JPH1178514A - Pinching detector for power window device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the resolution for edge-to-edge interval data without complicating the structure of a pulse generator. SOLUTION: Equipped with a window sliding (opening/closing) motor 4, a drive section 3 for the motor 4, a pulse generator 5 to generate 2-phase pulses, an MCU 2 and manual control switches 1, the MCU 2, when a window is opened or closed, detects a parameter value which represents the load applied to the window, compares the parameter value with the median of preset criteria, and judges that something is being pinched when the parameter value deviates from the median of the preset criteria by a remarkable amount and this is a detection device to detect the pinching of a power window device. Further, the 2-phase pulses are formed of a 1st and a 2nd square wave pulses to be offset each other in their period by 1/4 of a period, and the time interval between the pulse edge of the 1st or the 2nd square wave pulse and that of the 2nd or 1st square wave pulse following is obtained as edge-to-edge interval data and based on these edge-to-edge interval data, the parameter value is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting pinching of a power window device, and more particularly to a power window device capable of accurately detecting that an object has been pinched during opening and closing of a window. The present invention relates to a pinch detection method.

[0002]

2. Description of the Related Art Conventionally, when detecting entrapment in a power window device, a pulse generator is connected to a motor that moves (opens and closes) the window, and a one-phase square wave pulse or There is known a method of generating a two-phase square wave pulse and detecting the pinching of the window using the one-phase square wave pulse or the two-phase square wave pulse.

[0003] In this case, a known method of detecting entrapment of a power window device using a one-phase square wave pulse (hereinafter, this method is referred to as a known one-phase pulse detection method) is as follows.
A time interval between the rising (or falling) and the falling (or rising) of the one-phase square wave pulse is detected as edge interval data, and the edge interval data is used for detecting the pinching of a window. Among the known methods of detecting pinching of a power window device, those using a two-phase square wave pulse (hereinafter, this method is referred to as a known two-phase pulse detection method) include the rising (or falling) of one square wave pulse. It detects the time interval between the rising edge and the falling edge (or rising edge) as edge interval data, uses the edge interval data to detect the pinching of the window, and uses the other square wave pulse to detect the rotation direction of the motor. is there.

A pulse generator used in a known one-phase pulse detection method is mounted on a rotating shaft of a motor, and has a N-pole and an S-pole magnetized at opposing edges, and a rotating body. And a single Hall element fixedly disposed near the edge of the rotating body. When the rotating body rotates together with the motor shaft, the Hall element turns the N-pole magnetized portion and the S-pole magnetized portion of the rotating body. A part is sensed, and a one-phase square wave pulse having one rise and one fall is generated from the Hall element every rotation of the motor. The time interval between the rising (or falling) and the falling (or rising) of the one-phase square wave pulse is used as edge interval data. As a result, the resolution of the edge interval data is 1/2 rotation of the motor. It will be considerable.

A pulse generator used in a known two-phase pulse detection method is mounted on a rotating shaft of a motor, and has two rotating bodies having N and S poles magnetized at opposing edge portions. It consists of two Hall elements fixedly arranged in the vicinity of the edge portion of one rotating body, and when the two rotating bodies rotate together with the motor shaft, the two Hall elements rotate correspondingly. It senses the N-pole and S-pole magnetized parts of the body and two two-phase square-wave pulses (one as a whole) with two rising elements and one falling part for each rotation of the motor from two Hall elements. A two-phase square wave pulse). And this two-phase square wave pulse
For only one phase square wave pulse, the time interval between the rise (or fall) and the fall (or rise) is used as edge interval data, and as a result, a pulse generator used in the one-phase pulse detection method Similarly to the above, the resolution of the edge interval data is equivalent to 1/2 rotation of the motor.

[0006]

In each of the known one-phase pulse detection method and the known two-phase pulse detection method, the resolution of the edge interval data is equivalent to 1/2 rotation of the motor, and There is a problem that the resolution cannot be further improved.

However, the configuration of the pulse generator used in the known one-phase pulse detection method and the known two-phase pulse detection method is changed to increase the number of Hall elements fixedly arranged near the rotating body, or to increase the N of the rotating body. By increasing the number of pole magnetized portions and S pole magnetized portions, it is theoretically possible to generate a square wave pulse having many rising and falling edges from the Hall element every time the motor makes one revolution, and as a result, As a result, the resolution of the edge interval data can be improved as compared with that equivalent to 1/2 rotation of the motor.

However, in this type of pulse generator, when the number of Hall elements and the N-pole and S-pole magnetized portions of the rotating body are increased, the configuration of the pulse generator is not complicated. However, the structure of the power window device itself becomes complicated and the manufacturing cost increases, and the number of Hall elements and the N-pole magnetized portion and the S-pole magnetized portion of the rotating body are reduced. If the number is increased, if the arrangement intervals of the Hall elements and the arrangement intervals of the N-pole magnetized portion and the S-pole magnetized portion are not set accurately, there is a problem that accurate edge interval data cannot be obtained. Spacing or N
There is also a problem that it is technically quite difficult to accurately set the arrangement interval between the pole magnetized portion and the S pole magnetized portion.

