22a, 22b changes and the pressing state of each tensioner mechanism 40a, 40b accordingly changes, the relationship between the control stroke value and the required stroke value may also change slightly. .

Here, it is assumed that the slide door 13 is moved from the fully closed position to the fully opened position and the control stroke value is larger than the required stroke value. In this case, even though the slide door 13 reaches the fully open position and cannot move, the opening side cable 22a is further wound up. As a result, for example, an excessive load is applied to the opening side cable 22a and the like, and an excessive current flows to the motor MT and the like.

On the other hand, it is assumed that the slide door 13 is moved from the fully closed position to the fully opened position and the control stroke value is smaller than the required stroke value. In this case, the slide door 13 cannot be handed over to the latch mechanism 15 of FIG. For example, when stopping the driving of the motor MT when the control stroke value is reached for power saving, if the transfer to the latch mechanism 15 fails, the slide door 13 cannot maintain the fully open state and moves toward the closing direction. may move.

Therefore, it is conceivable to install a position detection sensor (limit switch) for mechanically determining the fully closed position and the fully opened position, as in the method of Patent Document 1. In this case, the state in which the control stroke value and the required stroke value match can always be maintained. However, installation of the limit switch may result in an increase in the number of parts (that is, an increase in cost). On the other hand, in order to suppress such an increase in cost, it is conceivable to electrically determine the fully closed position and the fully open position by detecting the locked state of the motor MT as in the method of Patent Document 2. In this case, since the motor MT is always driven until the lock state is detected, a state in which the control stroke value is substantially larger than the required stroke value always occurs. As a result, as described above, the durability of the power sliding door device 20 may deteriorate.

《Overview of the ECU》
FIG. 5 is a schematic diagram showing a configuration example of main parts around the ECU in FIG. FIG. 6 is a schematic diagram showing a configuration example of main parts around the sequence control unit in FIG. The ECU 31 shown in FIG. 5 includes a motor control section 50 and a three-phase inverter circuit (motor driver) 51 . Although not shown, the three-phase inverter circuit 51 includes six switching elements. The six switching elements generate three-phase drive voltages Vu, Vv, and Vw by switching according to PWM (Pulse Width Modulation) signals, and the three-phase drive voltages Vu, Vv, and Vw drive the motor MT (for example, brushless motor).

The motor control section 50 controls the drive unit 21 including the motor MT by generating PWM signals for generating the three-phase drive voltages Vu, Vv, and Vw according to the command from the operation switch SW. The operation switch SW outputs an auto-open command for automatically moving the slide door 13 to the fully open position or an auto-close command for automatically moving the slide door 13 to the fully closed position in accordance with the user's operation. Issue various commands including The operation switch SW is specifically a switch around the driver's seat or a remote control switch.

The motor control unit 50 is configured by, for example, a microcontroller including a CPU (Central Processing Unit), and is mounted on a wiring board (control board) that configures the ECU 31 together with the three-phase inverter circuit 51 . However, the motor control unit 50 is not limited to a microcontroller, and part or all of it may be configured by an FPGA (Field Programmable Gate Array), dedicated hardware, or the like. That is, the motor control unit 50 may be configured by program processing by a CPU, hardware processing by dedicated hardware, or a combination thereof.

The motor MT includes a rotor RT, a stator ST that generates magnetic force for rotating the rotor RT, and a rotation angle sensor RS that detects the rotation position (rotation angle) of the rotor RT. The rotation angle sensor RS is typically a Hall element or the like that generates three-phase position detection signals Hu, Hv, and Hw according to the rotational position of the rotor RT. However, the rotation angle sensor RS is not particularly limited to this, and may be a resolver or the like. A current sensor IS for detecting the output current of the three-phase inverter circuit 51 (input current of the motor MT) is provided at the output terminal of the three-phase inverter circuit 51 (the input terminal of the motor MT).

