JPS5961485A - Drive controller for vehicle motor drive device - Google Patents

Abstract

PURPOSE:To obtain an accurate position control of automatically opening and closing a window by normally or reversely driving a motor when the prescribed conditions are effective, automatically starting the limit position detection of a movable unit to update and store the limit position determined in the state of a machine system at that time. CONSTITUTION:Window position indicating key switches 11-20 are connected to the input ports R0-R5 of a microcomputer 9, a side window positioning automatic set key switch 10 is connected to R15, a clock pulse generator G0 is connected to the interrupt input terminal R14, key-in read-out transistors 21, 22 are respectively connected to output ports R6, R7, and the door drive motors Md, Ma, Mab, Mda are normally or reversely controlled by the outputs of the output ports Q0-Q7. Programs for reading out the operations of limit position, present position detecting and window positioning instruction switches 11-19 in response to the closure of the switch 10 from the initialization responding to the energization of the power source are incorporated in a microcomputer 9.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to position control for setting or positioning vehicle side windows, roof panels, seats, mirrors, etc., and in particular, the present invention relates to position control for setting or positioning vehicle side windows, roof panels, seats, mirrors, etc. Regarding prevention.

For vehicles, side windows (driver seat door window, passenger seat door window, driver seat rear door window, and passenger seat rear door window), sunroof (roof panel)
, seats, interior and exterior mirrors, etc. are electrically driven. In one embodiment, the motor is energized by closing a forward/reverse energizing circuit of the motor using an operation switch. In another aspect, a microcomputer or the like,
An electronic control unit with advanced calculation functions is used as a central control unit to monitor the current position of the movable body,
Position the movable body at the position instructed by key switch operation.

One of the problems with this type of on-vehicle electric equipment is that if an object or person gets stuck on the movable body, or if a foreign object gets caught in the drive mechanism, the mechanism will stop working even though the motor is energized. If it does not move smoothly, the drive source may be overloaded, and people or machinery may be damaged. Furthermore, the positioning of the movable part may become inaccurate over time due to wear or play in the mechanical part.

The first object of the present invention is to prevent overloading of the drive source, restraint damage to the drive mechanism, or injury to the human body,
A second purpose is to prevent positioning from becoming inaccurate over time. The third purpose is, for example, when closing a window glass from an open side window or sunroof, the motor load increases after the tip of the glass hits the weather lip. The purpose of this is to perform an overload stop that is safe and does not cause false stops, even on movable objects that cause constant load fluctuations between limit positions (fully open and fully open), such as stopping the motor after completely compressing the weather lip. .

In order to achieve the above object, the present invention combines an electric drive mechanism with a signal generator, such as a rotary encoder, that generates an electrical signal that causes level fluctuations in conjunction with mechanical movement, and a microcomputer (microcomputer). An electronic control device such as a processor detects the current position of the movable part by checking the level change of the electrical signal, and drives the motor in the direction where the count value matches the position instructed by switch operation. When a predetermined condition is met, such as when power is turned on to the electronic control device or when a predetermined switch is operated, the motor is driven in the forward and reverse directions to reach the limits of the movable body. The position is detected from the load of the movable body and the position information is grasped.

According to this, since the limit position information is updated each time, positioning deviation over time is eliminated.

Normally, energization of the electric motor is instructed in response to the operation of a switch means, changes in the level of the electric signal are monitored during energization, and the current current level is determined based on travel limit position information, the rotational direction of the electric motor, and the number of level changes. After obtaining the position information, the load of the electric motor is compared with the reference data stored in the semiconductor memory and associated with the position, and if the load exceeds a predetermined value determined by the reference data, the electric motor is Stop energizing the motor.

According to this, if an object, human body, etc. touches the movable body and the load becomes larger than the normal value, the motor is stopped, Damage to the IJ drive mechanism is prevented. The motor is also stopped when the load increases because one movable body reaches its limit position. The motor is also stopped when the current position information indicates the limit position.