SUMMARY OF THE INVENTION The present invention solves these problems, and a main object of the present invention is to provide a method for detecting a pinch of a power window apparatus which improves the resolution of edge interval data without complicating the structure of a pulse generator. Is to provide.

Another object of the present invention is to provide a power window device capable of always obtaining accurate edge interval data except for inaccuracy of edge interval data due to a shift in the arrangement interval of Hall elements. An object of the present invention is to provide an entrapment detection method.

[0011]

In order to achieve the above-mentioned main object, a method for detecting pinching of a power window device according to the present invention comprises a window moving (opening / closing) motor, a motor driving unit, and a pulse generating unit for generating a two-phase pulse. , Micro control unit (MCU, hereafter referred to as MCU),
Using the window operation switch, when opening and closing the window,
The CU detects a parameter value representing a load applied to the window, compares the parameter value with a preset reference median value, and determines that a pinch has occurred when the parameter value deviates considerably from the reference median value. The first and second square wave pulses whose periods are shifted by 1/4 are used as the two-phase pulse, and the pulse edge of the first or second square wave pulse and the second or first square wave pulse immediately after the pulse edge are used. A time interval from the pulse edge is obtained as edge interval data, and a parameter value is detected based on the edge interval data.
Means.

In order to achieve the above main object and other objects, a pinching detection method for a power window device according to the present invention, in addition to the first means, detects a parameter value by detecting edge parameter data which has been detected most recently. There is provided second means for performing based on the averaged edge interval data obtained by obtaining an average value with the edge interval data detected immediately before.

According to the first means, the pulse generator generates the first and second square wave pulses whose periods are shifted by 1/4, and the MCU generates the pulse edge of the first or second square wave pulse. Since the time interval between the pulse edge of the second or first square wave pulse immediately after that and the pulse edge of the second or first square wave pulse is used as the edge interval data and the parameter value representing the load applied to the window is detected from the edge interval data, the pulse generator Can be improved to a value equivalent to 1/4 rotation of the motor without complicating the structure of the above.

According to the second means, the first means
Similarly to the above-mentioned means, the resolution of the edge interval data can be improved to a value equivalent to 1/4 rotation of the motor without complicating the configuration of the pulse generator.
Since the parameter value is detected based on the averaged edge interval data obtained by calculating the average value of the edge interval data detected most recently and the edge interval data detected immediately before it, the arrangement interval between the two Hall elements is reduced. Even if the position is slightly deviated from the prescribed position, the influence of the position deviation of the two Hall elements is substantially canceled by averaging the edge interval data detected most recently and the straight line detected immediately before the edge interval data, so , It is possible to obtain accurate edge interval data.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In one embodiment of the present invention, a method for detecting pinching of a power window device includes a motor that opens and closes a window via a window driving mechanism during driving, a motor driving unit that drives the motor, The microcomputer includes a pulse generation unit that generates a two-phase pulse corresponding to the rotation of the motor, an MCU that performs an overall control drive process, and an operation switch that manually controls opening and closing of a window.
When the window is opened and closed via the motor drive, a parameter value representing the load applied to the window is detected, and this parameter value is compared with a preset reference median value. When it is determined that the pinch has been removed, the motor is stopped or reversely driven via the motor drive unit.
The phase pulse is composed of first and second square wave pulses whose periods are shifted by 1/4, and the time between the pulse edge of the first or second square wave pulse and the pulse edge of the second or first square wave pulse immediately after the pulse edge. The interval is obtained as edge interval data, and a parameter value is detected based on the edge interval data.

In another embodiment of the present invention,
In the pinching detection method of the power window device, in addition to the above-described one embodiment, the parameter value is detected by calculating an average value of the latest detected edge interval data and the average value of the edge interval data detected immediately before. This is performed based on the converted edge interval data.

According to one embodiment of the present invention, a pulse generator for generating a two-phase pulse corresponding to the rotation of a motor includes a first and a second square wave having a period shifted by 1/4 as a two-phase pulse. The MCU that generates a pulse and detects the pinching of the window includes the pulse edge of the first or second square wave pulse generated by the pulse generator and the second or first square wave pulse immediately after the pulse edge. Since the time interval with the pulse edge is obtained as edge interval data, the parameter value representing the load applied to the window is detected from the obtained edge interval data, and it is determined whether or not the window can be pinched. Without complicating the configuration, the resolution of edge interval data is
It is possible to increase the rotation to / 4 rotation.

According to another embodiment of the present invention,
As in the embodiment of the present invention, the resolution of the edge interval data can be improved to a value equivalent to １ ／ rotation of the motor without complicating the configuration of the pulse generator. Since the parameter value indicating the load applied to the window is detected based on the averaged edge interval data obtained by calculating the average value of the latest detected edge interval data and the edge interval data detected immediately before it, Averaging of the latest detected edge interval data and the edge interval data detected immediately before, even when the two Hall elements are not fixedly arranged at exactly 90 ° to the motor axis. As a result, the influence of the displacement of the two Hall elements is substantially canceled, and accurate edge interval data can always be obtained.

[0019]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a power window device in which a first embodiment of a method for detecting pinching of a power window device according to the present invention is performed.