The motor controller 50 includes a position/speed detector 55 , an overload detector 56 , a sequence controller 57 , a drive controller 58 and a PWM signal generator 59 . The position/speed detection unit 55 detects the rotational position, rotational speed, and rotational direction of the motor MT based on the phase difference, frequency, etc. of the position detection signals Hu, Hv, and Hw from the rotation angle sensor RS. The door position of the door 13, the door moving speed and the door opening/closing direction are detected. That is, the position/speed detection unit 55 functions as a position sensor for detecting the door position of the slide door (opening/closing body) 13 together with the rotation angle sensor RS. The door position is output as a count value, for example.

The overload detector 56 detects an overload state (overcurrent state) of the motor MT based on the detection signal from the current sensor IS. Note that the overload detector 56 may be a lock detector. The lock detection unit detects a locked state when the rotation speed of the motor MT is equal to or less than a threshold value (substantially zero). However, normally, the motor MT in the locked state is also in an overload state (overcurrent state). Therefore, the overload detector 56 effectively detects the locked state of the motor MT by detecting the overloaded state of the motor MT.

The sequence control section 57 includes a sequence determination section 60, a position storage section 61, a use history management section 62, a door position monitoring section 63, and a drive signal generation section 64, as shown in FIG. The drive signal generator 64 recognizes an auto-open command or an auto-close command from the operation switch SW in FIG. An opening direction drive signal OP is generated to move from the direction to the opening direction. The position storage unit 61 has a position storage unit [1] 61a, a position storage unit [2] 61b, and a storage medium MEM such as a non-volatile memory. Although the details will be described later, the position storage unit 61 stores information (eg, count value) 71a on the fully closed position of the slide door (opening/closing member) 13 and information (eg, count value) on the fully open position based on the information 71a on the fully closed position. value) 71b as the position learning information 71 in the storage medium MEM.

The usage history management section 62 manages the usage history of the drive unit 21 in FIG. A door position monitoring section (opening/closing body position monitoring section) 63 outputs an abnormality detection signal FD when the slide door 13 driven to the fully open position in response to the auto open command moves in the closing direction. The sequence determination unit 60 determines various information and various signals from the usage history management unit 62, the door position monitoring unit 63 and the position storage unit 61, and outputs the closing direction drive signal CL or the opening direction drive signal OP from the drive signal generation unit 64. is received, the drive control unit 58 and the position storage unit 61 are controlled by reflecting the determination result. With such a configuration, the sequence control unit 57 generally performs learning control for causing the position storage unit 61 to learn the position learning information 71, and based on the position learning information 71 when an auto-open command is issued. An open control is performed to drive the drive unit 21 in the opening direction.

The drive control section 58 includes a speed control section 65, a learning closing direction drive section 66, and a fixed drive section 67, as shown in FIG. The learning-time closing direction drive unit 66 is used in the learning control by the sequence control unit 57, and roughly speaking, drives the sliding door 13 in the closing direction during learning when the position learning information 71 is stored by the position storage unit 61 shown in FIG. to drive. The fixed drive unit 67 is used when the sequence control unit 57 performs open control.

The speed control unit 65 has a speed control map 68 and a PI (proportional/integral) compensator 69, as shown in FIG. control the movement speed of the body) 13. The speed control map 68 predetermines the correspondence relationship between the door position (for example, count value) of the slide door 13 and the door target moving speed (target rotational speed of the motor MT) ω ^* , It receives the door position and outputs the corresponding door target moving speed (target rotational speed of the motor MT) ω ^* .

The PI compensator 69 calculates the error between the door target moving speed (target rotational speed of the motor MT) ω ^* from the speed control map 68 and the door moving speed (rotational speed of the motor MT) ω from the position/speed detector 55. , the PWM duty ratio for bringing the error closer to zero is calculated. The PWM signal generation unit 59 receives the PWM duty ratio from the PI compensator 69 and the PWM duty ratio (for example, fixed value) from the learning closing direction driving unit 66 or the fixed driving unit 67, and generates a signal having the PWM duty ratio. Phase PWM signals PWMu, PWMv and PWMw are generated. At this time, the PWM signal generation unit 59 determines the energization timing of each phase (for example, the output timing of each PWM signal PWMu, PWMv, PWMw) based on the position detection signals Hu, Hv, Hw from the rotation angle sensor RS. .

