JPH09224388A - Motor driving and controlling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To compare a motor load with a threshold accurately even if inertial force occurs in a body to be elevated. SOLUTION: An acceleration that is generated, for example, in a door glass and in the elevation direction of the door glass that crosses the advance direction of a vehicle is taken in 76, a judgment value X to which a motor load generated with the generation of the acceleration is added is calculated 78. Then, when an amount of change ΔS of the period of the pulse signal is equal to or more than the judgment value X (80; Y), the door glass is lowered 82. When the amount of descent exceeds D (84; Y), the descent of the door glass is stopped 86.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive control device, and more particularly to a motor drive control device, which is provided on a moving body and compares the motor load with a threshold value to stop the drive of the motor or to reverse the drive by a certain amount. Motor drive control device.

[0002]

2. Description of the Related Art Conventionally, a motor drive control device has been applied to, for example, a power window control device provided on a door of a vehicle. When the motor drive control device is applied to the power window control device as described above, the motor is used to raise and lower the door glass along the guide. In addition, this power window control device is provided with a pulse encoder that generates a pulse signal in synchronization with the rotation of the motor in order to detect the entrapment of foreign matter between the door glass and the window frame.

Then, by determining the amount of change in the period of the pulse signal generated from the pulse encoder and determining whether the obtained amount of change is greater than a threshold value, it is possible to detect foreign matter between the door glass and the window frame. It is determined whether or not entrapment has occurred. Further, when it is determined that the foreign matter is caught, the drive of the motor is reversed by a predetermined amount (the door glass is lowered) and then stopped. The rotation speed of the motor is calculated from the pulse signal generated from the pulse encoder, or
Instead of the pulse signal, the amount of change in the motor current may be obtained, and it may be determined whether or not the entrapment of foreign matter has occurred, as in the above case.

[0004]

By the way, when a vehicle travels on a bad road, the vehicle moves up and down due to the unevenness of the road surface.
As a result, an inertial force acts on the door glass in a direction opposite to the vertical movement direction of the vehicle. When the motor is driven in this state to raise the door glass, the torque (motor load) for raising the door glass of the motor changes according to the unevenness of the road surface, the period of the pulse signal, the rotation speed of the motor. ,
Similarly, the motor current also changes according to the unevenness of the road surface.

Therefore, when it is determined whether the foreign matter is caught as described above, the cycle of the pulse signal changes according to the unevenness of the road surface. Therefore, the change of the cycle of the pulse signal is caused by the foreign matter being caught. There is a case where it is erroneously determined as a thing. That is, it is not possible to accurately compare the amount of change in the period of the pulse signal with the threshold value.

The motor load changes not only when the vehicle runs on a bad road but also when the door is opened or closed. That is, when the door is opened / closed, an inertial force acts on the door glass in a direction opposite to the door opening / closing direction. Due to this inertial force, a frictional force is generated between the door glass and the guide, and when the motor is driven to raise the door glass in this state, the frictional force changes the motor load. Therefore, similarly to the above, the cycle of the pulse signal or the like changes due to the change in the motor load due to the frictional force generated between the door glass and the guide, and this may be erroneously determined to be due to the entrapment of foreign matter. That is, it is not possible to accurately compare the amount of change in the period of the pulse signal with the threshold value.

The present invention has been made in view of the above facts, and provides a motor drive control device capable of accurately comparing a motor load and a threshold value even when an inertial force is generated in a lifted body. The purpose is to

[0008]

In order to achieve the above object, the invention according to claim 1 drives a motor by comparing a motor load, which is provided in a moving body and moves up and down an object to be lifted, with a threshold value. In a motor drive control device that stops or reverses by a certain amount and stops, a detection unit that detects an acceleration that occurs in the lifted body and that intersects with a moving direction of the moving body, and an acceleration that is detected by the detection unit. On the basis of,
And a correction unit that corrects at least one of the motor load and the threshold value with a motor load generated with the generation of the acceleration.