As shown in FIG. 1, the power window device includes a switch device 1 and a micro control unit (MC).
U) 2, a motor drive unit 3, a motor 4, a pulse generator 5, a pull-up resistor 6, a voltage dividing resistor 7, and a pulse transmission line 8.

FIG. 2A is a structural diagram showing the principle of pulse generation of a pulse generator used in the power window device shown in FIG. 1, and FIG.
FIG. 3 is a waveform diagram showing a two-phase square wave pulse generated from a pulse generator.

[0023] As shown in FIG. 2 (a), the pulse generator 5 includes a rotary body 5 _1, and a Hall element 5 _2, 5 _3.

[0024] The switch device 1 includes the three switches ₁ 1, 1 _2, 1 ₃ which is operated separately. Among these switches 1 ₁ to 1 _3, switch 1 ₁ is intended to command the window rising (closing) operation, the switch 1 ₂ is for commanding the window of lowering (opening) operation Only when the switches 1 ₁ and 1 ₂ are operated, the window moves in the designated direction.
_1, stopping one _second operation, also stops movement of the window. Switch 1 ₃ is for commanding the automatic continuation of the operation, when operated simultaneously the switch 1 ₃ and the switch 1 _1, begins the window is raised (closed) operates as described above, then switch 1 ₃ and also to stop the operation of the switch 1 _1, increase the window (closing) operation continues and the window is stopped when it reaches the top of the window frame. Further, when simultaneous operation of a switch 1 ₃ and the switch 1 _2, also has a window as described above begin to descend (open) operation, then, be stopped operation of the switch 1 ₃ and the switch 1 _2,
The lowering (opening) operation of the window is continued and stops when the window reaches the bottom of the window frame.

The MCU 2 comprises a control / operation unit 9 and a memory 1
0, a motor drive voltage detector 11, a pulse edge counter 12, and a timer 13. Among these components, the control / arithmetic unit 9 generates a control signal corresponding to the operation state of the switch device 1, supplies the control signal to the motor 4 via the motor drive unit 3, and controls the motor 4. Drive to rotate, and at the same time, motor drive voltage detector 1
1 and performs predetermined data processing and data calculation based on data supplied from the pulse edge counter 12 or data stored in the memory 10, and controls the rotation state of the motor 4 via the motor drive unit 3. I do. Memory 1
0, base value storing area 10 _1, reference tolerance value storage area 10 _2, a torque data addition value storage area 10 _3, starting cancellation storage area 1 _4, divided travel region in the number of torque data storage area 10 _5, the total torque data comprising six storage area consisting of several storage area 10 _6, the first time table _107, the two time table of the second time table _108. Note that these six storage areas 10 _{1 to} 10 ₆ and these two time tables 1
It will be described later stored contents to 0 _{7-10 8.} The motor drive voltage detection unit 11 detects a divided voltage representing the vehicle-mounted power supply (battery) voltage obtained at the voltage dividing point of the voltage dividing resistor 7. The pulse edge counter 12 includes the pulse generator 5
The pulse edge of the two-phase square wave pulse supplied from is detected.

The motor drive unit 3 includes a control signal inversion 2
Inverter 3 ₁ , 3 ₂ and motor rotation forward,
Reversing, two relays 3 _3, 3 ₄ switched set to one of the stops, and a two diodes 3 _5, 3 ₆ for spark prevention, according to the state of the control signal supplied from the MCU2 The motor 4 is driven to rotate.

The motor 4 has a rotating shaft connected to a window of the vehicle via a window driving mechanism (not shown). The motor 4 closes the window when the motor rotates, for example, when the motor rotates in the forward direction, and closes the window when the motor rotates in the reverse direction. open.

The pulse generator 5 is directly mounted on the motor 4 and is mounted on the rotating shaft of the motor 4 as shown in FIG. 2 (a). There the rotary body 5 ₁ which is magnetized, near the circumferential portion of the rotary body 5 _1, arranged Hall element to generate a two-phase pulses having different phase by 90 ° from each other during rotation of the motor 4 5 is provided with a _2, 5 _3. When the motor 4 rotates, and the rotation corotating element 5 ₁ by the rotation, as shown in FIG. 2 (b), 2 pieces of Hall elements 5 _2, 5 ₃ of the rotating body 5 ₁ magnetized min , And two Hall elements 5 ₂ and 5 ₃ each output a two-phase square wave pulse which is one cycle when the motor 4 makes one rotation and is shifted by １ ／ cycle from each other.

The pull-up resistor 6 is composed of three parallel coupling resistors connected between the output of the switch device 1 and the input of the MCU 2 and the 5V power supply.
_1, 1 _2, supplies the power supply voltage (5V) 1 ₃ of the non-operation state to the input of the MCU 2.

The voltage dividing resistor 7 is mounted on a vehicle power supply (battery).
And two resistors connected in series between the ground and the ground. The connection point of these resistors is connected to the motor drive voltage detector 1 of the MCU 2.
Connected to 1.

The pulse transmission line 8 includes two pull-up resistors connected between the output of the pulse generator 5 and the 5V power supply, a capacitor connected between the output and the ground, a synchronous output and the MCU2. The two-phase square wave pulse output from the pulse generator 5 is transmitted to the pulse edge counter 12, comprising two series resistors connected between the pulse edge counter 12 and the input of the pulse edge counter 12.