<<Details of the sequence control unit>>
7 and 8 are flowcharts showing an example of the processing contents of the sequence control unit in FIG. 5. FIG. In FIG. 7, it is assumed that the slide door 13 is in a fully closed state. In this state, the sequence determination section 60 determines whether or not the position learning information 71 is stored in the position storage section 61 (that is, the presence or absence of the position learning information 71) (step S101). A state in which there is no position learning information 71 may occur, for example, when the vehicle 10 is started for the first time after the battery is replaced, or when settings are reset by the user or the like.

If there is no position learning information 71 in step S101, the sequence determination unit 60 performs learning in steps S103 to S109 according to the opening direction drive signal OP (in other words, auto-open command) received from the drive signal generation unit 64 thereafter. Control is started (step S102). In the learning control, the sequence determination section 60 first outputs a start signal SR1 for starting the operation to the position storage section [1] 61a in the position storage section 61. FIG. When the position storage unit [1] 61a starts operating in response to the start signal SR1, the position storage unit [1] 61a outputs a start signal SR3 for starting the operation to the learning closing direction driving unit 66, thereby causing the learning closing direction driving unit 66 to operate. is used to drive the sliding door 13 in the closing direction (step S103).

As a result, when the drive unit 21 provided with the tensioner mechanism as shown in FIG. 3 is used, the learning closing direction driving section 66 drives the drive unit 21 so that the closing side tensioner mechanism 40b is contracted. Let In the process, when the overload detection unit 56 detects an overload state (step S104), the position storage unit [1] 61a stores the position/speed detection unit 55 at the time of the detection. Position information (first position information (eg, count value)) is stored as information 71a of the fully closed position (eg, zero point of count value) (step S105). After that, the position storage unit [1] 61a outputs a stop signal SP3 for stopping the operation to the learning closing direction driving unit 66, and also indicates to the sequence determination unit 60 that learning of the fully closed position has been completed. It outputs a completion signal ED1.

Specifically, as described above, the slide door 13 in the initial state is in the fully closed state. The winding of each cable 22a, 22b around 33 may become loose. Therefore, in steps S103 and S104, the position storage unit [1] 61a causes the closing direction driving unit 66 in FIGS. 5 and 6 to re-tighten the drum 33 until the overload state is detected. , to bring the slide door 13 into a completely closed state with no play element. At this time, the learning closing direction drive unit 66 generates, for example, an energization pattern for rotating the motor MT clockwise (see FIG. 4) at a predetermined fixed PWM duty ratio, and generates a PWM signal. The instruction is given to the unit 59 .

After the zero point position (fully closed position) information 71a is stored in step S105, the sequence determination unit 60 drives the slide door 13 in the opening direction using the drive control unit 58 (step S106). Specifically, the sequence determination section 60 receives the completion signal ED1 from the position storage section [1] 61a and outputs a start signal SR4 for starting the operation to the speed control section 65 in the drive control section 58. FIG. In response to this, the speed control section 65 controls the drive unit 21 to move the slide door 13 in the opening direction based on the speed control map 68 of FIG.

Although the details will be described with reference to FIG. 9, the speed control unit 65 uses the drive unit 21 to drive the slide door 13 to a predetermined speed control fully open position (described later in FIG. 9), for example. 60 to output a completion signal ED4. Sequence determination unit 60 receives completion signal ED4 from speed control unit 65, and outputs start signal SR5 to fixed drive unit 67 to start operation. The fixed drive section 67 receives the start signal SR5 from the sequence determination section 60 and controls the drive unit 21 to move the slide door 13 further from the fully open position for speed control in the opening direction.

In the process of control by the speed control unit 65 and the fixed driving unit 67, when the overload detection unit 56 detects an overload state, the position storage unit [2] 61b stores the position and A difference between the door position information (for example, count value) of the slide door 13 obtained by the speed detection unit 55 and the fully closed position information (first position information) 71a is calculated. Then, the position storage unit [2] 61b determines whether or not the calculated difference (stroke) is equal to or greater than a prescribed value (step S107).

