JP7326131B2 - opening and closing system - Google Patents

Description

The present invention relates to an opening and closing system.

Conventionally, for example, in a power window device mounted on a vehicle such as an automobile, as a control method for controlling the opening and closing operation of the window, when an object is detected to be caught in the window, the opening and closing operation of the window is reversed to detect the object. A control method for preventing entrapment (hereinafter referred to as "entrapment prevention control") is known.

Further, regarding such a power window device, Patent Document 1 below discloses that when the open/close position of the upper end of the window is above a boundary position set in the vicinity of the fully closed position, the window is reliably closed. Techniques are disclosed for disabling the anti-jamming control so that it can be done. Further, Patent Document 1 below discloses a technique for detecting the amount of rotation of the motor based on the number of ripple components generated in the current flowing through the motor, and calculating the open/close position of the window based on the amount of rotation. there is

JP 2018-3427 A

By the way, in the technique disclosed in Patent Document 1, the amount of rotation of the motor is detected based on the current flowing through the motor. As a result, the boundary position for invalidating the anti-pinch control cannot be accurately determined, and there is a risk that the window will malfunction. Conventionally, in order to avoid such malfunctions, the opening/closing position of the window is reset when the opening/closing position of the window reaches the fully open position or the fully closed position, and the number of times the window is opened/closed exceeds a predetermined number of times. In this case, a technique has been devised to disable the automatic opening/closing operation of the window until the opening/closing position of the window is reset. However, with this technology, the automatic opening and closing operation of the window is invalidated every time the number of operations exceeds a predetermined number of times. There is a risk of giving

An opening/closing system of one embodiment is an opening/closing system for controlling the opening/closing operation of an opening/closing member, and includes a switch, a motor for opening/closing the opening/closing member, and control for controlling the motor in accordance with an operation signal output from the switch. The control device includes a counting unit that counts the number of times the switch is operated, a rotation amount detection unit that detects the amount of rotation of the rotating shaft of the motor, and a lock detection unit that detects locking during the closing operation of the opening/closing member. , a position calculation unit for calculating the opening/closing position of the opening/closing member based on the amount of rotation, an error calculation unit for calculating the error Δ of the opening/closing position according to the number of times of operation, and an expression {x< (b−Δ)}, closing the opening/closing member to the fully closed position; and, when the expression {x>(b+Δ)} is satisfied, reversing the opening/closing member. However, x represents the opening/closing position of the opening/closing member according to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-reversal region.

According to one embodiment, it is possible to prevent the user from being annoyed.

A diagram showing a system configuration of an opening/closing system according to an embodiment of the present invention. 1 is a diagram showing the hardware configuration of a microcomputer according to an embodiment of the present invention; FIG. 1 is a diagram showing the functional configuration of a microcomputer according to an embodiment of the present invention; FIG. 1 is a flow chart showing a first example of a procedure of a control method by a microcomputer according to one embodiment of the present invention; FIG. 4 is a diagram showing an example of opening and closing operations of a window controlled by a microcomputer according to an embodiment of the present invention; 4 is a flow chart showing a second example of a procedure of a control method by a microcomputer according to one embodiment of the present invention; 4 is a flow chart showing a third example of a procedure of a control method by a microcomputer according to one embodiment of the present invention; 4 is a flow chart showing a fourth example of a procedure of a control method by a microcomputer according to one embodiment of the present invention; FIG. 4 is a diagram showing an example of calculation of an error Δ by a microcomputer according to an embodiment of the present invention; FIG. 4 is a diagram showing an example of calculation of an error Δ by a microcomputer according to an embodiment of the present invention; FIG. 4 is a diagram showing an example of calculation of an error Δ by a microcomputer according to an embodiment of the present invention; 5 is a flow chart showing a fifth example of a procedure of a control method by a microcomputer according to one embodiment of the present invention; FIG. 4 is a diagram showing an example of a motor drive voltage control profile by a microcomputer according to an embodiment of the present invention; FIG. 2 is a diagram showing the relationship between the battery voltage and the amount of backlash generated in the switching system according to one embodiment of the present invention;

An embodiment will be described below with reference to the drawings.

(System configuration of opening/closing system 1)
FIG. 1 is a diagram showing the system configuration of an opening/closing system 1 according to one embodiment of the present invention. The opening/closing system 1 shown in FIG. 1 is a system for controlling a power window device 50 provided in a vehicle. (an example of an "opening/closing member").

As shown in FIG. 1, the window 52 is vertically openable and closable with respect to the window frame 2A of the door 2 of the vehicle. When the vehicle is equipped with a power window device 50 for each of the plurality of doors 2, the opening/closing system 1 can be configured by providing each component shown in FIG. 50 can be similarly controlled.

As shown in FIG. 1, the switching system 1 includes a motor drive circuit 10, a voltage detection circuit 20, a current detection circuit 30, a switch 40, and a microcomputer 100.

The switch 40 is a device operated by a user to open and close the window 52 . For example, the switch 40 is provided at a user-operable position (for example, a door, a center console, etc.) in the vehicle. The switch 40 is capable of opening operation, automatic opening operation, closing operation, and automatic closing operation. When any operation is performed by the user, the switch 40 outputs an operation signal corresponding to the operation to the microcomputer 100 .

The microcomputer 100 is an example of a "control device" and a "computer." When the switch 40 is operated by the user, the microcomputer 100 supplies a control signal to the motor drive circuit 10 according to the switch operation, and controls the operation of the motor 54 to open and close the window 52. . At this time, the microcomputer 100 can determine whether or not entrapment by the window 52 has occurred using a known determination technique. Then, when the microcomputer 100 determines that an object is pinched by the window 52 , the microcomputer 100 can perform predetermined anti-pinch control for the window 52 .

The motor drive circuit 10 drives the motor 54 by applying a drive voltage to the motor 54 according to the control signal supplied from the microcomputer 100 . In the example shown in FIG. 1, the motor drive circuit 10 is configured with four switch elements 11 to 14 forming a full bridge circuit. The switch element 11 and the switch element 12 are connected in series between the battery output voltage Vb and the ground. The switch elements 13 and 14 are connected in series between the battery output voltage Vb and the ground, and are provided in parallel with the switch elements 11 and 12 . One input terminal of the motor 54 is connected between the switch element 11 and the switch element 12 . The other input terminal of the motor 54 is connected between the switch element 13 and the switch element 14 . The motor drive circuit 10 controls the switching operations of the four switch elements 11 to 14 according to the control signal supplied from the microcomputer 100, thereby controlling the rotation axis of the motor 54 with respect to the two input terminals of the motor 54. It is possible to apply drive voltages having different polarities depending on the direction of rotation of (that is, the direction of opening and closing operation of the window 52).

The motor 54 rotates the rotary shaft in the direction of rotation according to the polarity of the driving voltage applied to the two input terminals. Thereby, the motor 54 opens and closes the window 52 . A DC motor, for example, is used as the motor 54 .

The voltage detection circuit 20 detects the output voltage Vb of the battery and outputs a voltage signal representing the output voltage Vb of the battery. In the example shown in FIG. 1 , the voltage detection circuit 20 is configured with an amplifier section 21 and an A/D converter 23 . The amplifier 21 amplifies the battery output voltage Vb with a predetermined gain. The A/D converter 23 outputs a digital signal representing the voltage output from the amplifier 21 as a signal representing the output voltage Vb of the battery.

The current detection circuit 30 is an example of “current detection means”, detects the current Im flowing through the motor 54 , and outputs a current signal representing the current Im flowing through the motor 54 . In the example shown in FIG. 1, the current detection circuit 30 includes a shunt resistor RS, an amplifier section 31, a filter section 32, and an A/D converter 33. A shunt resistor RS is provided in the current path between the motor drive circuit 10 and the ground. The amplifier 31 amplifies the voltage generated across the shunt resistor RS with a predetermined gain. Filter section 32 removes the switching frequency component from the voltage output from amplifying section 31 . The A/D converter 33 outputs a digital signal representing the voltage output from the filter section 32 as a signal representing the current Im flowing through the motor 54 .