When the motor 4 rotates and the window is opened and closed, the two-phase square wave pulse generated by the pulse generator 5 is supplied to the MCU 2 via the pulse transmission line 8. At this time, the pulse edge counter 12
Each pulse edge (rising and falling) of the square wave pulse is detected, and an edge detection signal is supplied to the control / calculation unit 9 each time the pulse edge arrives. Control / arithmetic unit 9
Measures the supply timing of the edge detection signal by the timer 13, and measures the arrival time interval between one edge detection signal and one subsequent edge detection signal (hereinafter, this is referred to as edge interval data). It should be noted that one piece of this edge interval data is obtained every time the motor 4 makes a quarter turn.

In the power window apparatus shown in FIG. 1, the motor load torque value is used as a detection parameter to detect the presence or absence of pinching in the window. Set by torque. The power window device shown in FIG. 1 divides the entire window movement region (the movement region between the fully open position and the fully closed position) into a plurality based on the count number counted each time the edge interval data arrives. Divided divided movement regions are set, and a preset reference median value and reference allowable value of the motor load torque are set for each divided movement region.

FIG. 3 shows the reference median value of the motor load torque and the motor load torque set in each of the divided moving regions when the entire window moving region in the power window device shown in FIG. 1 is divided into 36 divided moving regions. FIG. 4 is a characteristic diagram showing an example of a reference allowable value, and FIG.
In one of the six divided movement areas, 3
FIG. 14 is a characteristic diagram illustrating an example of a state in which the second edge interval data arrives.

In FIG. 3, the ordinate indicates the motor load torque, and the abscissa indicates the count number counted each time the edge interval data arrives when the window moves from the fully open position to the fully closed position. The lower step-like characteristic (S) is the reference median value of the motor load torque, and the upper step-like characteristic (A) is the reference allowable value of the motor load torque (more precisely, the reference median value + the reference allowable value). The solid line (M) shows the process curve of the motor load torque when no object is caught in the window, and the one-dot chain line (H) shows that the object is caught in the window. 7 is a history curve of the motor load torque when the motor is turned on.
In FIG. 4, the vertical axis indicates the value of the edge interval data, and the horizontal axis indicates the count number counted for each arrival of the edge interval data when the window moves from the open position to the closed position. An example in the case where noise is added is shown.

Here, the reference median value of the motor load torque shown in FIG. 3 is a motor load torque value required for the movement of the window when there is no substantial pinching in the window. Is the weight of the window, the mechanical frictional force between the window and the sash is measured as the motor load torque, and is determined based on the torque value already measured when there is no pinching, and the window moves. Every time the reference median is updated to a new reference median, that is, learning is performed. As will be described later, the motor load torque is calculated from the edge interval data and the motor drive voltage. One edge interval data is obtained each time the motor 4 rotates 1/4, and the window is set. When the range from the fully open position to the fully closed position is moved, that is, when the 36 divided movement regions are moved, 32 edge interval data are obtained in each divided movement region. Interval data will be obtained.

The reference allowable value of the motor load torque shown in FIG. 3 is independent of the position of the divided moving area.
A constant value, which is generally determined by a standard or the like, a value obtained by converting the maximum allowable force that can be applied to a sandwiched object when a window is jammed into a motor torque,
A value obtained by adding some correction to the value is used.

Next, FIGS. 5 and 6 are flowcharts showing the outline of the operation when detecting the pinching of a window using the power window device shown in FIG.

The operation of the power window device shown in FIG. 1 will be described with reference to the flowcharts shown in FIGS.

First, prior to describing the operations of the flowcharts shown in FIGS. 5 and 6, the power window device executes the following operations.

[0041] That is, one switch in the switch device 1, for example, by operating the switch 1 _1, the input of MCU2 connected to the switch 1 ₁ is changed to the ground potential from the 5V potential. The control / calculation unit 9 of the MPU 2 supplies a control signal for rotating the motor 4 in the forward direction to the motor control unit 3 in response to the input ground potential, and the motor control unit 3 The relays 3 ₃ and 3 ₄ are switched to rotate the motor 4 in the forward direction. When the motor 4 rotates in the forward direction, the window moves in a closing direction via a window driving mechanism connected to the motor 4. In addition, the rotation of the motor 4 causes the pulse generator 5 attached to the motor 4 to generate a two-phase square wave pulse, and the generated two-phase square wave pulse is sent to the pulse edge counter 12 of the MCU 2 via the pulse transmission line 8. Supplied.

[0042] Here, when stopping the operation of the switch 1 _1, the input of MCU2 connected to the switch 1 ₁ is changed to 5V potential from the ground potential. Control / arithmetic unit 9 of MPU 2
Supplies a control signal for stopping the rotation of the motor 4 to the motor control unit 3 in response to the input 5V potential, and the motor control unit 3 responds to this control signal by turning on the two relays 3 ₃ and 3 ₄ . The switching is performed, the power supply to the motor 4 is stopped, and the rotation of the motor 4 is stopped. When the rotation of the motor 4 stops, the operation of the window drive mechanism connected to the motor 4 stops, and the window stops at the current position.
When the rotation of the motor 4 is stopped, the generation of the two-phase square wave pulse by the pulse generator 5 attached to the motor 4 also stops, and the two-phase square wave pulse is not supplied to the pulse edge counter 12 of the MCU 2.