That is, in some cases, an overload condition may be detected due to some kind of entrapment before the sliding door 13 reaches the fully open position. In the process of step S107, the possibility of this entrapment is determined. It should be noted that when this pinching is detected, a corresponding protection process is executed separately, although the details are omitted.

If the overload state is detected in step S107 and the stroke is equal to or greater than the specified value, the position storage unit [2] 61b holds the door position information of the slide door 13 at that time as the abutting position (step S108). Then, the position storage unit [2] 61b stores information (count value) 71b on the fully open position based on the hit position (step S109). Specifically, the fully open position information 71b is set to, for example, the same count value as the abutment position or a slightly smaller count value (for example, the count value immediately before reaching the overload state). Thus, the fully open position information 71b represents door position information (second position information) based on the fully closed position information (first position information) 71a of the slide door 13 .

After storing the fully open position information 71b in this manner, the position storage section [2] 61b outputs to the sequence determination section 60 a completion signal ED2 indicating that learning of the fully open position has been completed. The sequence determination section 60 receives the completion signal ED2 from the position storage section [2] 61b and outputs to the fixed drive section 67 a stop signal SP5 for stopping the operation.

On the other hand, when the position learning information 71 is present in step S101 of FIG. 7, the sequence control unit 57 executes the process when position learning information is present shown in FIG. 8 (step S200). In FIG. 8, the sequence determination section 60 determines whether or not the door position monitoring section (opening/closing body position monitoring section) 63 has output the abnormality detection signal FD (step S201). When the abnormality detection signal FD is output, the sequence determination section 60, for example, erases the position learning information 71 from the position storage section 61 (step S203). As a result, the sequence determination unit 60 outputs a start signal SR1 to the position storage unit [1] 61a according to the opening direction drive signal OP received from the drive signal generation unit 64 after that, and performs the learning control of FIG. 7 (step S103). to S109) is started.

The door position monitoring unit 63 detects that the slide door 13, which has been driven to the fully open position in response to the auto-open command, moves in the closing direction, for example, by detecting a detection signal from the position/speed detection unit 55 (door position or door opening/closing direction). transition), and outputs an abnormality detection signal FD. This situation means that the delivery of the sliding door 13 to the latch mechanism 15 of FIG. 1 has failed in the fully open position, meaning that the control stroke value is smaller than the required stroke value. Therefore, the sequence determination unit 60 deletes the position learning information 71 (step S203), thereby causing the position storage unit 61 to re-learn the position learning information 71. FIG.

Here, the door position monitoring unit 63 detects the abnormality based on the rotation angle sensor RS installed in the motor MT. However, for example, when using a motor equipped with a mechanism to prevent rotation in the direction opposite to the driving direction, the door position monitoring unit 63 separately detects the rotation angle based on the rotation angle sensor installed on the output shaft 32 or the like in FIG. may detect anomalies. Further, when an abnormality is detected by the door position monitoring unit 63, a corresponding protective process is executed separately, although the details are omitted.

If no abnormality is detected in step S201, the sequence determination section 60 determines whether or not the usage history of the drive unit 21 by the usage history management section 62 has reached a predetermined standard (step S202). When the usage history reaches the reference, the sequence determination unit 60 erases the position learning information 71 from the position storage unit 61 (step S203). As a result, the sequence determination unit 60 outputs a start signal SR1 to the position storage unit [1] 61a according to the opening direction drive signal OP received from the drive signal generation unit 64 after that, and performs the learning control of FIG. 7 (step S103). to S109) is started.

For example, repeated use of the drive unit 21 may change the required stroke value and the control stroke value due to changes over time. Therefore, the usage history management unit 62 in FIG. 5 counts the number of times the drive unit 21 is driven in response to the auto-open command or the auto-close command, for example, and the sequence determination unit 60 determines that the number of times the drive unit 21 is driven reaches a predetermined threshold value. It is determined whether or not it has reached (step S202). By re-learning based on the usage history in this way, for example, it is possible to prevent a situation in which the door position monitoring unit 63 outputs the abnormality detection signal FD.