In a preferred embodiment of the present invention, the position-corresponding reference data is referenced while the onboard equipment is moving between the first limit position and the constant load variation position; There are two types of reference between the load fluctuation position and the second limit position while the on-board equipment is moving, and the electronic control unit has a predetermined control such as turning on the power to itself or operating a predetermined switch. While obtaining information on the movement limit position of the on-board equipment by energizing the electric motor to drive in forward and reverse directions in response to the establishment of the conditions, a constant load that produces a load fluctuation smaller than the load fluctuation of the electric motor at the limit position of the on-board equipment is applied. After obtaining the fluctuation position information, the reference data used for overload detection is switched at the constant load fluctuation position. As a result, when closing a side window or sunroof from an open position, the motor load increases after the tip of the glass hits the weather strip. such as compressing the motor and then stopping the motor.
Even in a movable body that causes constant load fluctuations between limit positions (fully closed and fully open), overload stopping can be performed without safety or erroneous stopping.

When an electric drive mechanism is stopped and started at any point between two limits, the motor current when starting the motor at that point is significantly higher than the motor current when passing through that point at steady speed. big. Since it is preferable not to detect this as an overload, in a preferred embodiment of the present invention, the above-mentioned overload detection is not performed for a predetermined period of time from when the motor is started until the motor reaches a steady speed. This time is extremely short.

Hereinafter, a detailed explanation will be given of the present invention which controls the opening/closing drive f(iI) of the vehicle side window.

FIG. 1a shows an electric mechanism for raising and lowering a window glass 2 of a passenger door 1 of an automobile.

A pin at one end of link arms 31 + 32 is connected to each of the upper and lower guide rails fixed to the window glass 2, and a lifting arm that engages with the other end of the link arm 32 is connected to a sector gear 4 connected thereto. drives up and down. The sector gear 4 meshes with a wheel of a worm wheel assembly 5, and the rotating shaft of the electric motor Ma is coupled to the worm meshing with the wheel. As a result, motor M
When a rotates forward, the sector gear 4 rotates in the clockwise direction in FIG. 1a, pushing the glass 2 upward. When the motor Mb rotates in the opposite direction, the sector gear 4 rotates counterclockwise to lower the glass 2.

In the worm wheel assembly 5, a ring-shaped permanent magnet 7a is fixed to a rotating disk fixed to the wheel shaft, and a Hall element and its magnetic field detection signal are processed on the outer surface of the permanent magnet 7a. A Hall tC unit 6a in which electric circuits are integrated is placed opposite to each other. Since the permanent magnet 7a is polarized and magnetized in the circumferential direction, when the wheel rotates, it sends a sinusoidal electric signal to the Hall IC unit 1-
68 occurs. The combination of the sector gear 4 and the worm wheel assembly 5 is shown in FIG. 1b, and the combination of the permanent magnet 7a of the worm wheel assembly 5, the Hall IC, and the unit 6a is shown in FIG. 1c.

When the glass 2 is being driven upward by driving the motor Ma in normal rotation, and the tip of the glass 2 has not yet hit the weather strip 8 as shown in FIG. 2a, the motor current is low and its fluctuation is low. is small. However, when the glass 2 rises and hits the weather strip 8 as shown in Figure 2b, the motor current (motor load) then increases and the second
When the weather strip 8 is compressed as shown in Figure C, the motor current increases further, and when the weather strip 8 is completely compressed as shown in Figure 2D, the electric material system stops and the motor current increases rapidly. do. Motor Md in driving the glass 2 from fully opening the window to fully opening the window shown in FIG. 2d
Figure 3a shows the current change. The motor current corresponds to the mechanical load of the motor in a known manner, and there is a proportional relationship as shown in FIG. 3b.

The driver's door, driver's rear door, and passenger's rear door are each equipped with an electric drive mechanism that has exactly the same configuration as the electric drive mechanism described above, and the electric motor of each electric drive mechanism also has the same characteristics as described above. Show characteristics.

FIG. 4a shows the configuration of an electric control system that controls the energization of each of the four window electric drive grooves described above. The main body of this electrical control system is a microcomputer 9, to which input ports RO to R5 are connected to window position indicating key switches 11 to 2o, and output ports 1 to R6 and R7.
1-transistors 21 and 22 for key-in reading are connected to.