Next, another switch in the switching device 1, for example, by operating the switch 1 _2, as in the case described above, the input of MCU2 connected to the switch 1 ₂ is changed to the ground potential. The control / calculation unit 9 of the MPU 2 sends the motor 4 to the motor control unit 3 in response to the input ground potential.
Supply a control signal to rotate the motor in the reverse direction,
Switches the two relays 3 ₃ and 3 ₄ in response to this control signal, and rotates the motor 4 in the reverse direction. When the motor 4 rotates in the opposite direction, the window is moved in the opening direction via a drive mechanism connected to the motor 4. Also in this case, when the motor 4 rotates, the pulse generator 5 attached to the motor 4 generates a two-phase square wave pulse, and the generated two-phase square wave pulse is transmitted to the MCU via the pulse transmission line 8.
2 is supplied to the pulse edge counter 12.

[0044] Thereafter, when stopping the operation of the switch 1 _2, when co-operating with the switch 1 ₁ and the switch 1 _3, also operates in the case of simultaneous operation of the switch 1 ₂ and the switch 1 _3, each operation of the above The same operation as described above is performed, or an operation according to each of the above-described operations is performed.

When such an operation is performed, first,
In step S1, the control / arithmetic unit 9 of the MCU 2
The pulse edge counter 12 determines whether the pulse edge of the two-phase square wave pulse supplied from the pulse generator 5 has been detected. When it is determined that the pulse edge has been detected (Y), the process proceeds to the next step S2,
On the other hand, when it is determined that the pulse edge has not been detected yet (N), step S1 is repeatedly executed.

Next, in step S2, when the pulse edge counter 12 detects a pulse edge, the control / arithmetic unit 9 uses the count of the timer 13 to determine the time at which the previous pulse edge was detected and the current pulse edge. The edge interval data representing the time interval from the detection time is acquired.

Next, in step S3, the control / arithmetic unit 9 determines whether or not the acquired edge interval data is longer than a specified time (for example, 3.5 msec).
It is determined whether the data is regular edge interval data or noise. When it is determined that the edge interval data is longer than the specified time (Y), the next step S
4 and the edge interval data is less than the specified time,
That is, when it is determined that the noise is noise (N), the process returns to the first step S1, and the operations after the step S1 are repeatedly executed. In this determination, when noise is superimposed and added to the edge interval data, it is determined that the data is normal edge interval data.

Subsequently, in step S 4, the control / calculation unit 9 acquires the divided voltage detected by the voltage dividing resistor 7 in the motor drive voltage detection unit 11 as the motor drive voltage E.

Subsequently, in step S5, the control / calculation unit 9 performs a calculation using the obtained motor drive voltage E and the edge interval data Pw to obtain the motor load torque T.
Calculate c. The calculation of the motor load torque Tc is performed based on the following equation (1). That is,

[0050]

(Equation 1)

[0051] In this case, the first time table _107, the first half term of Equation (1) {kt · (E / Rm) -Tm},
That is, the motor drive voltage dependent term to indicate calculation results of E is stored in correspondence with the value of each motor driving voltage E, The second time table _108, the formula (1)
{(Ke · kt) / (Rm · Pw)}, that is,
The calculation result indicating the dependent term of the edge interval data Pw is stored in correspondence with the value of each edge interval data Pw.
When calculating the read from the motor driving voltage E and the edge interval data Pw measured in the time, the calculation results indicating the dependence terms of motor drive voltage E corresponding to the values from the first time table _107, the edge Interval data P
The calculation result indicating the dependent term of w is stored in the second time table 10 ₈
And calculates the motor load torque Tc using the read calculation result.

Next, in step S6, the control / arithmetic unit 9 determines whether or not the operation at the time of starting the motor 4 has been completed.
That is, it is determined whether or not the startup cancellation is completed.
Then, when it is determined that the operation at the time of startup has been completed (Y), the process proceeds to the next step S7. On the other hand, when it is determined that the operation at the time of startup has not been completed (N), the first step is performed. Returning to S1, the operations after step S1 are repeatedly executed.

Here, the reason for judging whether or not the operation at the time of starting the motor 4 has been completed is as follows.
Since the internal torque of the motor 4 changes from a maximum state to a steady state, if the jamming is determined based on the motor torque value measured at this time, a large motor load torque value is used to measure the window. If this large motor torque value is used to update the reference median value, the new reference median value will not match the actual situation. This is because it may be set to a value.

For this reason, if it is determined that the operation at the time of starting the motor 4 has not been completed, the motor torque value averaging process for updating the reference median value is not performed, as described later. In this case, the determination as to whether or not the operation at the start of the motor 4 is completed is made based on a period from the detection of the first pulse edge to the detection of a predetermined number of pulse edges. If the startup behavior is not completed, that effect the start cancellation storage area 10 ₄ in the memory 10 is stored, the storage times are the procedure is cleared after a predetermined number of times.

Next, in step S7, the control / calculation section 9 compares the motor load torque Tc calculated in step S5 with a reference median value. In this comparison, a reference median storage area 10 ₁ storing a reference median preset for all divided moving areas in the memory 10, and a fixed reference value tolerance regardless of the divided moving area is stored. and it has the reference tolerance value storage area 10 ₂ is performed by using.