If the usage history does not reach the reference in step S202, the sequence determination unit 60 determines whether or not the opening direction drive signal OP corresponding to the auto-open command has been received (step S204). When the opening direction drive signal OP is received, the sequence determination section 60 controls the drive control section 58 based on the position learning information 71 in the position storage section 61, details of which will be described with reference to FIG. Then, the drive control unit 58 performs open control to control the drive unit 21 to move the slide door 13 in the opening direction based on the fully closed position information 71 a and the fully open position information 71 b stored in the position storage unit 61 . (step S205).

On the other hand, during the opening control in step S205, the position storage unit [2] 61b determines whether or not the overload detection unit 56 detects an overload state before the slide door 13 reaches the fully open position. (Step S206). A situation in which an overload condition is detected in step S206 means that the control stroke value is longer than the required stroke value. Therefore, when an overload state is detected, the position storage unit [2] 61b stores the door position information (third position information) to update the fully open position information 71b (steps S207 and S208).

Specifically, the position storage unit [2] 61b holds the abutting position at the time when the overload state is detected (step S207), determines the fully open position information 71b based on this, and determines the fully open position. The information 71b is stored in the form of being overwritten in the position storage unit 61 (step S208). After storing the fully open position information 71b, the position storage section [2] 61b outputs a completion signal ED2 to the sequence determination section 60. In response to this, the sequence determination section 60 sends a stop signal SP5 to the fixed driving section 67. Output. In FIG. 8, the open control is performed based on the position learning information 71 in response to the auto-open command (steps S204 and S205). is done in the same way.

FIG. 9 is a supplementary diagram for explaining an example of the contents of open control in FIG. As shown in FIG. 9, the control section associated with the opening control in step S205 of FIG. 8 includes the speed control section T1 and the fixed drive period T2. In the speed control section T1, speed control is performed based on the speed control map 68 by the speed control section 65 of FIG. The speed control map 68, as shown in FIG. 9, is a target movement speed (target rotation speed of the motor MT) ω ^* in a speed control section T1 from the fully closed position (zero point) C0 to the speed control fully open position C1. Define transitions. This section includes an acceleration period for moving the slide door 13 from the fully closed position C0 toward the speed control fully open position C1 while accelerating it, and a speed control period for alleviating the impact when the slide door 13 strikes. and a deceleration period provided immediately before reaching the fully open position C1.

On the other hand, the fixed drive period T2 is a section from the speed control fully open position C1 to the fully open position C2 based on the position learning information 71 . The length of the fixed driving period T2 (that is, the fully open position C2) can be changed as appropriate along with the processing of FIGS. 7 and 8. FIG. In this section, the sequence determination section 60 causes the fixed drive section 67 to perform control. At this time, the fixed drive unit 67 generates, for example, an energization pattern for rotating the motor MT counterclockwise (see FIG. 4) at a low speed with a predetermined fixed PWM duty ratio, and generates a PWM signal. The instruction is given to the unit 59 . As a result, the sliding door 13 is handed over to the latch mechanism 15 at a low speed at the fully open position C2. By using such control, even if the fully open position C2 changes, there is no need to change the speed control map 68 accordingly.

As a specific example of the control method shown in FIG. 9, the sequence determination unit 60 shown in FIG. The speed control unit 65 outputs a completion signal ED4 to the sequence determination unit 60 when the slide door 13 is moved to the speed control fully open position C1. Sequence determination section 60 receives completion signal ED4 and outputs start signal SR5 to fixed drive section 67 . After that, the sequence determination unit 60 compares the door position information from the position/speed detection unit 55 with the fully open position information 71b (that is, the fully open position C2 in FIG. 9) stored in the position storage unit 61. At that time, the stop signal SP5 is output to the fixed driving section 67. FIG.