(Hardware configuration of microcomputer 100)
FIG. 2 is a diagram showing the hardware configuration of the microcomputer 100 according to one embodiment of the invention. As shown in FIG. 2 , the microcomputer 100 includes a CPU (Central Processing Unit) 121 , a ROM (Read Only Memory) 122 , a RAM (Random Access Memory) 123 and an external I/F (Interface) 125 . Each piece of hardware is interconnected via a bus 126 .

The CPU 121 controls the operation of the microcomputer 100 by executing various programs stored in the ROM 122 . ROM 122 is a non-volatile memory. For example, the ROM 122 stores programs executed by the CPU 121, data necessary for the CPU 121 to execute the programs, and the like. The RAM 123 is a main storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). For example, the RAM 123 functions as a work area used when the CPU 121 executes programs. External I/F 125 controls data input/output to/from motor drive circuit 10 , voltage detection circuit 20 , current detection circuit 30 , and switch 40 .

(Functional configuration of microcomputer 100)
FIG. 3 is a diagram showing the functional configuration of the microcomputer 100 according to one embodiment of the invention. As shown in FIG. 3, the microcomputer 100 includes an operation signal acquisition unit 101, a voltage value acquisition unit 102, a current value acquisition unit 103, a rotation amount detection unit 104, a position calculation unit 105, a rotation load calculation unit 106, and a lock detection unit 107. , a counting unit 108 , an error calculating unit 109 , and a motor control unit 110 .

Each function of the microcomputer 100 shown in FIG. 3 is realized, for example, by the CPU 121 executing a program stored in the ROM 122 in the microcomputer 100 . This program may be provided in a state of being installed in the microcomputer 100 in advance, or may be provided from the outside and installed in the microcomputer 100 . In the latter case, the program may be provided by an external storage medium (e.g., USB memory, memory card, CD-ROM, etc.) or provided by downloading from a server on a network (e.g., Internet, etc.). You may do so.

The operation signal acquisition section 101 acquires an operation signal output from the switch 40 . For example, switch 40 is capable of opening, automatically opening, closing, and automatically closing actions. When any of the switches 40 is operated by the user, the switch 40 outputs an operation signal according to the operation. The operation signal acquisition unit 101 acquires the operation signal output from the switch 40 .

The voltage value acquiring unit 102 acquires a voltage signal indicating the output voltage Vb of the battery output from the voltage detection circuit 20 . The current value acquisition unit 103 acquires a current signal indicating the current Im flowing through the motor 54 and output from the current detection circuit 30 .

The rotation amount detection unit 104 detects the rotation amount of the rotating shaft of the motor 54 based on the current signal acquired by the current value acquisition unit 103 . Specifically, based on the current signal acquired by the current value acquisition unit 103, the rotation amount detection unit 104 converts a frequency component signal, which is included in the current Im flowing through the motor 54, into a ripple component. To detect. A ripple component is generated in the current Im flowing through the motor 54 each time the rotary shaft of the motor 54 rotates by a certain angle. Therefore, the rotation amount detection unit 104 can detect the rotation amount of the rotating shaft of the motor 54 based on the number of occurrences of ripple components contained in the current Im flowing through the motor 54 . In this embodiment, the number of occurrences of ripple components is used as it is as a value representing the amount of rotation of the rotating shaft of the motor 54 .

The position calculation unit 105 determines the opening/closing position of the window 52 (window height position within the frame 2A). For example, in the present embodiment, the amount of movement of the window 52 is proportional to the amount of rotation of the rotary shaft of the motor 54 (that is, the number of ripple components generated). Therefore, in this embodiment, the count value of the ripple component is used as it is as the value representing the open/closed position of the window. Specifically, in this embodiment, when the window 52 is in the fully closed position, the count value of the ripple component representing the open/closed position of the window 52 is set to "0", and the window 52 moves downward as the window 52 opens. The count value of the ripple component representing the opening/closing position of the window 52 is gradually increased as the opening and closing position of the window 52 increases. The position calculation unit 105 adds (in the case of the opening operation) or subtracts (in the case of the closing operation) the number of ripple components generated during the opening/closing operation from the ripple component count value representing the opening/closing position of the window 52 before the opening/closing operation. ), it is possible to calculate the count value of the ripple component representing the opening/closing position of the window 52 after the opening/closing operation. Therefore, every time the position calculator 105 calculates the count value of the ripple component representing the opening/closing position of the window 52 after the opening/closing operation, the count value is stored in the memory of the microcomputer 100 .

Note that the position calculator 105 resets the open/close position of the window 52 when the window 52 reaches the fully closed position and when the window 52 reaches the fully open position. Specifically, when the window 52 reaches the fully closed position, the position calculator 105 sets the ripple component count value representing the open/closed position of the window 52 to “0”. Further, the position calculator 105 sets the count value of the ripple component representing the open/closed position of the window 52 to a predetermined maximum value when the window 52 reaches the fully open position. Thereby, the position calculation unit 105 can reset the error Δ of the opening/closing position of the window 52 . Note that when the window 52 reaches the fully closed position and when the window 52 reaches the fully open position, the counter 108 simultaneously sets the switch 40 operation count N to 0, so that the switch 40 is operated. Reset the number N. Accordingly, the error Δ calculated by the error calculator 109 according to the number of operations N is also reset.

The rotational load calculator 106 calculates the rotational load of the rotating shaft of the motor 54 based on the current signal acquired by the current value acquirer 103 . In this embodiment, the rotational load calculator 106 calculates the drive torque τ of the motor 54 as a value representing the rotational load of the rotating shaft of the motor 54 . This is because the drive torque τ of the motor 54 increases as the rotational load on the rotating shaft of the motor 54 increases. For example, the rotational load calculation unit 106 calculates the current Im flowing through the motor 54 detected by the current detection circuit 30, which is specified by the current signal acquired by the current value acquisition unit 103, using the formula {τ=Kt×Im −Tm}, the driving torque τ of the motor 54 is calculated. However, Kt and Tm are constants specific to the motor 54 .

A lock detection unit 107 detects locking in the closing operation of the window 52 . For example, when the drive torque τ of the motor 54 calculated by the rotational load calculator 106 is equal to or greater than a predetermined threshold value, the lock detector 107 determines that "the closing operation of the window 52 is locked". If the position of the window 52 does not change for a predetermined period of time or longer even though the motor control unit 110 is controlling the motor 54, the lock detection unit 107 determines that the closing operation of the window 52 is locked. may

A counting unit 108 counts the number of operations N of the switch 40 . For example, the counting unit 108 stores the number of operations N of the switch 40 , and adds 1 to the number of operations N every time the operation signal acquisition unit 101 acquires an operation signal.

The error calculator 109 calculates an error Δ of the opening/closing position of the window 52 according to the number of times N of operations of the switch 40 . For example, the error calculator 109 calculates the error Δ of the open/closed position of the window 52 using the following formula (1). However, σ represents the standard deviation of the error in the opening/closing position of the window 52 per operation of the switch 40, and C and D represent predetermined constants.

Not limited to this, the error calculation unit 109 calculates the open/closed position of the window 52 using the following formulas (2) and (3) or other formulas (at least the error Δ increases as the number of operations N increases). may be calculated.

Δ=D・N (2)

Δ=C・N^D (3)

The motor control unit 110 supplies a control signal to the motor drive circuit 10 according to the operation signal acquired by the operation signal acquisition unit 101 to control the motor 54 , thereby controlling the opening/closing operation of the window 52 .

For example, when the operation signal acquisition unit 101 acquires an operation signal corresponding to the closing operation of the window 52 (hereinafter referred to as “close operation signal”), the motor control unit 110 detects that the switch 40 is being closed. During this period, the window 52 is closed by supplying the motor drive circuit 10 with a control signal for rotating the rotating shaft of the motor 54 in the first direction (the direction to close the window).

Further, when the operation signal acquisition unit 101 acquires an operation signal corresponding to the opening operation of the window 52 (hereinafter referred to as “opening operation signal”), the motor control unit 110 indicates that the switch 40 is being opened. In the meantime, the motor drive circuit 10 outputs a control signal for rotating the rotating shaft of the motor 54 in the second direction opposite to the first direction (the window opening direction opposite to the window closing direction). , the window 52 is opened.