According to a second aspect of the present invention, in the first aspect of the invention, the direction intersecting the moving direction of the moving body is:
It is characterized in that it is in a vertical direction of the lifted body.

According to a third aspect of the present invention, in the first aspect of the invention, the lifted body is attached to a door of the moving body, and a direction intersecting with a moving direction of the moving body is the door. It is characterized by the opening and closing direction.

Here, the moving body provided with the motor drive control device according to the first aspect of the present invention is, for example, a vehicle or a ship. Then, the motor drive control device compares the motor load when moving up and down the object to be lifted with a threshold value, and stops or stops the drive of the motor by reversing a certain amount. The lifted body is, for example, a vehicle door glass.

The detecting means detects the acceleration generated in the lifted body and in the direction intersecting the moving direction of the moving body.

Here, the direction intersecting with the moving direction of the moving body may be the ascending / descending direction of the lifted body as in the second aspect of the invention. When the lifted body is attached to the door of the moving body, the direction intersecting with the moving direction of the moving body may be the opening / closing direction of the door, as in the third aspect of the invention.

In this way, when the direction intersecting the moving direction of the moving body is set as the raising / lowering direction of the lifted / lowered body, for example, the moving body acts on the lifted / lowered body by moving in the up / down direction of the lifted / lowered body A first acceleration that determines the inertial force is detected.

On the other hand, when the direction intersecting the moving direction of the moving body is set as the opening / closing direction of the door, for example, the second acceleration which determines the inertial force acting on the lifted / lowered body by opening / closing the door is detected. To be done.

Then, the correcting means corrects at least one of the motor load and the threshold value with the motor load generated due to the generation of the acceleration, based on the acceleration detected by the detecting means.

Here, the direction intersecting the moving direction of the moving body is defined as the ascending / descending direction of the lifted / lowered body, and when the above-mentioned first acceleration is detected, the first acceleration and the mass of the lifted / lowered body. Based on the inertial force determined by, the motor load generated with the generation of the acceleration is determined, and at least one of the motor load and the threshold value is corrected by the determined motor load.

On the other hand, a direction intersecting with the moving direction of the moving body is defined as the door opening / closing direction, and when the above-mentioned second acceleration is detected, the second acceleration, the mass of the lifted body, and the lifted / lowered body. Based on the frictional force determined by the coefficient of friction of the body, the motor load caused by the generation of the acceleration is determined, and at least one of the motor load and the threshold value is corrected by the determined motor load.

As described above, based on the acceleration generated in the lifted body and in the direction intersecting the moving direction of the moving body, at least one of the motor load and the threshold value is set by the motor load generated with the generation of the acceleration. Since the correction is performed, one of the motor load and the threshold value can be set to a value with which the motor load and the threshold value can be compared with each other with high accuracy. Even then, the motor load and the threshold value can be accurately compared.

Here, in the motor drive control device, the motor load is changed in time determined by at least one of rising and falling of a pulse signal generated in synchronization with the rotation of the motor, a change in rotation speed of the motor, Alternatively, the estimation may be performed based on any one of the change amount of the current supplied to the motor. The time determined by at least one of the rising edge and the falling edge of the pulse signal generated in synchronization with the rotation of the motor is any time between the rising edge and the falling edge of the pulse signal, the rising edge, and the falling edge.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The motor drive control device of this embodiment includes a motor 22 as shown in FIG. The window regulator unit 16 is connected to the motor 22. The window regulator portion 16 is of a so-called wire type in the present embodiment, and the wire is wound around the rotary plate 22A attached to the drive shaft of the motor 22. The end of this wire is connected to a holding channel 24 that supports the lower end of the door glass 20, and the holding channel 24 is attached to a main guide 26 so as to be vertically movable. As a result, when the motor 22 rotates in the forward and reverse directions, this rotational driving force is transmitted via the wire, and the door glass 20 moves up and down along the glass guide 18. The configuration of the window regulator unit 16 is not limited to such a wire type, but may be an X arm type or a so-called motor self-propelled type in which the motor itself moves along the rack.