The input capo-1-R15 has an automatic control set key switch 10 that enables automatic positioning control of the side window.
is connected to the interrupt input terminal RL4.
The output terminal of a pulse generator PG, which generates clock pulses for the clock pulses, is connected.

The motor of the electric drive mechanism of each door is at the output port θ.

Forward and reverse rotation is controlled by the output of ~07. For example, 0°, θ
2. When high level I-1 is applied to θ4 or 06, motor Md (driver seat door) is activated.

Ma (passenger seat door), Mab (passenger seat rear door), or Mda (driver seat rear door) is energized for forward rotation,
Output boat 01. θ3. When high level H is set to θ5 or θ7, motor Md (driver seat door)
, Ma (passenger seat door), Mab (passenger seat rear door), or Mda (driver seat rear door) are reversely biased. Ring-shaped permanent magnet 7dt 7a mechanically coupled to the motor output shaft in the worm hole r-hole assembly 5
+ 7ab and 7da, and Hall IC units 1-6d facing each of them.

6a+6ab and 6da each constitute a rotary encoder, and apply pulse outputs to input ports 3 to KO of the microcomputer 9, respectively.

The output of the amplifier AMP is applied to the A/D conversion input terminal R12 of the microcomputer 9, and the voltage of the motor current detection resistor r is applied to the amplifier AMP via a relay.

The voltage across resistor r is proportional to the motor current, that is, the motor load. Output port PO.

By setting high level H to PL, R2 or R3, motors Md (driver seat door) and Ma (
(passenger seat door), Mab (passenger seat rear door) or M
A voltage proportional to the load current of da (driver seat rear door) is selectively applied to the microcomputer 9.

Data for setting the A/D conversion range (to 4 pins 1) is set in the output ports R8 to R11.

Each part of the electric circuit is connected to a power supply circuit shown in Figure 2 with a constant voltage V.
Apply c c.

FIG. 4c shows the external appearance of one of the switches 11 to 17 12. Note that the other switches 13 to 17 have exactly the same structure as the switch 12. The switch 12 is a two-pole switch, and in a steady state, the up instruction side and the down instruction side protrude equally as shown in FIG. , so that the movable contact contacts one fixed contact (the window opening is the indicator contact). When the push-down blade disappears, the state returns to a steady state as shown in Figure 5d, and the movable contact returns to a neutral position where it does not come into contact with any of the two fixed contacts. When the down side is pressed, the 5th c
As shown in the figure, the movable contact is rotated to contact the other fixed contact (window closing instruction contact). When the push-down blade disappears, the fifth (returns to the steady state as shown in Figure 1) and returns the movable contact to the neutral position where it does not contact either of the two fixed contacts. However, it also has two flexible contacts, one of which is used as a window open instruction contact, the other as a window close instruction contact, and both of the two fixed contacts are used as a stop instruction contact. When this switch 11 is pressed relatively lightly on the up side, the movable contact contacts the instruction contact for flexible window opening and instructs the motor to rotate forward, but when pressed more forcefully, the flexible window opening is instructed. The contact contacts the stop instruction contact while remaining in contact with the movable contact, and the motor is instructed to stop.

When you press the down side relatively lightly, the movable contact contacts the flexible window close instruction contact and instructs the motor to reverse, but
When pushed even harder, the flexible window closing instruction contact contacts the movable contact and another stop instruction contact, instructing the motor to stop.

The S/R borders 18 and 19 are attached to the keyhole of the driver door, and when the unlock key is inserted into the keyhole and turned in the locking direction, the switch 18 is closed and the microcomputer 9 is connected to the window of the driver rear door. Instruct to close. When the unlock key is inserted into the key hole and turned in the unlock direction, the switch 19 is closed and the microcomputer 9 is instructed to open the driver's rear door.

The microcomputer 9 performs initialization in response to power-on, detection of the limit position and current position in response to the closing of the switch 10, reading of the operation of the window positioning instruction switches 11-19, and window control instructed by the switch operation. There is a built-in program to do this. The outline of the control operation according to this program is as follows.