Further, when the operation signal acquisition unit 101 acquires an operation signal corresponding to the automatic closing operation of the window 52 (hereinafter referred to as “automatic closing operation signal”), the motor control unit 110 determines that the window 52 is fully closed. By supplying the motor driving circuit 10 with a control signal for rotating the rotating shaft of the motor 54 in the first direction (direction to close the window), the window 52 is automatically closed.

Further, when the operation signal acquisition unit 101 acquires an operation signal corresponding to the automatic opening operation of the window 52 (hereinafter referred to as “automatic opening operation signal”), the motor control unit 110 causes the window 52 to be fully opened. By supplying the motor drive circuit 10 with a control signal for rotating the rotating shaft of the motor 54 in the second direction (direction to open the window), the window 52 is automatically opened.

For example, the motor control unit 110 calculates the effective voltage value Ve based on the battery output voltage Vb acquired by the voltage value acquisition unit 102, and outputs the drive voltage of the effective voltage value Ve via the motor drive circuit 10. By applying to the motor 54, the output of the motor 54 is controlled.

Note that the motor control unit 110 reverses the window 52 when the lock detection unit 107 detects locking while the window 52 is closing and the window is in the non-reversing region. However, if the opening/closing position of the window 52 is within the non-reversing region, the motor control unit 110 does not reverse the window 52 even if the lock detection unit 107 detects locking. It is believed that this locking is caused by the contact of the window 52 with the weatherstrip. The non-reversal area is an area provided with a predetermined width downward from the fully closed position, and is an area in which anti-pinch control is not performed.

Here, in the present embodiment, the motor control unit 110 controls the opening/closing operation of the window 52 in consideration of the error Δ in the opening/closing position of the window 52 when the lock detection unit 107 detects the lock.

For example, when the lock detection unit 107 detects the lock, the motor control unit 110 closes the window 52 to the fully closed position if the expression {x<(b−Δ)} is satisfied.

Further, for example, when the lock is detected by the lock detection unit 107, the motor control unit 110 reverses the window 52 if the expression {x>(b+Δ)} is satisfied.

Further, for example, when the lock detection unit 107 detects the lock, the motor control unit 110 closes the window 52 if both the formula {x≧(b−Δ)} and the formula {x≦(b+Δ)} are satisfied. In addition to reversing operation, subsequent automatic closing operation of the window 52 is prohibited.

In each of the above formulas, x represents the count number of ripple components representing the open/closed position of the window 52, and b represents the distance from the fully closed position to the bottom end of the non-inverted area (that is, the vertical width of the non-inverted area). , Δ represent the error of the open/closed position of the window 52 calculated by the error calculator 109 .

The fully closed position of the window 52 (that is, the position where the count value of the ripple component is 0) can vary depending on the amount of bite into the weather strip (not shown) provided at the upper end of the window frame 2A of the window 52. . For this reason, for example, the fully closed position of the window 52 is the upper end of the window 52 when the upper end of the window 52 has penetrated into the groove of the weatherstrip by a predetermined amount (for example, a minimum amount, a maximum amount, an average amount, etc.). position. At this time, the fully closed position of the window 52 is preferably set to an appropriate value for each window 52 according to individual differences.

Also, the distance b to the bottom end of the non-inverted area may vary depending on the amount of bite of the window 52 into the weatherstrip. For example, the distance b is such that an object of a predetermined thickness (e.g., 4 mm) is sandwiched between the upper end of the window 52 and the lower end of the weatherstrip, and the weatherstrip reaches a predetermined amount (e.g., minimum amount, maximum amount). volume, average volume, etc.) may be the position of the top edge of the window 52 when it is crushed. In addition, b is preferably set to an appropriate value according to individual differences for each window 52 .

When the number of times of operation N reaches a predetermined number of times, or when the expression {Δ>b} is satisfied, motor control unit 110 opens window 52 to the fully open position, and counting unit 108 counts the number of times of operation. N may be reset, and the position calculation unit 105 may reset the opening/closing position x.

Here, when the expression {Δ>b} is satisfied while the window 52 is automatically closing, the motor control unit 110 opens the window 52 to the fully open position, and the number of operations N and the open/close position After x is reset, the window 52 may be closed to the fully closed position.

Further, when the expression {Δ>b} is satisfied while the window 52 is performing an opening/closing operation other than the automatic opening/closing operation, the motor control unit 110 opens the window 52 to the fully open position, The movement amount ΔP of the window 52 is stored, and after the number of times of operation N and the opening/closing position x are reset, the window 52 is returned by ΔP to return the window 52 to the position at the start of the opening/closing operation. good too.

Further, when the expression {Δ>b} is satisfied while the window 52 is automatically opening, the motor control unit 110 opens the window 52 to the fully open position, and the number of operations N and the open/close position x is reset, the window 52 may be kept in the fully open position.

(Procedure of control method by microcomputer 100 (first example))
FIG. 4 is a flow chart showing a first example of a control method procedure by the microcomputer 100 according to one embodiment of the present invention.

First, the microcomputer 100 sets 0 to the open/closed position error Δ according to the number of operations of the window 52, and also sets 0 to the number N of operations of the switch 40 (step S401).

Next, the operation signal acquisition unit 101 determines whether or not an automatic closing operation signal has been acquired from the switch 40 (step S402). If it is determined in step S402 that "the automatic closing operation signal has not been obtained" (step S402: No), the microcomputer 100 executes the process of step S402 again.

On the other hand, if it is determined in step S402 that "an automatic closing operation signal has been acquired" (step S402: Yes), the counting unit 108 adds 1 to the number of operations N (step S403).

Next, the lock detector 107 determines whether or not the lock in the closing operation of the window 52 has been detected (step S404).

If it is determined in step S404 that "the lock in the closing operation of the window 52 has not been detected" (step S404: No), the microcomputer 100 executes the determination process of step S404 again.

On the other hand, if it is determined in step S404 that "the lock during the closing operation of the window 52 has been detected" (step S404: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S405). Then, the error calculator 109 calculates an error Δ of the opening/closing position of the window 52 according to the number of times N of operations of the switch 40 (step S406).

Subsequently, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S407).

In step S407, if it is determined that "the expression {(x<(b−Δ)} is satisfied" (step S407: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S408 ), and the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, in step S407, if it is determined that "the formula {(x<(b−Δ)} is not satisfied" (step S407: No), motor control unit 110 satisfies the formula {x>(b+Δ)}. (step S409).

In step S409, when it is determined that the expression {(x>(b+Δ)} is satisfied" (step S409: Yes), the motor control unit 110 reverses the window 52 (step S410). returns the process to step S402.

On the other hand, if it is determined in step S409 that "the expression {(x>(b+Δ)} is not satisfied" (step S409: No), the motor control unit 110 reverses the window 52 (step S411). , the motor control unit 110 prohibits the automatic closing operation of the window 52 (step S412), and the microcomputer 100 returns the process to step S402.

According to this control method, when the window 52 is locked in an area where it can be determined whether or not an object has been caught, the window 52 is closed to the fully closed position, or the window 52 is reversed. can be operated. On the other hand, according to this control method, when the window 52 is locked in a region in which it is difficult to determine whether or not an object has been caught, the window 52 is reversed in order to ensure safety. automatic closing operation can be prohibited. According to this control method, the automatic opening and closing operation of the window can be continuously performed without compromising safety compared to the conventional control method, such as disabling the automatic opening and closing operation of the window every time the error exceeds a predetermined value. Therefore, it is possible to prevent the user from being troubled.

(Example of opening/closing operation of window 52)
FIG. 5 is a diagram showing an example of opening and closing operations of the window 52 under the control of the microcomputer 100 according to one embodiment of the present invention. In FIG. 5, x1 to x4 respectively indicate first to fourth examples of the open/close position x of the window 52 when the closing operation of the window 52 is locked. In FIG. 5, the range from the position where the error Δ is added upward to the position where the error Δ is added downward is indicated by hatching with reference to the position b of the lower end of the non-inverted area. .

As indicated by x1 in FIG. 5, when the position x of the upper end of the window 52 is higher than the position obtained by adding an error Δ upward with the position b of the lower end of the non-inverted area as a reference (that is, When the formula {(x<(b−Δ)} is satisfied), the window 52 is closed to the fully closed position under the control of the motor control unit 110. In this case, even if the error Δ is taken into account, the object cannot be caught. This is because it is considered unlikely that

In addition, as indicated by x4 in FIG. 5, when the position x of the upper end of the window 52 is further below the position obtained by adding an error Δ downward with the position b of the lower end of the non-inverted area as a reference ( That is, when the expression {(x>(b+Δ)} is satisfied), the window 52 is reversed under the control of the motor control unit 110. In this case, even if the error Δ is considered, the object is caught. This is because it is considered highly probable.