Next, in step S8, the control / calculation section 9 sets the motor load torque Tc calculated in the currently measured divided movement area to the reference allowable value as the reference median preset in the divided movement area. It is determined whether the value is within the range of the added value (acceptable reference value). If it is determined that the motor load torque Tc is within the range of the allowable reference value (Y), the process proceeds to the next step S9, while if the motor load torque Tc exceeds the range of the allowable reference value. When it is determined (N), the process proceeds to another step S17.

The subsequent step S9, controller 9 adds all the motor load torque Tc calculated in one of the divided travel region in the current measurement, and stores the torque data addition value storage area 10 _3.

Subsequently, in step S10, the control
Calculation unit 9 counts the number of all the motor load torque Tc obtained in one divided moving area of the current being measured is stored in the divided travel region in the number of torque data storage area 10 _5.

Next, in step S11, the control / arithmetic unit 9 counts the number of all motor load torques Tc obtained from the fully opened position of the window to one divided movement area currently being measured, and calculates the total torque. Data number storage area 1
It is stored in the 0 _6.

Next, in step S12, control
Calculation unit 9, the determination of the current divided travel region of the window from the total number of torque data stored in the total number of torque data storage area 10 _6.

In step S13, the control / calculation unit 9 determines whether the current divided moving area of the window has moved from one divided moving area to the next divided moving area based on the determination in step S12. to decide. When it is determined that the divided moving area of the window has moved to the next divided moving area (Y), the process moves to the next step S14, while the divided moving area of the window moves to the next divided moving area. If it is determined (N) that no operation has been performed, the process returns to the first step S1, and the operations after step S1 are repeatedly executed.

Subsequently, in step S14, the control
The calculating unit 9 sets a new reference median value in the one divided moving region from the value of the motor load torque Tc calculated in the one divided moving region. The setting of the new reference median value uses an average value of the motor load torque Tc calculated based on the respective edge interval data obtained in the one divided movement area. As shown in (1), if one edge interval data (pulse count number 75) is only noise, the data is rejected in step S3, and this noise is used for calculating the average value of the motor load torque Tc. Even if the noise is superimposed on one edge interval data (pulse count number 84) and becomes a large value, the value of the motor load torque Tc calculated based on the large value and other values Since many values of the motor load torque Tc are averaged, even if there is a large edge interval data value on which noise is superimposed, a new reference median value is obtained. It will not be guided to the wrong value.

Next, in step S15, the control / calculation section 9 stores the reference median newly set in step S14 in the reference median storage area 10 _{1 in the} memory 10.
Is written in place of the previous reference median.

[0064] subsequent step S16, controller 9, averaging processing area in the memory 10 used to determine the average value of the motor load torque Tc, i.e. the torque data addition value storage area 10 ₃ and divided travel region in the number of torque data storage area 10 ₅ initializes. When this initialization is performed, the process returns to the first step S1, and the operations after step S1 are repeatedly executed again.

[0065] The repetition of operation in such a flow chart, the driving of the motor 4 by the operation of such switch 1 ₁ or the switch 1 ₂ is stopped, or the movement of the window is performed to stop or, in step S17 to be described later When the pinching of the window is detected, the driving of the motor 4 is stopped, and the movement of the window is stopped or the motor 4 is driven to rotate in the opposite direction, and the movement of the window is reversed. Done.

In step S17, the control / arithmetic unit 9 supplies a control signal to the motor control unit 3 to
Switch the three relays 3 ₃ , 3 ₄ to stop the movement of the window by stopping the rotation of the motor 4, or to rotate the rotation of the motor 4 in the opposite direction to the rotation direction of the window to stop the movement of the window. It moves in the direction opposite to the previous direction and operates to protect the object sandwiched between the windows from damage.

In this flowchart, steps S2 to S6 are data acquisition operation processes for acquiring edge interval data, and steps S7 and S8 are for entrapment determination for judging the entrapment of an object in the window. Steps S9 to S16 are an operation process of updating the median reference value of the motor load torque, and steps S9 to S16 are an operation process of updating the median reference value of the motor load torque. It is a process.

In this case, in the power window device shown in FIG. 1, the operation according to the flowcharts shown in FIGS. 5 and 6 is executed, and at that time, the window moves from the fully open position to the fully closed position, When the window is not pinched during the movement, a characteristic as shown by a solid line (M) in FIG. 4 is obtained as the motor load torque, and the motor load torque in all the divided movement regions is equal to each divided movement region. It does not exceed the value obtained by adding the reference allowable value to the set reference median value.

On the other hand, when the window moves from the intermediate position toward the fully closed position and the window is pinched during the movement, the motor load torque is changed as shown by the dashed line (H) in FIG. Is obtained, and the motor load torque in the divided moving region in which the entrapment has occurred exceeds the value obtained by adding the reference allowable value to the reference median value set in the divided moving region.