When the door glass 20 is lifted by the motor 22, the peripheral edge portion of the door glass 20 is a rubber weather strip (not shown) in the frame 12A of the door 12.
And the opening of the door frame 12A is closed. Further, when the door glass 20 is moved downward by the rotational driving of the motor 22, the opening of the frame 12A of the door 12 is opened.

On the other hand, the motor 22 is operated by the auto / manual switch 34. As the auto / manual switch 34, for example, one that can be operated in two steps in both directions is applicable, and when operating in one step, the motor 22 of the door 12 is driven only during operation (manual operation), and two steps can be operated. Thus, even if the switch is released, the motor 22 is driven until the door glass 20 reaches a predetermined position (automatic operation). In addition, the motor 22 includes a rotating plate 22.
The door glass 20 can be raised or lowered by rotating A in either the forward or reverse direction.

As shown in FIG. 2, the motor drive controller 1
0 has a power window control unit 50 for controlling the drive of the motor 22 by operating the auto / manual switch 34. The power window control unit 50 is composed of a one-chip microcomputer, and the microcomputer is a CPU or RO (not shown).
M, RAM, input / output port, analog digital (A /
D) A converter and an E ² PROM are included, and these are connected to each other by a bus. In addition, E ² PR
A moving average value described later is stored in the OM.

The motor drive controller 10 includes a battery 60.
It is connected to the positive terminal of. The negative terminal of the battery 60 is grounded.

The power window controller 50 automatically
Signal line 52 from each switch of manual switch 34
Is connected.

The power window control unit 50 includes first and second relay coils 110 and 11 for opening and closing the door glass.
Each of the two ends of the relay coils 110 and 112 are connected to each other, and the power window control unit 50 operates in accordance with the operation of the auto / manual switch 34.
To excite.

A first relay switch 108 is arranged at a position corresponding to the first relay coil 110. The common terminal 108A of the first relay switch 108 is connected to one end of the motor 22. The first contact 108B is connected to the positive terminal of the battery 60, and the second contact 108C is grounded. Note that when the first relay coil 110 is not excited, the first relay switch 108 is switched to the second contact 108C.

On the other hand, a second relay switch 109 is arranged at a position corresponding to the second relay coil 112. Common terminal 109A of second relay switch 109
Is connected to the other end of the motor 22. The first contact 109B is connected to the positive terminal of the battery 60, and the second contact 109C is grounded. The second
When the relay coil 112 is not excited, the second relay switch 109 is switched to the second contact 109C.

Here, when the first relay coil 110 is excited, the first relay switch 108 causes the first contact 10
8B, a current flows from one end of the motor 22 to the other end, the motor 22 rotates in the normal direction, and the door glass moves in the closing direction. When the second relay coil 112 is excited, the second relay switch 109 is switched to the first contact 109B, a current flows from the other end of the motor 22 to one end, the motor 22 reverses, and the door glass opens. Move to.

A pulse encoder 62 is attached to the motor 22, and its signal line 64 is connected to the power window controller 50. Therefore, the power window control unit 50 can obtain the rotation speed of the motor 22 based on the pulse signal supplied from the pulse encoder 62. Further, by counting the signal from the pulse encoder 62, the position of the door glass 20 to some extent can be confirmed.

Further, the power window controller 50 includes
The door glass 20 is arranged in a highly rigid place in the door.
And the holding channel 24 (hereinafter referred to as the door glass 20, etc.
Occurs in the vertical direction of the door glass 20 (the downward direction
Positive) first acceleration G ₁Acceleration sensor to detect
30 is connected.