On the other hand, as indicated by x2 and x3 in FIG. 5, the position x of the upper end of the window 52 is a position obtained by adding an error Δ upward and an error Δ (that is, when both the formula {(x≧(b−Δ)} and the formula {(x≦(b+Δ)} are satisfied)), the motor control unit 110 controls , the window 52 is reversed and is prohibited from automatically closing thereafter.In this case, considering the error .DELTA., it is difficult to ascertain whether or not an object is caught. This is because the window 52 is reversed and the subsequent automatic closing operation is prohibited, emphasizing safety.

(Procedure of control method by microcomputer 100 (second example))
FIG. 6 is a flow chart showing a second example of the control method procedure by the microcomputer 100 according to one embodiment of the present invention.

First, the microcomputer 100 sets the error Δ of the window 52 to 0, sets the number of operations N of the switch 40 to 0, and sets the unknown inversion variable m to False (step S601).

Next, the operation signal acquisition unit 101 determines whether or not an automatic closing operation signal has been acquired from the switch 40 (step S602). If it is determined in step S602 that "the automatic closing operation signal has not been acquired" (step S602: No), the microcomputer 100 executes the process of step S602 again.

On the other hand, if it is determined in step S602 that "an automatic closing operation signal has been acquired" (step S602: Yes), the counting unit 108 adds 1 to the number of operations N (step S603).

Next, it is determined whether or not the lock detector 107 has detected lock in the closing operation of the window 52 (step S604).

If it is determined in step S604 that "the lock in the closing operation of the window 52 has not been detected" (step S604: No), the microcomputer 100 executes the determination process of step S604 again.

On the other hand, if it is determined in step S604 that "the lock in the closing operation of the window 52 has been detected" (step S604: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S605). Then, the error calculator 109 calculates an error Δ of the opening/closing position of the window 52 according to the number N of operations of the switch 40 (step S606).

Subsequently, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S607).

In step S607, if it is determined that the expression {(x<(b-Δ)} is satisfied" (step S607: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S608 ), and the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, if it is determined in step S607 that "the formula {(x<(b−Δ)} is not satisfied" (step S607: No), the motor control unit 110 satisfies the formula {x>(b+Δ)}. (step S609).

In step S609, if it is determined that the expression {(x>(b+Δ)} is satisfied" (step S609: Yes), the motor control unit 110 reverses the window 52 (step S610). returns the process to step S602.

On the other hand, if it is determined in step S609 that "the expression {(x>(b+Δ)} is not satisfied" (step S609: No), the motor control unit 110 determines whether True is set to the unknown inversion variable m. If it is determined in step S611 that "the unknown inversion variable m is set to True" (step S611: Yes), the motor control unit 110 controls the opening/closing position x of the window 52. is the same as the previous lock position (step S612).

If it is determined in step S612 that "the open/close position x of the window 52 is the same as the previous locked position" (step S612: Yes), the motor control unit 110 closes the window 52 to the fully closed position ( step S608). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, if it is determined in step S611 that "the unknown inversion variable m is not set to True" (step S611: No), or if in step S612 it is determined that "the opening/closing position x of the window 52 is the same as the previous lock position". not the same" (step S612: No), the motor control unit 110 reverses the window 52 (step S613). Also, the motor control unit 110 sets True to the unknown inversion variable m (step S614). Then, the microcomputer 100 returns the process to step S602.

According to this control method, even if the window 52 is locked in a region where it is difficult to determine whether or not an object has been caught, the position at which the window 52 was locked is locked in the previous automatic closing operation. , the window 52 can be closed to the fully closed position. This is because, in this case, it is highly likely that the window 52 was not locked by an object being caught, but by the window 52 coming into contact with the weatherstrip. Therefore, according to this control method, it is possible to determine with high accuracy whether or not the window 52 is locked when the window 52 is closed.

(Procedure of control method by microcomputer 100 (third example))
FIG. 7 is a flow chart showing a third example of the control method procedure by the microcomputer 100 according to one embodiment of the present invention.

First, the microcomputer 100 sets 0 to the number of operations N of the switch 40 (step S701).

Next, the operation signal acquisition unit 101 determines whether or not an operation signal has been acquired from the switch 40 (step S702). If it is determined in step S702 that "an operation signal has not been acquired" (step S702: No), the microcomputer 100 executes the process of step S702 again.

On the other hand, if it is determined in step S702 that "an operation signal has been obtained" (step S702: Yes), the counting unit 108 adds 1 to the number of operations N, and the position calculation unit 105 adds 1 to the variable P1. The opening/closing position of the window 52 at the start of operation is set (step S703).

Next, the lock detection unit 107 determines whether or not the lock in the automatic closing operation of the window 52 has been detected (step S704).

If it is determined in step S704 that "the lock has not been detected in the automatic closing operation of the window 52" (step S704: No), the error calculation unit 109 determines whether the opening/closing operation of the window 52 has ended. (step S713).

If it is determined in step S713 that "the opening and closing operation of the window 52 has not ended" (step S713: No), the microcomputer 100 returns the process to step S704.

On the other hand, if it is determined in step S713 that “the opening/closing operation of the window 52 has ended” (step S713: Yes), the error calculation unit 109 calculates the error in the opening/closing position of the window 52 according to the number N of operations of the switch 40. Δ is calculated (step S714).

Then, the motor control unit 110 determines whether or not the expression {Δ>b} is satisfied (step S715). If it is determined in step S715 that "the expression {Δ>b} is not satisfied" (step S715: No), the microcomputer 100 returns the process to step S702.

On the other hand, if it is determined in step S715 that "equation {Δ>b} is satisfied" (step S715: Yes), motor control unit 110 opens window 52 to the fully open position (step S716). Then, the motor control unit 110 sets the open/close position x of the window 52 at the fully open position to the variable P2, sets the movement amount of the window 52 obtained by P2−P1 to the variable ΔP, and sets the position calculation unit 105. However, by setting the opening/closing position x of the window 52 to a predetermined value corresponding to the lower end position of the window, the opening/closing position x is reset (step S717).

Subsequently, the motor control unit 110 closes the window 52 by ΔP, thereby returning the window 52 to the opening/closing position at the start of the opening/closing operation (step S718). Also, the counting unit 108 sets the number of operations N to 1 (step S719). Then, the microcomputer 100 returns the process to step S702.

On the other hand, if it is determined in step S704 that "the lock in the automatic closing operation of the window 52 has been detected" (step S704: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S705). . Then, the error calculator 109 calculates an error Δ of the opening/closing position of the window 52 according to the number of times N of operations of the switch 40 (step S706).

Subsequently, the motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S707).

In step S707, if it is determined that the expression {(x<(b-Δ)} is satisfied" (step S707: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S708 ), and the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, if it is determined in step S707 that "the formula {(x<(b−Δ)} is not satisfied" (step S707: No), the motor control unit 110 satisfies the formula {x>(b+Δ)}. (step S709).

In step S709, if it is determined that the expression {(x>(b+Δ)} is satisfied" (step S709: Yes), the motor control unit 110 reverses the window 52 (step S710). returns the process to step S702.

On the other hand, if it is determined in step S709 that "the expression {(x>(b+Δ)} is not satisfied" (step S709: No), the motor control unit 110 opens the window 52 to the fully open position (step S711). ) Then, the position calculation unit 105 sets the open/close position x of the window 52 to a predetermined value corresponding to the lower end position of the window, and the counting unit 108 sets the number of operations N to 0 (step S712). , the microcomputer 100 returns to step S702.

According to this control method, when the error Δ in the opening/closing position of the window 52 becomes larger than the vertical width of the non-inverted area, the window 52 is opened to the fully open position and the opening/closing position of the window is reset. Δ can be reset, and a situation can be avoided in which, for example, the window 52 cannot be completely closed due to the error Δ becoming larger than the vertical width of the non-inverted region. In particular, according to this control method, the opening operation of the window 52 to the fully open position is performed to reset the open/close position of the window. Further, according to this control method, after the opening/closing position of the window 52 is reset, the window 52 can be returned to the position at the start of the operation, so that the user's operation for returning to the position at the start of the operation is unnecessary. Therefore, it is possible to suppress user's annoyance.