Here, the fully open position C2 is the count value at or below the time when the overload state is detected, as described in step S109 of FIG. For example, in the case of the method disclosed in Patent Document 2, the slide door 13 is further pushed in after reaching the abutment position, and as a result, the motor MT is stopped when an overload state is detected. . On the other hand, in the case of the system of the embodiment, the time when the count value reaches the fully open position C2 is regarded as the time when the slide door 13 reaches the abutting position, and no further pushing is performed (i.e., in an overloaded state). stop the driving of the motor MT).

As a result, it is possible to prevent the overload condition from occurring, or to shorten the time during which the overload condition occurs compared to the case where the overload detection is performed. In other words, even if the control stroke value and the required stroke value match, or if the control stroke value is greater than the required stroke value, the control stroke value and the required stroke value are at least better than when overload detection is performed. A state in which the difference from the stroke value is small can be constructed.

<<Main effects of the embodiment>>
As described above, by using the vehicular opening/closing body control device of the embodiment, the opening/closing body can be driven based on the position learning information 71 without physically providing a position detection sensor, thereby reducing the cost. becomes possible. Further, in this case, as shown in FIG. 7, the accuracy of the position learning information 71 can be improved by determining the position learning information 71 after removing play elements of the drive unit 21 .

By opening and closing the opening/closing body based on this highly accurate position learning information 71, the motor MT can be driven from the correct fully closed position to the correct fully open position without detecting an overload. . That is, it is possible to prevent the overload state from occurring or to shorten the time period during which the overload state occurs compared to the case where the overload detection is performed. As a result, it is possible to prevent excessive force from being applied to the cables 22a and 22b of the drive unit 21 and excessive current flow to the motor MT and the three-phase inverter circuit 51, thereby improving the durability of the vehicle opening/closing body control device. can be increased.

It goes without saying that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention. For example, in the above embodiment, a brushless motor is used as the motor MT, but it is not necessarily limited to this, and depending on the situation, it is also possible to use various motors such as a motor with a brush. Further, in the above-described embodiment, an example of application to a power sliding door has been shown, but the present invention can be similarly applied to general opening/closing body control devices including power tailgates, power windows, and the like. Among them, it is particularly useful when applied to a power sliding door, which has a large weight of the opening and closing member, and is prone to change in the fully closed/fully open position and decrease in durability due to occurrence of an overload condition.

Furthermore, in FIG. 7, learning control is performed according to the auto-open command, but depending on the situation, it is possible to perform similar learning control according to the auto-close command. However, since it is desirable that the zero point, which is the reference of the door position, be determined at the fully closed position, from this point of view, it is desirable to perform learning control according to the auto-open command. In addition, the material, shape, size, number, installation location, etc. of each component in each of the above embodiments are arbitrary as long as the present invention can be achieved, and are not limited to each of the above embodiments.

10 Vehicle 11 Car Body 12 Opening 13 Slide Door (Opening and Closing Body)
13a Roller Assy 14 Guide Rail 14a Retracting Portion 15 Latch Mechanism 20 Power Sliding Door Device (Vehicle Opening and Closing Body Control Device)
21 drive unit 22a opening side cable 22b closing side cable 23a first reversing pulley 23b second reversing pulley 30 case 30a drum housing chamber 30b opening side tensioner housing chamber 30c closing side tensioner housing chamber 31 ECU
32 Output shaft 33 Drum 33a Guide groove 34 Locking block 35a, 35b Connector connecting part 40a Opening side tensioner mechanism 40b Closing side tensioner mechanism 44 Coil spring 45 Pulley shaft 46 Pulley 50 Motor control part 51 Three-phase inverter circuit 55 Position/speed detection part (position sensor)
56 overload detection unit 57 sequence control unit 58 drive control unit 59 PWM signal generation unit 60 sequence determination unit 61, 61a, 61b position storage unit 62 use history management unit 63 door position monitoring unit 64 drive signal generation unit 65 speed control unit 66 Learning closing direction drive unit 67 Fixed drive unit 68 Speed control map 69 PI compensator 71 Position learning information 71a Fully closed position information 71b Fully open position information ED Completion signal FP Fixed unit IS Current sensor MEM Storage medium MT Motor RS Rotation angle Sensor (position sensor)
RT Rotor SP Stop signal SR Start signal ST Stator SW Operation switch TU Outer tube