A. When power supply Vcc is applied, input/output ports and internal registers (including those for counting and flags) are initialized. The output port is set to the state where all motors are stopped.
do.

B. Window control instruction (input port R15=H: switch 10
Close). When R15=H or R15=
When it becomes H, it waits for the window opening/closing instruction switches 11 to 19 to be operated. When a switch is operated, detection of the limit position and current position and decoding of the switch operation are started.

C0 limit position detection and current position detection are first performed for the side window electric drive mechanism associated with the switch operated first, and while this is being executed, operations of other switches are not read. However, the stop instruction from the switch 11 is always read, and when the instruction is given, the motor is stopped and the processing state up to that point is cleared. When limit position detection and current position detection are completed, positioning flag Ei
(i is assigned to the target window). This flag is held while the power supply Vcc is turned on. When the flag is set, limit position detection and current position detection are not performed, and window opening/closing control is performed to position the window glass at a position according to the result of decoding the switch operation.

D. Decoding of key switch operation begins in response to the start of switch operation, and the same switch is repeatedly closed.

Decipher the opening mode and determine the degree of opening and closing of the window (fully open, 173 open,
112 open, 2/3 and fully open) instruction data is created and set as the target value.

E. Since the drive speed of the glass 2 is relatively slow, the motor drive starts from the starting point of the switch operation, and when the switch operation is decoded within a predetermined time, the motor drive continues until the actual position of the glass reaches the target position. Continue. If the code cannot be decoded within a predetermined time, the motor is stopped.

F. Switches 11 to 17 are assigned to each of the controlled windows, so one of the input ports KO~ and one of the output ports PO~ correspond to the operated switch.
Select one of the rotary encoder Hall IC units 1 to 6 of the rotary encoder connected to the motor to be driven.
1 to read and a resistor r connected to the motor.
Set to A/D conversion reading, and depending on the switch No. and which side (up side, down side) it is closed, identify one of the output ports 00 to 07 and set it to high level H. do.

G. When the motor is set to drive in step F above, the current position is determined by determining the up count (forward rotation; glass rise) or down count (reverse rotation; glass rise) in the rotation direction of the motor, and counting the output pulses of the Hall IC unit. The motor current is A/D converted to monitor the load, and the range of movement of the glass is determined from the current position, the reference data assigned to that range is read from the internal ROM, and the Δ/D conversion data is converted. Compared to this, the motor is stopped when there is an overload. Furthermore, when the current position matches the target position, the motor is stopped.

In reading the above-mentioned key switches, the groups of switches 11 and 18 and 19 and the groups of switches 12 to 17 are read in a time-division manner. In other words, the registers 21 and 22 are turned on alternately, and when register 21 is on, input capo-1-RO-R5 is assigned to read the operation data of switches 11, 1, 8, and 19, and when register 22 is on, Input ports RO to R5 are assigned to read operation data of switches 12 to 17.

Table 1 shows the correlation between the operations of the switches 11 to 19, the status of the input/output ports, and the contents of the instructions. In the case shown in Table 1, N
o, 1 to 12 appears on the human-powered boat RO to R7, the microcomputer 9 starts reading the switch operation mode and refers to the reference point setting flag E (see Table 7). If the corresponding base point setting plug E is not up, the process proceeds to base point determination, and if it is up, the process proceeds to window opening/closing control. In switch operation mode, first
The inputs of 1 to RO to R7 are read and the data Δ shown in Table 2 is stored in the register. This data A is held until the base point setting or window opening/closing control is completed, but if the switch input
Clears the window control flag when not in the specified mode,
The window opening/closing control then stops. When starting point determination is in progress, data A is not cleared and reference point determination does not stop.

When the power is turned on and the switch 10 is closed, if base point determination is executed once for each window, even if the switch 10 is opened or closed while the power is turned on, a flag E indicating that base point determination has been completed will be set. is not cleared and base point determination is not performed again.