(Procedure of control method by microcomputer 100 (fourth example))
FIG. 8 is a flowchart showing a fourth example of the control method procedure by the microcomputer 100 according to one embodiment of the present invention.

First, the microcomputer 100 sets 0 to the number of operations N of the switch 40 (step S801).

Next, the operation signal acquisition unit 101 determines whether or not an operation signal has been acquired from the switch 40 (step S802). If it is determined in step S802 that "an operation signal has not been acquired" (step S802: No), the microcomputer 100 executes the process of step S802 again.

On the other hand, if it is determined in step S802 that "an operation signal has been obtained" (step S802: Yes), the counting unit 108 adds 1 to the number of operations N, and the position calculation unit 105 adds 1 to the variable P1. The opening/closing position of the window 52 at the start of operation is set (step S803).

Next, the lock detection unit 107 determines whether or not the lock in the automatic closing operation of the window 52 has been detected (step S804).

If it is determined in step S804 that "the lock in the automatic closing operation of the window 52 has not been detected" (step S804: No), the microcomputer 100 executes the determination process of step S804 again.

On the other hand, if it is determined in step S804 that "locking of the window 52 during the closing operation has been detected" (step S804: Yes), the position calculation unit 105 determines whether the position at which the window 52 is locked is the fully closed position. (step S805).

If it is determined in step S805 that "the position at which the window 52 is locked is the fully closed position" (step S805: Yes), the position calculation unit 105 sets the opening/closing position x of the window 52 to 0, The opening/closing position x is reset, and the counting unit 108 resets the number of operations N by setting the number of operations N to 0 (step S806). Then, the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, if it is determined in step S805 that "the position where the window 52 is locked is not the fully closed position" (step S805: No), the counting unit 108 determines whether the number of times N of operations is greater than the predetermined number of times. It judges (step S807).

If it is determined in step S807 that "the number of times N of operations is equal to or less than the predetermined number of times" (step S807: No), the microcomputer 100 returns the process to step S802.

On the other hand, if it is determined in step S807 that "the number of operations N is greater than the predetermined number" (step S807: Yes), the motor control unit 110 opens the window 52 to the fully open position (step S808).

Then, the motor control unit 110 sets the open/close position x of the window 52 at the fully open position to the variable P2, sets the movement amount of the window 52 obtained by P2−P1 to the variable ΔP, and sets the position calculation unit 105. However, by setting the opening/closing position x of the window 52 to a predetermined value corresponding to the lower end position of the window, the opening/closing position x is reset (step S809).

Subsequently, the motor control unit 110 closes the window 52 by ΔP, thereby returning the window 52 to the opening/closing position at the start of the opening/closing operation (step S810). Also, the counting unit 108 sets the number of operations N to 1 (step S811). Then, the microcomputer 100 returns the process to step S802.

According to this control method, when the number of operations N exceeds a predetermined number, the window 52 is opened to the fully open position to reset the opening/closing position of the window 52. Therefore, the error Δ can be reset. It is possible to avoid a situation in which the window 52 cannot be completely closed due to Δ being larger than the vertical width of the non-inverted area. In particular, according to this control method, the opening operation of the window 52 to the fully open position is performed to reset the open/close position of the window. Further, according to this control method, after the opening/closing position of the window 52 is reset, the window 52 can be returned to the position at the start of the operation, so that the user's operation for returning to the position at the start of the operation is unnecessary. Therefore, it is possible to suppress user's annoyance.

(Example of calculation of error Δ by microcomputer 100)
9 to 11 are diagrams showing calculation examples of the error Δ by the microcomputer 100 according to one embodiment of the present invention.

<First calculation example>
FIG. 9 compares the error .DELTA. calculated by the microcomputer 100 using the above formula (1) with the actual error .DELTA. In the graph shown in FIG. 9, the horizontal axis represents the number of operations N raised to the power of 0.5, and the vertical axis represents the error Δ [ripple count]. In the graph shown in FIG. 9, the dotted line represents the error .DELTA. calculated by the microcomputer 100 using the above formula (1), and the dots represent the error .DELTA. that actually occurred.

In the first calculation example shown in FIG. 9, as the constant C, "2.8257", which is a suitable value obtained in advance according to individual differences, is used. That is, in the first calculation example shown in FIG. 9, the error Δ is calculated using the formula {Δ=2.8257·N̂0.5}.

As shown in FIG. 9, the error Δ calculated by the microcomputer 100 using the above formula (1) increases as the number of operations N increases. It is roughly approximated. As described above, in the first calculation example, it was confirmed that the error Δ can be calculated with high accuracy by setting an appropriate value for the constant C using the above formula (1).

<Second calculation example>
FIG. 10 compares the error .DELTA. calculated by the microcomputer 100 using the above formula (2) with the actual error .DELTA. In the graph shown in FIG. 10, the horizontal axis represents the number of operations N, and the vertical axis represents the error Δ [ripple count]. In the graph shown in FIG. 10, the dotted line represents the error .DELTA. calculated by the microcomputer 100 using the above formula (2), and the dots represent the actual error .DELTA.

In the second calculation example shown in FIG. 10, the constant D is set to "0.8135", which is a suitable value obtained in advance according to individual differences. That is, in the second calculation example shown in FIG. 10, the error Δ is calculated using the formula {Δ=0.8135·N}.

As shown in FIG. 10, the error Δ calculated by the microcomputer 100 using the above formula (2) increases linearly as the number of operations N increases. It roughly approximates Δ. As described above, in the second calculation example, it was confirmed that the error Δ can be calculated with high accuracy by setting an appropriate value for the constant D using the above equation (2).

<Third calculation example>
FIG. 11 compares the error .DELTA. calculated by the microcomputer 100 using the above formula (3) with the actual error .DELTA. In the graph shown in FIG. 11, the horizontal axis represents the number of operations N, and the vertical axis represents the error Δ [ripple count]. In the graph shown in FIG. 11, the dotted line represents the error .DELTA. calculated by the microcomputer 100 using the above formula (3), and the dots represent the actual error .DELTA.

In the third calculation example shown in FIG. 11, the constant C is set to "0.6858", which is a suitable value obtained in advance according to individual differences. Also, the constant D is set to "2.1304", which is a suitable value obtained in advance according to individual differences. That is, in the third calculation example shown in FIG. 11, the error Δ is calculated using the formula {Δ=0.6858·N̂2.1304}.

As shown in FIG. 11, the error Δ calculated by the microcomputer 100 using the above formula (3) increases nonlinearly as the number of operations N increases. It roughly approximates Δ. As described above, in the third calculation example, it was confirmed that the error Δ can be calculated with high accuracy by setting appropriate values for the constants C and D using the above equation (3).

As described above, the opening/closing system 1 of the present embodiment includes the switch 40, the motor 54 that opens and closes the window 52, and the microcomputer 100 that controls the motor 54 according to the operation signal output from the switch 40. The microcomputer 100 includes a counting unit 108 that counts the number of times N of operations of the switch 40, a rotation amount detection unit 104 that detects the amount of rotation of the rotation shaft of the motor 54, and a lock detection unit that detects locking during the closing operation of the window 52. 107, a position calculation unit 105 that calculates the opening/closing position x of the window 52 based on the amount of rotation detected by the rotation amount detection unit 104, and an error that calculates the error Δ of the opening/closing position x according to the number of operations N. When the calculation unit 109 detects that the lock is detected, if the expression {x<(b−Δ)} is satisfied, the window 52 is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, and a motor control unit 110 for reversing the window 52 .

As a result, the opening/closing system 1 of the present embodiment can open the window 52 when it can be determined that an object has not been caught (when the expression {x<(b−Δ)} is satisfied) after considering the error Δ. It can be closed to the fully closed position. In addition, the opening/closing system 1 of the present embodiment can be used when it can be determined that an object is caught (when the expression {x>(b+Δ)} is satisfied) after considering the error Δ, and when the object is caught If it is unclear whether or not this has occurred, the window 52 can be reversed for safety reasons. That is, according to the opening/closing system 1 of the present embodiment, compared with the conventional control method of disabling the automatic opening/closing operation of the window each time the error exceeds a predetermined value, the window can be opened without compromising safety. The automatic opening/closing function of 52 can be continuously used, and therefore, it is possible to prevent the user from being bothered.