Next, the operation of the present embodiment will be described with reference to the flow chart (see FIG. 3) showing the foreign substance trapping detection processing routine. It should be noted that this routine is executed by interrupting the main routine every predetermined time when the auto / manual switch 34 is turned on. Here, the main routine starts when the auto / manual switch 34 is turned on, and excites either the first relay coil 110 or the second relay coil 112 according to the operation of the auto / manual switch 34. As a result, the door glass 20 is raised (closed) or lowered (opened), and when the rise lock is stopped or the fall lock is stopped, the excitation of the first relay coil 110 or the second relay coil 112 is stopped.

In step 70 of the foreign matter trapping detection routine, it is determined whether or not there is an instruction to raise the door glass 20 by the auto / manual switch 34. If an affirmative determination is made, in step 72, the rising edge of the pulse signal is continued. Then, the time between the rising edges of the pulse signal (the period of the pulse signal) S _n is obtained, and in step 74, the pulse signal for raising the normal door glass 20 etc. in which no foreign matter is caught is raised. The amount of change ΔS (= S _n −S) in the period S _n of the pulse signal obtained in step 72 with respect to the moving average value S _{0 of the} period (details will be described later).
₀ ) is calculated.

In step 76, the first acceleration G ₁ generated in the door glass 20 and the like is taken in from the acceleration sensor 30.

In step 78, the judgment value (threshold value) X is calculated according to the equation (1).

[0037]

[Formula 1] X = K · (T + 1 · m · G ₁ ) · S ₀ · S _n + αS ₀ + β (1) Here, the formula (1) will be described.

In the present embodiment, when a load (torque) of T (for example, 10) [N] is further applied to the motor 22 while the normal door glass having no foreign matter trapped therein is raised, it is determined that foreign matter is trapped. Further, the rotation speed of the motor 22 at this time is n _T , and the cycle of the pulse signal is S _T. Note that T
When the load [N] is applied to the motor 22, the motor voltage V does not change and the motor current changes. That is, it is assumed that the motor current changes from I ₀ to I _T. In this case, the variation amount Δn (= n ₀ −n _T ) of the rotation speed of the motor 22 is
It is obtained from the equation (2).

[0039]

[Equation 2] However, K _G is a constant determined from the structure of the motor 22,
It is represented by p · z / a. Note that a is the number of parallel armature circuits / 2, p is the number of magnetic poles of the armature circuit / 2, and Z is the total number of conductors. Φ is the magnetic flux (Wb) per magnetic pole
It is.

By the way, the motor current I and the torque T have a relation of the equation (3).

[0041]

(Equation 3) However, K _M is a constant (p · z
/ (2π · a)). From equation (3) to equation (2),
It can be transformed into equation (4).

[0042]

(Equation 4) On the other hand, if the pulse signal is output p times while the motor 22 rotates once, the equation (2) can be transformed into the equation (5).

[0043]

(Equation 5) As understood from the expressions (2), (4), and (5), when the load (torque) of T [N] is applied to the motor 22 when the door glass is normally raised, the cycle of the pulse signal is increased. The change amount ΔS _T (= S _T −S ₀ ) of is obtained from the equation (6).

[0044]

(Equation 6) If p · R _a / (K _G · K _M · φ ² ) is K, (6)
The equation can be transformed into equation (7).

[0045]

[Expression 7] ΔS _T = K · T · S _X · S ₀ (7) Therefore, if the amount of change ΔS is equal to or more than the amount of change ΔS _T, it can be determined that a foreign substance is caught. That is, the change amount ΔS
It is also possible to use _T as the judgment value.

However, when the vehicle runs on a bad road, the vehicle moves up and down due to the unevenness of the road surface. This allows
An inertial force F obtained from the equation (8) on the door glass 20 and the like in the direction opposite to the vertical movement direction of the vehicle (the up and down direction of the door glass 20).
₁ works.

[0047]

[Formula 8] F ₁ = m · G ₁ (8) where m is the total mass of the door glass 20 and the like.