As described above, according to the pinching detection method for the power window device of the first embodiment, the pulse generator 5 generates the first and second square wave pulses whose periods are shifted by １ ／, and the MCU 2 The time interval between the pulse edge of the first or second square wave pulse and the immediately following pulse edge of the second or first square wave pulse is determined as edge interval data Pw, and the motor load torque applied to the window from the edge interval data Pw Since the parameter value representing Tc is detected, the resolution of the edge interval data can be improved to a value equivalent to 相当 rotation of the motor without complicating the configuration of the pulse generator 5 at all. it can.

[0071] Further, according to the entrapment detection method of the power window apparatus according to a first embodiment, the case of calculating the motor load torque Tc, which is stored in the first time table ₁₀₇ in the memory 10, the motor load torque Tc
Motor drive voltage E in equation (1)
Value calculation results of dependent terms of the corresponding motor drive voltage E to the, and, stored in the second time table _108, edge interval data corresponding to the value of each of the edge interval data Pw in the same formula (1) Since the calculation is performed using the calculation result of the dependency term of Pw, the motor load torque Tc at the time when the edge interval data Pw and the motor drive voltage E are obtained can be calculated at an extremely high speed. There is no time delay in calculating the motor load torque Tc.

The first embodiment described so far does not take into account the effect of the displacement of the _two Hall elements 5 ₂ , 5 ₃ provided in the pulse generator 5, but the two Hall elements 5 ₂ Since it is difficult to dispose the 5 and ₃ at an angle of exactly 90 ° with respect to the motor axis, the two-phase square wave pulse generated by the pulse generator 5 is also exactly shifted by 1/4 period. However, when the edge interval data Pw is obtained from such a two-phase square wave pulse, accurate edge interval data Pw cannot always be obtained.

FIG. 9 shows two Hall elements 5 ₂ ,
When 5 ₃ is not fixedly arranged at exactly 90 ° to the motor axis, the pulse generator 5 generates 2
FIG. 4 is a waveform diagram illustrating an example of a phase square wave pulse.

As shown in FIG. 9, the two-phase square wave pulse is composed of two square wave pulses that are shifted from each other by 、 period. Although the rising or falling of the pulse arrives, it is difficult to fixedly arrange the two Hall elements 5 ₂ and 5 ₃ so as to form an accurate 90 ° with respect to the motor axis. The edge interval data Pw obtained every time the 4 rotates 1/4, that is, Pw ₁ , Pw ₂ , P
w ₃ and Pw ₄ have different values.

Therefore, in the second embodiment of the present invention, different edge interval data Pw in which the motor 4 makes 1/4 rotation is obtained due to a positional shift when the _two Hall elements 5 ₂ and 5 ₃ are fixedly arranged. Also, two Hall elements 5
_2, 5 is not affected by the _third position deviation is obtained by so as to obtain an edge interval data Pw.

FIG. 7 is a block diagram showing a power window device in which a second embodiment of the method for detecting pinching of a power window device according to the present invention is performed.

In FIG. 7, the same components as those shown in FIG. 1 are denoted by the same reference numerals.

The power window device used in the second embodiment shown in FIG. 7 (hereinafter referred to as the second embodiment device) and the power window device used in the first embodiment shown in FIG. Hereinafter, this is referred to as a first embodiment device.)
The difference of the configuration of the, as a configuration memory 10 of the MCU 2, as illustrated in Figure 7, while the second embodiment device is provided with edge interval data storage area _109,
The only difference is that the device of the first embodiment does not have such an edge interval data storage area 10 ₉ .
There is no difference in the configuration between the device of the second embodiment and the device of the first embodiment. For this reason, further description of the configuration of the device of the second embodiment is omitted.

Next, FIG. 8 is a flow chart showing the outline of the operation when detecting the pinching of the window using the power window device shown in FIG. 7, which is different from the device of the first embodiment. In this figure, only the operation details where the operation specific to the second embodiment is performed are extracted and shown.

In FIG. 8, each step in which the same operation as that in each step shown in FIG. 5 is performed is denoted by the same reference numeral.

First, the operations from step S1 to step S3 are performed in steps S1 to S3 shown in FIG.
The operation is the same as described above.

Next, in step S 3 ′, the control / calculation unit 9 stores the latest acquired edge interval data in the memory 1.
It is stored in the edge interval data storage area ₁₀₉ in the 0.
By this storage, the edge interval data storage area 10 ₉
Stores the previously acquired edge interval data and the latest acquired edge interval data instead of storing the previously acquired edge interval data and the previously acquired edge interval data.

Next, in step S3 ″, the control
Calculation unit 9 reads out the edge interval data obtained edge interval data and the latest acquired last time stored in the edge interval data storage area _109, an averaging edge interval data Pwm seeking their average value get.

The subsequent operation after step S4 is the same as the operation after step S4 shown in FIGS. 5 and 6, but in the second embodiment, in particular, the motor load torque Tc is calculated at step S5. At this time, the averaged edge interval data Pwm is used instead of the edge interval data Pw.