In addition, in the opening/closing system 1 of the present embodiment, if the motor control unit 110 satisfies both the formula {x≧(b−Δ)} and the formula {x≦(b+Δ)} when locking is detected, While reversing the window 52, the subsequent automatic closing operation of the window 52 can be prohibited.

As a result, the opening/closing system 1 of the present embodiment can reverse the operation of the window 52 with an emphasis on safety when it is unclear whether or not an object is caught in consideration of the error Δ. At the same time, after that, the window 52 can be closed to the fully closed position by the non-automatic closing operation of the window 52 with an emphasis on safety.

Further, in the opening/closing system 1 of the present embodiment, the motor control unit 110 satisfies both the expressions {x≧(b−Δ)} and the expressions {x≦(b+Δ)} when locking is detected, and , the window 52 can be closed to the fully closed position if x is the same as when the lock was last detected.

Thus, in the opening/closing system 1 of the present embodiment, even if the window 52 is locked in an area in which it is unclear whether or not an object is caught, the position at which the window 52 is locked is the same as the previous time it was locked. In some cases, window 52 can be operated to close to a fully closed position. This is because, in this case, it is highly likely that the window 52 was not locked by an object being caught, but by the window 52 coming into contact with the weatherstrip. Therefore, according to the opening/closing system 1 of the present embodiment, it is possible to determine with high accuracy whether or not the window 52 is locked when the window 52 is closed.

Further, in the opening/closing system 1 of the present embodiment, the error calculator 109 can calculate the error Δ by multiplying the exponentiation of the number of operations N by a predetermined constant.

Accordingly, the opening/closing system 1 of the present embodiment can calculate the error Δ with relatively high accuracy by setting an appropriate value to the predetermined constant, and therefore, when the lock is detected, the window It is possible to further improve the determination accuracy of whether or not there is an entrapment by 52 .

In addition, in the opening/closing system 1 of the present embodiment, the error calculator 109 can calculate the error Δ by multiplying the 1/2 power of the number of operations N by a predetermined constant.

Accordingly, the opening/closing system 1 of the present embodiment can calculate the error Δ with relatively high accuracy by setting an appropriate value to the predetermined constant, and therefore, when the lock is detected, the window It is possible to further improve the determination accuracy of whether or not there is an entrapment by 52 .

Further, in the opening/closing system 1 of the present embodiment, the error calculator 109 can calculate the error Δ by multiplying the number of operations N by a predetermined constant.

Accordingly, the opening/closing system 1 of the present embodiment can calculate the error Δ with relatively high accuracy by setting an appropriate value to the predetermined constant, and therefore, when the lock is detected, the window It is possible to further improve the determination accuracy of whether or not there is an entrapment by 52 .

In addition, in the opening/closing system 1 of the present embodiment, when the window 52 reaches the fully closed position, the counting section 108 can reset the number of operations N, and the position calculation section 105 can reset the opening/closing position x.

As a result, when the window 52 reaches the fully closed position, the opening/closing system 1 of the present embodiment can match the opening/closing position x calculated by the position calculation unit 105 with the actual opening/closing position of the window. That is, the error Δ can be reduced to 0, and the accuracy of determining whether or not there is entrapment by the window 52 thereafter can be further improved.

In addition, in the opening/closing system 1 of the present embodiment, when the window 52 reaches the fully open position, the counting section 108 can reset the number of operations N, and the position calculation section 105 can reset the opening/closing position x.

As a result, when the window 52 reaches the fully open position, the opening/closing system 1 of the present embodiment can match the opening/closing position x calculated by the position calculator 105 with the actual opening/closing position of the window. , the error .DELTA. can be set to 0, so that the accuracy of determining whether or not there is entrapment by the window 52 thereafter can be further enhanced.

Further, in the opening/closing system 1 of the present embodiment, when the number of operations N reaches a predetermined number, the motor control unit 110 opens the window 52 to the fully open position, the counting unit 108 resets the number of operations N, The position calculator 105 can reset the open/close position x.

As a result, the opening/closing system 1 of the present embodiment automatically opens the window 52 to the fully open position when the number of operations N reaches a predetermined number and the error Δ reaches a certain amount. The opening/closing position x calculated by the window 52 can be matched with the actual opening/closing position of the window, that is, the error Δ can be set to 0. Therefore, it is possible to determine whether or not there is entrapment by the window 52 after that. Accuracy can be further improved.

Further, in the opening/closing system 1 of the present embodiment, when the expression {Δ>b} is satisfied, the motor control unit 110 opens the window 52 to the fully open position, the counting unit 108 resets the number of operations N, The position calculator 105 can reset the open/close position x.

As a result, the opening/closing system 1 of the present embodiment automatically opens the window 52 to the fully open position when the error Δ reaches a certain amount, and the opening/closing position x calculated by the position calculator 105 and the actual In other words, the error .DELTA. can be set to 0. Therefore, it is possible to further improve the accuracy of determining whether or not there is entrapment by the window 52 thereafter.

Further, in the opening/closing system 1 of the present embodiment, when the expression {Δ>b} is satisfied while the window 52 is automatically closing, the motor control unit 110 causes the window 52 to open to the fully open position. After the operation count N and the opening/closing position x are reset, the window 52 can be closed to the fully closed position.

As a result, the opening/closing system 1 of the present embodiment can automatically restart the automatic closing operation of the window 52 after resetting the opening/closing position of the window 52. Therefore, the user operation for restarting the automatic closing operation is It is unnecessary, and therefore, it is possible to prevent the user from being annoyed.

Further, in the opening/closing system 1 of the present embodiment, when the window 52 is performing an opening/closing operation other than an automatic opening/closing operation, if the expression {Δ>b} is satisfied, the motor control unit 110 moves the window 52 to the fully open position. After the number of times of operation N and the opening/closing position x are reset, the window 52 can be returned to the position at the start of the opening/closing operation.

As a result, after the opening/closing position of the window 52 is reset, the opening/closing system 1 of the present embodiment can automatically return the window 52 to the position at the start of operation. user operation is unnecessary, and thus it is possible to suppress the user from being bothered.

The switching system 1 of the present embodiment further includes a current detection circuit 30 that detects the current flowing through the motor 54, and the rotation amount detection unit 104 generates a ripple component contained in the current detected by the current detection circuit 30. Based on the number, the amount of rotation is detected, and the lock detector 107 can detect locking in the closing operation of the window 52 based on the current detected by the current detection circuit 30 .

As a result, the opening/closing system 1 of the present embodiment can reduce the cost of the configuration for detecting the amount of rotation.

(Procedure of control method by microcomputer 100 (fifth example))
FIG. 12 is a flow chart showing a fifth example of the control method procedure by the microcomputer 100 according to one embodiment of the present invention.

First, the microcomputer 100 initializes various variables as described below (step S1201).

• Set the error Δ of the open/closed position of the window 52 to zero.

• Set 0 to the number of closing operations Nup of the window 52 .

• Set 0 to the number of opening operations Ndown of the window 52 .

• Set 0 to the number of inversion operations Npinch of the window 52 .

Next, the operation signal acquisition unit 101 determines whether or not an automatic closing operation signal or an automatic opening operation signal has been acquired from the switch 40 (step S1202). If it is determined in step S1202 that "the automatic closing operation signal or the automatic opening operation signal has not been acquired" (step S1202: No), the microcomputer 100 executes the process of step S1202 again.

On the other hand, if it is determined in step S1202 that "the automatic closing operation signal or the automatic opening operation signal has been acquired" (step S1202: Yes), the counting unit 108 determines that the acquired operation signal is the automatic closing operation signal. (step S1203).

If it is determined in step S1203 that the acquired operation signal is the automatic closing operation signal (step S1203: Yes), the counting unit 108 adds 1 to the closing operation count Nup (step S1204). Then, the counting unit 108 determines whether or not the window 52 has been reversed (step S1205).