Since the inertial force F ₁ is applied in this way, a torque of ₁ · m · G ₁ is applied to the motor 22. Note that l is the distance from the shaft center of the motor 22 to the point where the inertial force F ₁ is applied. In this way, the motor 22
・ When the torque of m · G ₁ is further applied, the cycle of the pulse signal changes accordingly. Therefore, in order to accurately determine the entrapment of a foreign substance, the torque component of ₁ · m · G ₁ is canceled out, and therefore the torque (1 · m · G ₁ ) is added to the torque T.
Need to be added.

Furthermore, when it is determined that a foreign matter is caught,
Even if the object to be excited is switched from the first relay coil 110 to the second relay coil 112, the door glass 20 immediately
Does not descend, but descends after the door glass 20 has risen by a certain amount (overrun). Therefore, it is necessary to add a value for correcting the overrun of the door glass to the change amount ΔS _T.

Therefore, in this embodiment, the change amount Δ is calculated by using αS ₀ + β as a value for correcting the overrun of the door glass.
In addition to S _T , this is used as the judgment value X (equation (1)).

In the next step 80, it is judged whether or not the foreign matter is caught, by judging whether or not the change amount ΔS is equal to or larger than the judgment value X, and if it is judged that the foreign matter is caught. In step 82, the door glass is lowered, and in step 84, the door glass lowering amount is D
(Note that 50 [mm] ≤ D ≤ 200 [mm], for example,
D = 50 [mm]) or more, and when the descending amount of the door glass is D or more, the descending of the door glass is stopped,
This routine ends.

If it is not judged that the descending amount of the door glass is D or more, it is judged in step 88 whether or not the door glass is stopped in the descending lock, and if it is judged that the descending lock is stopped. Proceeds to step 86 to stop the descent of the door glass, and when it is determined that the descent lock is not stopped, returns to step 82 and continues the descent of the door glass.

On the other hand, when it is determined that the change amount ΔS is not equal to or greater than the determination value X, it is determined in step 90 whether the cycle S _n of the current pulse signal is smaller than the absolute value S _Z.

Here, the absolute value S _Z will be described. As described above, since the moving average value S ₀ of the period of the pulse signal is used to obtain the change amount ΔS, for example, when a soft object such as the upper arm is sandwiched, the period of the pulse signal gradually increases. Therefore, the moving average value of the period of the pulse signal gradually increases, which reduces the change amount ΔS, and it is erroneously determined that the foreign object is not caught but the foreign object is not caught. There is a case. Therefore, the cycle of the pulse signal that can be determined as the presence of the foreign matter trapped is used as the absolute value S _Z.

If the cycle S _{n of the} pulse signal is greater than or _equal to the absolute value S _Z , it can be determined that the foreign matter is caught, and in this case, the process proceeds to step 82. On the other hand, when the cycle S _{n of the} pulse signal has a small absolute value S _Z , it can be determined that the foreign matter is not caught, and this routine is ended.

Next, the moving average value S ₀ will be described. The moving average value S ₀ is obtained by an interrupt processing routine (see FIG. 4) that is separate from the entrapment detection processing routine when it is determined that foreign matter entrapment has not occurred.

In step 92 of FIG. 4, the averaging process of the cycle of the pulse signal is executed. That is, in this step, for example, a moving average value of 16 (not limited to 16) pulse signals is obtained.

Incidentally, the rotation speed of the motor 22 decreases at the time of full closing, but at this time, since it can be recognized by the pulse signal from the pulse encoder 62 that it is in the vicinity of the fully closed position, for example, apart from the pinch detection processing, for example, Perform additional tightening processing.

As described above, according to the present embodiment, even if the vehicle runs on a bad road and an inertial force is generated on the door glass or the like, the vehicle travels on the bad road based on the acceleration in the up-and-down direction generated on the door glass or the like. Generated motor load (K ・ l ・ m ・
G ₁ · S ₀ · S _n ) is calculated, and the calculated motor load is added to the threshold value to cancel the motor load. Therefore, the cycle of the pulse signal and the threshold value can be accurately compared. Therefore, it is possible to accurately determine whether or not foreign matter is caught.