During switch operation reading (input reading), the microcomputer 9 monitors the switch operation and creates data B (see Table 3). If this data B indicates the switch operation mode shown in Table 4, that is, one of the data Ba Bc in Table 3, the switch operation reading (input reading) is terminated and base point setting control or window opening/closing control is performed. dedicate to.

If data B is not a predetermined value (data Ba-Bc), the window control flag is cleared, control is stopped, and data B is cleared if it is window opening/closing control, as described above. If it is base point determination control, data B is cleared, but control continues.

When the base point determination is completed, base point data D (see Table 6) corresponding to data A is stored in a register. That is,
In the case of base point determination in response to the up or down operation of the switch 11, the base point data Dd is used, and in the case of base point determination in response to the up or down operation of the switch 15, the base point data D is used.
a, the base point data Dab in the case of base point determination in response to the up or down operation of the switch 16, and the switch 1
In the case of base point determination in response to the up or down operation of No. 7, the base point data Ddb is stored in the registers assigned to each (see Table 6).

While the motor is being driven, the current position data is stored and updated in the current position register (see Table 5) assigned to the motor (window of each seat). That is, Paul IC Uni 7
F (6d * 6 a t 6 d b v 6
one of the ab and the one corresponding to the drive motor) has an output of 1
Every time it changes from 1 to 1 or vice versa, the normal rotation bias is 4.
The contents of the current position register are updated in 1 increment mode, and in 1 decrement mode if reverse bias is applied.

Table 2 Data A Table 3 Data B Table 4 Data Ba Switch operation mode data that was closed again after more than 1 sec had passed since the knee was closed. Bb Within 1 sec after the knee was closed. Switch operation mode data Bc The switch closed again within I sec after being closed once, and then closed again within 1 sec. , the switch operation mode was closed again after 1 sec or more had elapsed. Table 5 Current position data C Driver door window position data Cd: 8 bit Passenger door window position data Ca: 8 bit Driver rear door window position data Window position data Cd b: 8 bits Passenger seat rear door window position data Ca b:' 8 bits Table 6 base point data D Driver door base point data Dd 1st position data Ddl: 8 bits 2nd position data Dd2: 8 bits ]-Third position data Dd3: 8-bit passenger door base point data Da.First position data Da1: 8-bit second position data Da2:8 pin 1-3rd position data Da3:8-bit driver rear door base point data. Ddb 1st position data Ddb 18 bits 2nd position data Ddb2: To 8 pins 3rd position data Ddb3: 8 pins 1 ~ Passenger seat rear door base point data Dab 1st position data Dabl: 8 pins 1 ~ 2nd position data Dab2 : 8-bit 3rd position data Dab3: 8-bit Note: The 0th position is the fully closed position and the data indicates the value O, so it is not stored in memory.

The third position is the fully open position.

Table 7 Base point determination flag E Driver door base point determination flag Ed: 1 bit Passenger door base point determination flag Earl bit Driver rear door base point determination flag Edb: 1 bit Passenger rear door base point determination flag Eab: l bitNote : This base point determination flag does not indicate that base point determination has been completed. The base point determination flag F indicates that base point determination is in progress.

Table 8, Figures 6a to 6c show the control operation (main flow) of the microcomputer 9 mainly for reading switch inputs,
FIGS. 7a to 7d show the control operation (subflow) for determining the reference point, and FIGS. 8a and 8b show the window opening/closing control operation (subflow). The control operation of the microcomputer 9 will be explained in detail below with reference to these drawings.

Reference is first made to FIG. 6a. When the microcomputer 9 is powered on (Vcc), it initializes the input/output ports and internal registers.

The output port is thereby set to all motors stopped.

Next, the signal level of input capo-1-R15 is read, and if it is low level (if switch 10 is open), wait until it becomes high level H. Therefore, when the switch 10 is open, automatic control of window opening/closing is not performed.

When the input capo-h'R15 is set to 1, or when it becomes 1, the microcomputer (hereinafter simply referred to as microcomputer) 9 sets a short dt timer (dt Timer: This is a program timer, and when one pulse arrives at the interrupt input terminal R14, it interrupts by 1-up and returns, and when the set count value (set time limit) is reached, it sets a tie 11 over flag and returns. 1-C, proceed to step 4 and below.