If it is determined in step S1205 that the window 52 has been reversed (step S1205: Yes), the counting unit 108 adds 1 to the number of times Npinch of reversal (step S1205). Then, the microcomputer 100 advances the process to step S1208.

On the other hand, if it is determined in step S1205 that the window 52 is not reversing (step S1205: No), the microcomputer 100 advances the process to step S1208.

If it is determined in step S1203 that the acquired operation signal is not the automatic closing operation signal (that is, the automatic opening operation signal) (step S1203: No), the counting unit 108 adds 1 to the closing operation count Ndown. Add (step S1207). Then, the microcomputer 100 advances the process to step S1208.

In step S<b>1208 , the lock detection unit 107 determines whether lock has been detected during the closing operation of the window 52 .

If it is determined in step S1208 that "the lock in the closing operation of the window 52 has not been detected" (step S1208: No), the microcomputer 100 terminates the series of processes shown in FIG.

On the other hand, if it is determined in step S1208 that "the lock in the closing operation of the window 52 has been detected" (step S1208: Yes), the position calculation unit 105 calculates the opening/closing position x of the window 52 (step S1209). Then, motor control unit 110 determines whether or not the expression {x<(b−Δ)} is satisfied (step S1210).

In step S1210, if it is determined that the expression {(x<(b-Δ)} is satisfied" (step S1210: Yes), the motor control unit 110 closes the window 52 to the fully closed position (step S1211 ), and the microcomputer 100 ends the series of processes shown in FIG.

On the other hand, if it is determined in step S1210 that "the formula {(x<(b−Δ)} is not satisfied" (step S1210: No), motor control unit 110 satisfies the formula {x>(b+Δ)}. (step S1212).

In step S1212, if it is determined that the expression {(x>(b+Δ)} is satisfied" (step S1212: Yes), the motor control unit 110 reverses the window 52 (step S1213). advances the process to step S1216.

On the other hand, if it is determined in step S1212 that "the expression {(x>(b+Δ)} is not satisfied" (step S1212: No), motor control unit 110 reverses window 52 (step S1214). , motor control unit 110 prohibits the automatic closing operation of window 52 (step S1215), and microcomputer 100 advances the process to step S1216.

In step S<b>1216 , the error calculator 109 updates the open/closed position error Δ of the window 52 based on the number of closing operations Nup, the number of opening operations Ndown, and the number of reversing operations Npinch of the switch 40 . After that, the microcomputer 100 returns the process to step S1202.

For example, in step S1216, the error calculator 109 calculates the error Δ (value after update) of the open/closed position of the window 52 using the following formula (4).

Δ=E _up · N _up ^Fup
+E _down N _down ^{F down}
+E _pinch /N _pinch ^{F pinch} (4)

The error Δ obtained by the above formula (4) is the error in the opening/closing position of the window 52 due to the number Nup of closing operations of the switch 40, the error in the opening/closing position of the window 52 due to the number Ndown of opening operations of the switch 40, and the reversal of the switch 40. This is the sum of the error in the opening/closing position of the window 52 due to the number of operations Npinch.

However, in the above formula (4), each of the parameters Eup, Fup, Edown, Fdown, Epinch, and Fpinch is set to a suitable value individually obtained for each window 52 in advance by actual machine test, simulation, or the like. be.

For example, in one embodiment, if the exponents Fup=1, Fdown=1, Fpinch=1, it is preferable to set the constants Eup=0.23, Edown=2.45, Epinch=3.33. (that is, the error Δ can be calculated with high accuracy).

Further, for example, in another embodiment, when each index Fup=0.5, Fdown=0.5, Fpinch=0.5, each constant Eup=0.31, Edown=3.57, Epinch=4 It was confirmed that 0.48 is suitable (that is, the error Δ can be calculated with high accuracy).

According to this control method, an error is obtained for each type of operation of the window 52 (each of closing operation, opening operation, and reversing operation). of the opening/closing position of the window 52, the error .DELTA. Therefore, according to this control method, the operation (closing operation or reversing operation) of the window 52 when locked can be controlled with higher accuracy.

(Additional function of microcomputer 100)
The microcomputer 100 according to one embodiment of the present invention may have at least one of the following additional functions.

(Backlash countermeasure function)
When the window 52 moves to the fully closed position, the window 52 slightly moves in the reverse direction due to the elastic force generated in the weather strip even though the driving of the motor 54 is stopped. This causes an error in the opening/closing position of the window 52 . Here, this error is called "backlash". Since the microcomputer 100 detects the amount of movement of the window based on the ripple component of the current Im flowing through the motor 54, it cannot detect the backlash that occurs when the motor 54 is stopped.

Therefore, the microcomputer 100 reduces the drive voltage (effective voltage) of the motor 54 by the motor drive circuit 10 by PWM control immediately before the window 52 is positioned at the fully closed position (immediately before the window 52 hits the weather strip). good.

For example, FIG. 13 is a diagram showing an example of a control profile of the driving voltage of the motor 54 by the microcomputer 100 according to one embodiment of the invention. In the example shown in FIG. 13, the driving voltage (effective voltage) of the motor 54 is changed from "16 V" (battery voltage) to "9 V" (the minimum voltage value at which the ripple component can be detected) immediately before the window 52 is positioned at the fully closed position. ).

As a result, the microcomputer 100 can reduce the driving torque τ of the motor 54 when the window 52 hits the weatherstrip, thereby weakening the elastic force generated in the weatherstrip, thereby suppressing the amount of backlash. can.

Further, the microcomputer 100 calculates the amount of backlash generated based on the battery voltage when the window 52 hits the weatherstrip, and corrects the opening/closing position of the window 52 using the calculated amount of backlash generated. may

For example, FIG. 14 is a diagram showing the relationship between the battery voltage and the amount of backlash generated in the switching system 1 according to one embodiment of the present invention. As shown in FIG. 14, the amount of backlash generated can be calculated by a function (A×E[V]+B) of the battery voltage E [V] when the window 52 hits the weatherstrip. However, the parameters A and B are set to suitable values that are obtained individually for each window 52 in advance by actual machine tests, simulations, or the like. For example, FIG. 14 shows an example in which it is preferable to set A=1.9424 and B=-13.508.

(Correction function of opening/closing position of window 52)
The microcomputer 100 may correct the fully-closed position and the fully-opened position of the window 52 at a predetermined correction timing in consideration of various fluctuation factors (for example, aging deterioration, temperature fluctuation, etc.). As the predetermined correction timing, for example, every time the engine is started, every certain period (for example, every month), every time the temperature at the time of engine startup changes by a certain value (for example, 10° C.) or more from the previous time, etc. (However, but not limited to these).

For example, the microcomputer 100 corrects the count number of the fully closed position of the window 52 to "0" when the window 52 stops at the upper end at a predetermined correction timing. However, when calculating the amount of backlash generated as described above, the microcomputer 100 corrects the count value of the fully closed position of the window 52 to "0+the amount of backlash generated" when the window 52 stops at the upper end. .

Further, for example, the microcomputer 100 corrects the count value of the fully open position of the window 52 to the count value at that time when the window 52 stops at the lower end after the window 52 stops at the upper end at a predetermined correction timing. do.

The microcomputer 100 may perform the correction of the fully closed position of the window 52 and the correction of the fully open position of the window 52 at the same timing or at different timings. Further, the microcomputer 100 may set the frequency of correcting the fully closed position of the window 52 and the frequency of correcting the fully open position of the window 52 to be the same or different. For example, the microcomputer 100 may correct the fully closed position of the window 52 every month and correct the fully open position of the window 52 every two months. Further, for example, the microcomputer 100 may correct the fully closed position of the window 52 each time the engine is started, and may correct the fully open position of the window 52 each time the window 52 is positioned at the lower end.

The microcomputer 100 may represent the position of the window 52 by a ripple component count value, or may represent the ripple component count value by converting it using a predetermined conversion formula. However, expressing the position of the window 52 by the count value of the ripple component eliminates the conversion formula, which is preferable in that the control program can be simplified.

Although one embodiment of the present invention has been described in detail above, the present invention is not limited to these embodiments, and various modifications or Change is possible.