Further, in the above-described embodiment, the amount of change ΔS _T described above is offset by K · l · m · G ₁
Since S ₀ and S _n are added, when the vehicle travels on a road surface with a small unevenness, the first acceleration G ₁ becomes approximately 0,
The initial state can be restored.

When the vehicle is suddenly lowered and an inertial force acts on the door glass or the like in the ascending direction of the door glass 20, the ascending speed of the door glass is increased. When a foreign substance is caught in this state, the load applied to the foreign substance increases. However, in the above-described embodiment, since the first acceleration G ₁ is positive in the descending direction of the door glass 20, the motor load (K · l · m) when the inertial force acts in the ascending direction of the door glass 20.・ G ₁ · S ₀ · S _n ) becomes a negative value, and even if foreign matter is not caught, the motor drive is reversed assuming that foreign matter is caught, so before the foreign matter gets caught. The drive of the motor can be reversed. Therefore, it is possible to prevent the foreign matter from being entrapped, which will generate a large load when it occurs.

In the above-described embodiment, the motor load generated due to traveling on a rough road is obtained based on the acceleration in the ascending / descending direction generated on the door glass, etc., and the obtained motor load is added to the determination value to add the motor load. However, the present invention is not limited to this, and the obtained motor load may be subtracted from the change amount of the pulse signal. Also, the determination value may be corrected.

In the above-described embodiment, the case where the vehicle runs on a bad road and an inertial force acts on the door glass or the like in the ascending / descending direction of the door glass 20 according to the unevenness of the road surface has been described. The invention is not limited to this,
It can also be applied to the case where an inertial force acts on the door glass 20 or the like in the direction opposite to the opening / closing direction of the door by opening / closing the door.

That is, an acceleration sensor for detecting the _second acceleration G ₂ in the opening / closing direction of the door is provided instead of the acceleration sensor 30 of FIG.

In this case, the inertial force F ₂ obtained from the equation (9) acts on the door glass 20 in the direction opposite to the opening / closing direction of the door.

[0066]

[Equation 9] F ₂ = m · G ₂ (9) When the inertial force F ₂ acts on the door glass 20 and the like in this way, it is obtained from the equation (10) between the door glass 20 and the glass guide 18. The generated frictional force F ₃ is generated.

[0067]

[Equation 10] F ₃ = μ · F ₂ (10) When the motor 22 is driven to raise the door glass 20 in this state, the motor load changes due to the frictional force F ₃ . Therefore, the motor load due to frictional force F _3, the change amount Δ
Add to S _T. That is, instead of the judgment value of the expression (1), (1
The judgment value X of the equation 1) is used.

[0068]

[Expression 11] X = K · (T + l · μ · F ₂ ) · S ₀ · S _n + αS ₀ + β (11) Further, the acceleration sensor for detecting the _first acceleration G ₁ and the second
An acceleration sensor for detecting the acceleration G ₂ of the door glass is provided, and when the vehicle runs on a bad road and an inertial force acts on the door glass in the up-and-down direction of the door glass according to the unevenness of the road surface, or when the door is opened or closed It may be possible to deal with both cases where the inertial force acts in the opposite direction to the opening / closing direction. In this case, the judgment value is obtained from the equation (12).

[0069]

(Equation 12) Further, in the above-described embodiment, the cycle of the pulse signal is obtained based on the rising edge of the pulse signal, but the present invention is not limited to this, and may be obtained based on the falling edge of the pulse signal. You may

Further, in the above-described embodiment, one cycle of the pulse signal is obtained, but the present invention is not limited to this, and a half cycle of the pulse signal may be obtained. That is, the time between the rising edge and the falling edge of the pulse signal may be obtained.

Further, in the above-described embodiment, the amount of change in the cycle of the pulse signal is obtained, but the present invention is not limited to this, and the rotation speed of the motor may be obtained. . Further, the amount of change in the motor current may be obtained instead of the cycle of the pulse signal.