In step 4, set data of output port R6 (to
: Switch 11.18.19 Group reading, L: No reading of the group), and if H, input capo-1-
Read the R2 and R3 signals, and if either is true, step 7
Proceed to step 8 to stop all motors (set L to all output capo-lo-o~07), and in step 8, check the status data set up to that point, which no longer matches the current situation due to the interwoven stop of the motors. Clear everything.

As will be described later, each time the cycle program is executed, the process returns to step 4, so if the switch 11 is pressed strongly (deeply) in the up or down direction, no matter what state the control is in, all The motor is considered stopped. Therefore, if the driver senses that something is wrong with the window drive, he or she can forcefully press the switch 11.

Note that the switches 11 to 14 are mounted on the driver door, and the switches 15 to 17 are mounted on the passenger seat door, the passenger seat rear door, and the driver rear door, respectively, in that order.

Now, going back to step 4 and continuing the explanation, if (R6=H, R2 or R3=L) is not the case, proceed to step 5, and in step 5, the key-in reading stop button indicating that the key-in reading has already been completed. Check whether there is a "flag". This flag indicates that, after key-in reading and decoding of key operations, a corresponding control operation is about to be started or is being started. There are two control operations: base point determination and window (opening/closing) control.
When there is a [key-in reading stop flag] and a reference point setting flag, the reference point setting control is set, and if there is no reference point setting flag, the window control is set. Therefore, if there is a "key-in reading stop flag", the process proceeds to step 6, and if there is a reference point setting flag in step 6, the process proceeds to step 51, which is the reference point setting control, and if there is no reference point setting flag, the process proceeds to step 71, which is window control.

Returning to step 5 again to continue the explanation, if there is no "key-in reading stop flag" in step 5, the process proceeds to step 9, where the dt timer status data is referred to, and if the time has not exceeded, the process proceeds to step 13. If the time has expired, the R7 set 1-flag (H is sent to the output port R7).
Check whether the R7 set flag is set (flag indicating reading of switches 12 to 17 groups). If 'f: is not present, it means that the reading period for switch 11, 18, and 19 groups has ended, so set the flag to 1 (7 seso 1 ~
Then, proceed to step 13, and in this step 13, R7
If there is a set flag, the switches 12-17 group are to be read, so the process proceeds to key-in reading of the switches 12-17 group in FIG. 6b. If the R7 set l- flag is not present in step 13, the key-in reading is for the switch 11, 18, and 19 groups, so the process proceeds to step 14 and subsequent key-in reading for the switches 12 to 17 groups in FIG. 6a.

For key-in reading of switch 11.18.19 group, output port R6 is set to H, R7 is set to L to turn on transistor 21, turn off transistor 22, and turn on input port R.
Read the signal level (H or L) of O to R5. In this reading, since the step 1 instruction (R2, R3) of the switch 11 is read in step 4 as described above, no reading is performed here. .

That is, in step 15, the signal levels of input ports RO and R1 are referred to, and if one of them is L, step 1 is executed.
Proceed to key-in reading of 6 and below, and if they are present, step 29 refers to the input capo-1 to 1 (4 and R5 signal levels, and if one of them is present, a key-in reading stop flag is set in step 64. In this case, since the key operation is performed outside the vehicle, key-in reading is stopped and window control is immediately proceeded.In steps 15 and 29, RO, R1
゜With reference only to R4 and R5, none of them I
If it is 4, the key-in flag (first key-in: set only when there is an up or down instruction for the switch 11) is referred to in step 24.

If there is no key-in flag, the process returns from step 24 to step 4, so the stop instruction of the switch 11 is not read from step 15 onwards.

As described above, once the switches 18 and 19 are closed, the window control immediately shifts to window control, and in step 170 it is determined whether switches 18 or 19 are closed without decoding the switch operation mode, which will be described later. If 18 is closed, the fully closed position W(
3rd position) data Ddb3, and if 19 is closed, full open position (0th position) data is set in the target value register in step 171 (this is the memory of the value O by clearing the target value register), so the switch 18 is closed once (R4
= L), the motor Mdb is energized until the driver rear door is fully opened, and the switch 19 is closed once (
When R5=L), motor Mdb is energized until the driver rear door is fully opened. This control flow is window control in step 71, details of which are shown in Figures 8a and 8b.