For example, in the above embodiment, the rotation amount detection unit 104 detects the rotation amount of the rotation shaft of the motor 54 based on the current signal output from the current detection circuit 30, and the rotation load calculation unit 106 detects the current detection circuit. Although the rotation load of the rotation shaft of the motor 54 is calculated based on the current signal output from 30, the present invention is not limited to this. For example, when the motor 54 is provided with a Hall sensor, the rotation amount detection unit 104 detects the rotation amount of the rotation shaft of the motor 54 based on the pulse signal output from the Hall sensor, and the rotation load calculation unit 106 However, the rotation load of the rotation shaft of the motor 54 may be calculated based on the rotation speed, battery voltage, and motor-specific constants.

Further, for example, in the above-described embodiment, the position calculation unit 105 sets the opening/closing position of the window 52 to a certain value according to the amount of inertial movement when the motor 54 is stopped, every time the motor control unit 110 drives the motor 54 . You may make it correct|amend by a correction value. Accordingly, the position calculation unit 105 can calculate the opening/closing position of the window 52 with higher accuracy.

REFERENCE SIGNS LIST 1 opening/closing system 2 door 2A window frame 10 motor drive circuit 20 voltage detection circuit 30 current detection circuit (current detection means)
40 switch 50 power window device 52 window (opening/closing member)
54 motor 100 microcomputer (control device, computer)
101 operation signal acquisition unit 102 voltage value acquisition unit 103 current value acquisition unit 104 rotation amount detection unit 105 position calculation unit 106 rotation load calculation unit 107 lock detection unit 108 counting unit 109 error calculation unit 110 motor control unit

Claims (19)

An opening/closing system for controlling the opening/closing operation of an opening/closing member,
a switch;
a motor that opens and closes the opening and closing member;
a control device that controls the motor in response to an operation signal output from the switch,
The control device is
a counting unit that counts the number of operations of the switch;
a rotation amount detection unit that detects the amount of rotation of the rotation shaft of the motor;
a lock detection unit that detects locking in the closing operation of the opening/closing member;
a position calculation unit that calculates an opening/closing position of the opening/closing member based on the amount of rotation;
an error calculation unit that calculates an error Δ of the opening/closing position according to the number of operations;
When the lock is detected, if the expression {x<(b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, the opening/closing member and a motor control unit that reverses the
The motor control unit
When the lock is detected and both the expression {x≧(b−Δ)} and the expression {x≦(b+Δ)} are satisfied, the opening/closing member is reversely operated, and the subsequent opening/closing member is automatically operated. Prohibit closing action
An opening and closing system characterized by:
However, x represents the opening/closing position of the opening/closing member corresponding to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-reversal area. An opening/closing system for controlling the opening/closing operation of an opening/closing member,
a switch;
a motor that opens and closes the opening and closing member;
a control device that controls the motor in response to an operation signal output from the switch;
with
The control device is
a counting unit that counts the number of operations of the switch;
a rotation amount detection unit that detects the amount of rotation of the rotation shaft of the motor;
a lock detection unit that detects locking in the closing operation of the opening/closing member;
a position calculation unit that calculates an opening/closing position of the opening/closing member based on the amount of rotation;
an error calculation unit that calculates an error Δ of the opening/closing position according to the number of operations;
When the lock is detected, if the expression {x<(b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, the opening/closing member and a motor control unit that reverses the
with
The motor control unit
If the lock is detected, both the equations {x≧(b−Δ)} and {x≦(b+Δ)} are satisfied, and x is the same as when the lock was previously detected. , an opening/closing system characterized by closing the opening/closing member to a fully closed position.
However, x represents the opening/closing position of the opening/closing member corresponding to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-reversal area. The error calculator,
The opening/closing system according to claim 1 or 2 , wherein the error ? is calculated by multiplying the exponentiation of the number of operations by a predetermined constant. An opening/closing system for controlling the opening/closing operation of an opening/closing member,
a switch;
a motor that opens and closes the opening and closing member;
a control device that controls the motor in response to an operation signal output from the switch;
with
The control device is
a counting unit that counts the number of operations of the switch;
a rotation amount detection unit that detects the amount of rotation of the rotation shaft of the motor;
a lock detection unit that detects locking in the closing operation of the opening/closing member;
a position calculation unit that calculates an opening/closing position of the opening/closing member based on the amount of rotation;
an error calculation unit that calculates an error Δ of the opening/closing position according to the number of operations;
When the lock is detected, if the expression {x<(b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, the opening/closing member and the motor control unit that reverses the
with
The error calculator,
The error Δ is calculated by multiplying the exponentiation of the number of operations by a predetermined constant.
An opening and closing system characterized by:
However, x represents the opening/closing position of the opening/closing member corresponding to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-reversal area. The error calculator,
The opening/closing system according to claim 3 or 4, wherein the error ? is calculated by multiplying the 1/2 power of the number of operations by a predetermined constant. The error calculator,
The opening/closing system according to claim 1 or 2 , wherein the error ? is calculated by multiplying the number of operations by a predetermined constant. When the opening/closing member reaches the fully closed position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 6, wherein the position calculator resets the opening/closing position. When the opening/closing member reaches the fully open position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 7, wherein the position calculator resets the opening/closing position. When the number of operations reaches a predetermined number,
The motor control unit opens the opening/closing member to a fully open position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 7, wherein the position calculator resets the opening/closing position. If the formula {Δ>b} is satisfied,
The motor control unit opens the opening/closing member to a fully open position,
The counting unit resets the number of operations,
The opening/closing system according to any one of claims 1 to 8, wherein the position calculator resets the opening/closing position. When the expression {Δ>b} is satisfied while the opening/closing member is automatically closing,
10. After opening the opening/closing member to the fully open position and resetting the number of times of operation and the opening/closing position, the motor control unit closes the opening/closing member to the fully closed position. The opening and closing system described in . When the expression {Δ>b} is satisfied while the opening/closing member is performing an opening/closing operation other than an automatic opening/closing operation,
The motor control unit opens the opening/closing member to a fully open position, resets the number of times of operation and the opening/closing position, and then returns the opening/closing member to a position at the start of the opening/closing operation. Opening and closing system according to claim 10 or 11. further comprising current detection means for detecting a current flowing through the motor;
The rotation amount detection unit is
detecting the amount of rotation based on the number of occurrences of ripple components contained in the current detected by the current detection means;
The lock detection unit
13. The opening/closing system according to any one of claims 1 to 12, wherein locking in the closing operation of the opening/closing member is detected based on the current detected by the current detection means. The position calculation unit
2. Each time the motor control unit drives the motor, the opening/closing position of the opening/closing member is corrected by a predetermined correction value according to the amount of inertia movement when the motor stops driving. 14. The opening and closing system according to any one of Claims 13. An opening/closing system for controlling the opening/closing operation of an opening/closing member,
a switch;
a motor that opens and closes the opening and closing member;
a control device that controls the motor in response to an operation signal output from the switch,
The control device is
a counting unit that counts the number of operations of each operation type of the opening and closing member;
a rotation amount detection unit that detects the amount of rotation of the rotation shaft of the motor;
a lock detection unit that detects locking in the closing operation of the opening/closing member;
a position calculation unit that calculates an opening/closing position of the opening/closing member based on the amount of rotation;
an error calculation unit that calculates an error Δ of the opening/closing position according to the number of operations for each operation type of the opening/closing member;
When the lock is detected, if the expression {x<(b−Δ)} is satisfied, the opening/closing member is closed to the fully closed position, and if the expression {x>(b+Δ)} is satisfied, the opening/closing member and a motor control section for reversing the opening and closing system.
However, x represents the opening/closing position of the opening/closing member corresponding to the distance from the fully closed position to the upper end of the opening/closing member, and b represents the distance from the fully closed position to the lower end of the non-reversal area. 16. The opening and closing system of claim 15, wherein the action types include opening action, closing action, and reversing action. The error calculator,
By multiplying the exponentiation of the number of operations for each type of operation by a predetermined constant,
17. The switching system according to claim 15 or 16, wherein the error Δ is calculated. The error calculator,
18. The switching system according to claim 17, wherein the error Δ is calculated by multiplying the 1/2 power of the number of operations for each type of operation by a predetermined constant. The error calculator,
The opening/closing system according to claim 15 or 16, wherein the error ? is calculated by multiplying the number of operations by a predetermined constant for each type of operation.

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