Claims (8)

a drive unit including a motor for opening and closing an opening/closing body of a vehicle between a fully closed position and a fully opened position using the motor;
a control unit that controls the drive unit;
A vehicle opening/closing body control device comprising:
The control unit
a drive signal generator for generating a closing direction drive signal for moving the opening/closing body from the opening direction to the closing direction or an opening direction drive signal for moving the opening/closing body from the closing direction to the opening direction;
an overload detection unit that detects an overload state of the motor;
a drive control section for controlling the drive unit to move the opening/closing body in the opening direction when the drive signal generating section generates the opening direction drive signal;
a position sensor that detects the position of the opening/closing body;
a position storage unit that stores information on the fully closed position of the opening and closing body and information on the fully open position based on the fully closed position as position learning information;
has
The drive control section learns to drive the opening/closing member in the closing direction when the drive signal generation section generates the opening direction drive signal and when the position storage section learns to store the position learning information. Equipped with a closing direction drive unit,
The position storage unit drives the opening/closing body in the closing direction using the learning closing direction driving unit, and stores the opening/closing body at a point in time when the overload state of the motor is detected by the overload detection unit. a first position storage unit that stores position information of 1 as information of the fully closed position;
Vehicle opening/closing body control device. In the vehicle opening/closing body control device according to claim 1,
The position storage unit further includes a second position storage unit that stores second position information based on the first position information of the opening/closing body as information on the fully open position,
Vehicle opening/closing body control device. In the vehicle opening/closing body control device according to claim 1 or claim 2,
The drive unit, in addition to the motor,
a cable connected to the opening/closing body;
a drum around which the cable is wound as the motor rotates;
a tensioner mechanism for removing slack in the cable;
having
Vehicle opening/closing body control device. In the vehicle opening/closing body control device according to claim 2,
The drive control section controls the drive unit to move the opening/closing body in the opening direction after the first position storage section stores the information on the fully closed position,
When the overload state is detected by the overload detection unit, the second position storage unit defines a difference between the position information of the opening and closing member at the time of the detection and the first position information. value or more, and if the determination result is equal to or more than a specified value, storing the information of the fully open position based on the position information of the opening/closing body;
Vehicle opening/closing body control device. In the vehicle opening/closing body control device according to any one of claims 1 to 4,
Further, it is determined whether or not the information on the fully closed position is stored in the position storage unit. A sequence determination unit that outputs a start signal for starting an operation to the first position storage unit,
Vehicle opening/closing body control device. The vehicle opening/closing body control device according to any one of claims 1 to 4, further comprising:
an opening/closing body position monitoring unit that outputs an abnormality detection signal when the opening/closing body driven to the fully open position in response to the opening direction drive signal moves in the closing direction;
determining whether or not the abnormality detection signal has been output, and if the abnormality detection signal has been output, causing the first position storage section to start operating according to the opening direction drive signal received thereafter; a sequence determination unit that outputs a signal;
A vehicle opening/closing body control device having a The vehicle opening/closing body control device according to any one of claims 1 to 4, further comprising:
a usage history management unit that manages the usage history of the drive unit;
It is determined whether or not the usage history by the usage history management unit has reached a predetermined criterion, and if the usage history has reached the predetermined criterion, the opening direction driving signal is received thereafter. a sequence determination unit that outputs a start signal for starting an operation to the first position storage unit;
A vehicle opening/closing body control device having a In the vehicle opening/closing body control device according to claim 2 or 4,
When the drive signal generator generates the opening direction drive signal, the drive control section opens the opening/closing body based on the fully closed position information and the fully open position information stored in the position storage section. controlling the drive unit to move in the direction of
When the overload detection unit detects the overload state before the opening/closing body reaches the fully open position, the second position storage unit stores a third position of the opening/closing body at the time of detection. update the information of the fully open position with the position information of
Vehicle opening/closing body control device.

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