Now, going back to step 15 and continuing the explanation, if in step 15 ROorR1 = L (switch 11 is up or down), it is checked in step 16 whether or not there is a key flag. Set the 1 sec timer (same as dt timer) and 5 sec timer (same as dt timer), and set the upper 2 bits B5-1-82 of data B (see Table 3). 1 count up Step 1
7-20), in step 21 of FIG. 6c, data A is created by incorporating the signal states of the input ports R7-RO at that time. Then, in step 22, the base point determination flag Ed(
(See Table 7), if it exists, the base point of the window of the driver door has already been determined after turning on the power supply Vcc, so the window control flag is set in step 70 and the window control flag is set in step 71. Proceed to window control and exit from it to return to step 4.

If the reference point setting flag Ed is L at step 22 (no reference point has been determined yet after turning on the power ■cc), the reference point setting flag Ed is set (H is stored in memory), and reference point determination begins at step 50. The base point determination flag F is set to indicate that the base point has been determined, and the process proceeds to step 51 for determining the base point, and then returns to step 4.

Returning to step 4, proceed to step 16 in the same way as above, but this time there is a key flag, so step 16
-30-. 28-6, and from step 6, proceed to step 51 or 71, and then proceed to step 4.
Step 4-5-9--13-14-15-16-30
-Cycle through the loop 6-51 or 71-4. If the switch 11 is opened once within that period, the process proceeds to step 29-24-26 in step 15, and the key-off flag is set to the middle position in step 27, and then in step 28-6-51 or 71-4-5. -9-・-13-14-15-29-2
Cycle through the loop of 4-26-28. If the switch 11 is closed again within that time, step 15-16-
30-31, and in step 31, refer to the status data of the 1 sec timer, and if the time has not exceeded, in step 32, the lower 2 bits of data B (see Table 3) are read as BO+.
Increase the old count by 1 and go to step 33 for 1 se
c timer 1- (reset) and step 6-51
Or go to 71-4-. If the time has elapsed, the upper two bits B2+84 of data B (see Table 3) are incremented by 1 in step 34, the key-in flag, key-off flag, and timer are cleared in step 35, the key-in reading is completed, and the data is B as a condition table (R
If data B is in the condition table (step 36), the key-in reading stop flag is set in step 37, target position data is determined based on data A and data B, and the target position data is determined based on data A and data B. Store in register. If the data B is not in the condition table, the process goes to step 173, where data B and the window control flag are cleared, and the process goes to step 6. If there is a base point determination flag, the process goes to step 51, and if there is no base point determination flag, the process goes to step 174 and then to step 7. Proceed to.

With the above key-in reading, key-in reading is completed and key-in reading is stopped only when data B is data Ba, Bb, or Bc shown in Table 3, that is, only when the key-in operation is in the mode shown in Table 4. The flag is set to zero. When the key-in operation mode is other than these, the key-in is ignored, and when the window opening/closing control is in progress, the motor is stopped through a loop of steps 173-6-174-7. Since the base point determination flag is not cleared, base point determination continues.

The above-described reading of the up-closed and down-closed states of the switch 11 and the parallel reference point setting control or window opening/closing control are performed in the same manner in response to the up-close and down-close of the switches 12 to 17. The read control flow is shown in FIG. 6d.

Note that the target position data is set as follows.

(1) Data B = Ba (see Table 3) When data A is an up instruction (RO, R2 or R4 = L), the target position data co-sets the third position data (see Table 6) and a down instruction (R1, When R3 or R5 = L), target position data =
Set the Oth position data (target position register clear).

(2) Data B = Bb (see Table 3) When data A is an up instruction (RO, R2 or R4 = L) and a down instruction (old, R3 or R5 = L), the target position data co 3rd position Data (see Table 6)
The data is set to indicate the value of 172.