The motor drive control device for obtaining the amount of change in the motor current instead of the period of the pulse signal will be described below with reference to FIG. The same parts as those in the above-described embodiment are designated by the same reference numerals and the description thereof will be omitted. As shown in FIG. 5, a means for detecting a motor current is provided in place of the pulse encoder of the above-described embodiment. That is, each of the second contacts 108C and 109C of the relay switches 108 and 109 has a small resistance value (about 10 m).
Ω) through a shunt resistor 120.

A signal line 122 is branched from the high potential side of the shunt resistor 120. The signal line 122 is connected to the non-inverting input terminal 130A of the operational amplifier 132 via the resistors 124 and 128. The other end of the electrolytic capacitor 126 whose one end is grounded is connected between the resistor 124 and the resistor 128 to form a filter.
The inverting input terminal 130B of the operational amplifier 132 has a resistor 134
Grounded through. Further, the output terminal 130C of the operational amplifier 130 is connected to the inverting input terminal 130B via the feedback resistor 136 to form an amplifier circuit.

Further, the output terminal 130 of the op amp 132
C is connected to the A / D converter of the power window control unit 50, and the power window control unit 50 can detect the motor current value.

In this case, the foreign matter trapping detection process is performed in the same manner as in the above-described embodiment, but the amount of change in the motor current is detected instead of the amount of change in the cycle of the pulse signal. in this case,
Since the torque and the motor current are in a proportional relationship, if this proportional constant is C, then equation (1) becomes (13)
Equation (1) can be transformed into equation (14), and equation (12) can be transformed into equation (15).

[0076]

X = C · (T + 1 / m · G ₁ ) · S ₀ · S _n + αS ₀ + β ... (13)

[0077]

[Expression 14] X = C · (T + 1 · μ · F ₂ ) · S ₀ · S _n + αS ₀ + β (14)

[0078]

(Equation 15) Although the above-described embodiments and modifications have been described by taking the power window control device provided on the door of the vehicle as an example, the present invention is not limited to this, and the window glass provided on a ship or the like is used. It can also be applied when raising and lowering by the driving force of a motor. In this case, instead of the above-described first acceleration G ₁ , the acceleration that determines the inertial force applied to the door glass 20 and the like is detected by the ship moving up and down due to waves.

[0079]

As described above, according to the present invention, the motor load and the threshold value can be compared with each other with high accuracy even if an inertial force is generated in the lifted body. This has the effect of being able to stop and prevent erroneous stoppage of the drive of the motor.

[Brief description of drawings]

FIG. 1 is a perspective view showing an internal structure of a driver side door.

FIG. 2 is a circuit diagram of a motor drive control device according to the present embodiment.

FIG. 3 is a flowchart showing an entrapment detection control routine.

FIG. 4 is a flowchart showing a routine for calculating a pulse signal cycle and a motor voltage average value.

FIG. 5 is a circuit diagram of a modified example of the motor drive control device.

[Explanation of symbols]

 10 motor drive control device 22 motor 30 acceleration sensor 50 power window control unit 62 pulse encoder

Claims (3)

[Claims] 1. A motor drive control device that is provided on a moving body and compares a motor load when moving up and down an object to be lifted with a threshold value to stop the driving of the motor or reverse it by a certain amount to stop. A detection unit that detects an acceleration that occurs in the lifting body and that intersects with the moving direction of the moving body, and a motor load that is generated by the acceleration based on the acceleration detected by the detection unit. A motor drive control device comprising: a correction unit that corrects at least one of a load and the threshold value. 2. The motor drive control device according to claim 1, wherein a direction intersecting with a moving direction of the moving body is a lifting direction of the lifted body. 3. The lifted body is attached to a door of the moving body, and a direction intersecting a moving direction of the moving body is an opening / closing direction of the door.
The motor drive control device described.