As described above, according to the second embodiment of the pinching detection method for the power window device, the edge interval data Pw can be obtained without complicating the configuration of the pulse generator 5 achieved in the first embodiment. It is possible to improve the resolution to a value equivalent to 1/4 rotation of the motor, and to detect the parameter value by using the latest detected edge interval data P
w and the average value of the edge interval data Pw detected immediately before it, and the average interval edge data Pwm is obtained. Therefore, the arrangement interval of the _two Hall elements 5 ₂ and 5 ₃ is set with respect to the motor shaft. Even if they are not fixedly arranged at exactly 90 °, the latest detected edge interval data P
By averaging w with the edge interval data Pw detected immediately before, the effect of the positional shift between the two Hall elements is substantially canceled, and accurate edge interval data Pwm can always be obtained.

[0086]

As described above, according to the first aspect of the present invention, the first and second square wave pulses whose periods are shifted by 1/4 are generated from the pulse generator, and the first or second square wave pulse is generated in the MCU. The pulse edge of the second square wave pulse and the second
Alternatively, the time interval between the pulse edge of the first square wave pulse and the pulse edge is obtained as edge interval data, and the parameter value representing the load applied to the window is detected from the edge interval data. There is an effect that the resolution of the edge interval data can be improved to a value equivalent to １ ／ rotation of the motor without any complexity.

According to the second aspect of the present invention, the effect achieved by the first aspect of the present invention, that is, the resolution of the edge interval data can be reduced by one motor without complicating the configuration of the pulse generator. In addition to the effect that it is possible to improve the value to / 4 rotation, the parameter value is obtained by calculating the average value of the edge interval data detected most recently and the edge interval data detected immediately before. Since it is performed based on the averaged edge interval data, even if the arrangement interval between the two Hall elements is not fixedly arranged so as to be exactly 90 ° with respect to the motor axis, the most recently detected edge interval data and the immediately preceding edge interval data are used. Averaging with the detected edge interval data substantially cancels out the influence of the displacement of the two Hall elements, and it is possible to always obtain accurate edge interval data. There is a result.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a power window device in which a first embodiment of a method for detecting pinching of a power window device according to the present invention is performed.

FIG. 2 is a structural diagram of a pulse generation principle of a pulse generator used in the power window device shown in FIG. 1 and a waveform diagram showing a two-phase square wave pulse generated from the pulse generator.

FIG. 3 shows an example of a reference median value and a reference allowable value of a motor load torque set in each divided moving region when the entire moving region of the window in the power window device shown in FIG. 1 is divided into a plurality of divided moving regions. FIG.

FIG. 4 is a characteristic diagram showing an example of a state in which a plurality of edge interval data arrives in one of the plurality of divided moving areas shown in FIG.

FIG. 5 is a first half of a flowchart showing a schematic operation process when window entrapment detection is performed using the power window device shown in FIG. 1;

FIG. 6 is a latter half of a flowchart showing a schematic operation process when window entrapment is detected using the power window device shown in FIG. 1;

FIG. 7 is a block diagram showing a power window device in which a second embodiment of the method for detecting pinching of the power window device according to the present invention is performed.

8 is a flowchart showing the outline of the operation when detecting the pinching of a window using the power window device shown in FIG. 7;

FIG. 9 is a waveform diagram showing an example of a two-phase square wave pulse generated by a pulse generator when two Hall elements are not fixedly arranged at exactly 90 ° to the motor axis.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Switch device 1 ₁ , 1, ₂ , ₃ switch 2 Micro control unit (MCU) 3 Motor drive unit 3 ₁ , 3 ₂ Inverter 3 ₃ , 3 ₄ relay 3 ₅ , 3 ₆ Diode 4 Motor 5 Pulse generator 5 ₁ rotation Body 5 ₂ , 5 ₃ Hall element 6 Pull-up resistor 7 Voltage divider 8 Pulse transmission line 9 Control / calculation unit 10 Memory 10 ₁ Reference central value storage area 10 ₂ Reference allowable value storage area 10 ₃ Torque data added value storage area 10 ₄ Start cancellation storage area 10 ₅ Torque data number storage area in divided moving area 10 ₆ Total torque data number storage area 10 ₇ First time table 10 ₈ Second time table 10 ₉ Drive voltage dependent reference allowable value storage area 11 Motor drive Voltage detector 12 Pulse edge counter 13 Timer

Claims (2)

[Claims] 1. A motor for opening and closing a window via a window driving mechanism at the time of driving, a motor driving unit for driving the motor, a pulse generating unit for generating a two-phase pulse corresponding to the rotation of the motor, A micro-control unit for performing a simple control drive process, and an operation switch for manually opening and closing the window, wherein the micro-control unit loads the window when opening and closing the window via the motor drive unit. Detecting a parameter value representing a load, comparing the parameter value with a preset reference median value, determining that the parameter value has deviated from the reference median value by a considerable amount, and that the pinching has occurred, A method for detecting pinching of a power window device that stops driving or reversely drives the motor via a motor driving unit, The two-phase pulse is composed of first and second square wave pulses whose periods are shifted by 1/4, and the pulse edge of the first or second square wave pulse and the second or first square wave pulse immediately after the pulse edge. A method for detecting pinching of a power window device, wherein a time interval from a pulse edge is obtained as edge interval data, and the parameter value is detected based on the edge interval data. 2. A parameter value representing a load applied to the window is determined based on averaged edge interval data obtained by calculating an average value of edge interval data detected most recently and edge interval data detected immediately before. The pinch detection method for a power window device according to claim 1, wherein the pinch is detected.