(3) Data B = Bc (see Table 3) When data A is an up instruction (RO, R2 or R4 = L), the target position data is changed to data indicating 1/3 of the value of the third position data. Instructions (R1, R3 or R5=
L), the target position data is 273 of the third position data.
Make it data that shows the value of .

Next, the "base point determination J control" shown in FIGS. 7a to 7d will be explained. When base point determination is started, the process proceeds to steps 75 to 82 to set input port 1 through steps 72 and 74. In this input port set, , with reference to data 8, if R6 is H (in Table 1, Nos. 1 to 6 are included, but since nos. 3 to 6 are not included in base point determination, cases Nos. 1 and 6 are included). 2), set the current position register (register that memorizes the window opening/closing position: see Table 5)) to the Cd register applied to the motor Md, and set the register that memorizes the base point to the Dd register (see Table 6). (step 76), and sets the register cellar 1 flag (step 76).
Step 82). When R6=H, this means that R7=H in this case, and switches 15-1
7 has been operated, go through step 77 or 79, and if RO or R1=L (switch ■5 closed), the current position register is set as Ca register and the base point register is set as Da register. .

When R2 or R3 is L (switch 16 is closed), the current position register is set as the Cab register and the base point register is set as the Dab register. When R4 or R5 is set (switch 17 closed), the current position register is set to C.
The base point register for the db register is the Ddb register. In either case, the register set flag is set to cell 1, and the number of times counter (register) is set to 3 in step 83.

Then, the process proceeds to steps 84 to 9o, the motor drive cellar 1-.

In the motor drive set, set the input port (one of K3 to KO) corresponding to data 8 to read the rotation signal, and set H to the output port -1 to (one of θ. to 07) corresponding to data A. In accordance with data A, if the rotation is forward, the forward rotation flag is set to zero, and if the rotation is reverse, the forward rotation flag is cleared.

For example, when the data A indicates that the switch 11 is closed, the rotation signal reading is set to 3 on the boat and up is instructed (RO=
Set H to L) and 0°, set the motor Md to forward rotation bias, set the forward rotation flag to Sera 1, and when down is instructed (RO=H, that is, R]=L) 1 to ol
( is set, the motor Md is set to reverse rotation bias, the forward rotation flag is cleared, and the process proceeds to step 91. The same applies to setting the bias for other motors.

In step 91, the input level (l or L) of the rotation signal input port Ki is stored in the polarity register, and in step 92, the protection timer and mask timer are set to zero. These timers are also similar to the dt timer.
This is a program timer that counts up with an interrupt.

Note that the protection timer is set for a time slightly longer than the time it takes for the mechanism to move normally after motor energization starts, and by the time this timer times out, the rotation signal input port Ki If the signal level does not change (<if & the structure does not move), it is determined that there is an abnormality and the motor is stopped. The mask timer sets the time from the start of energizing the motor until the motor current drops to a steady level, and after this timer exceeds tie 11, overload detection, which will be described later, is started.

Now, if the signal level of Ki does not change before the protection timer times out, the motor is stopped through steps 93 and 94, and in step 96, the reference point setting flag of the window (motor) for which the reference point was to be determined is set. Clear and
Other status data are also cleared and the process returns to step 4 of the main routine.

If the signal level changes from baud 1- to + before the protection timer times out, the process advances to step 97 to update the position data, and if there is a forward rotation flag, the contents of the current position register are incremented by 1 to 1, and the forward rotation is started. If there is no flag, the contents of the current position register are decremented by 1. Then, a drive initial flag indicating that the motor drive has started is set to the cellar 1.

At this point, the process returns to the main routine, performs key-in reading once, goes through step 6, and returns to base point determination. This time, since there is a register cell 1 flag, the process proceeds from step 74 to step 98 (Fig. 7c). If the signal level of the rotation signal input port Ki has not changed, the process returns to the main routine and performs one cycle of key-in reading. The process returns to base point determination via step 6. If the signal level of Ki is changing, the position data is updated in step 99, and in steps 100 and 101 it is checked whether or not the motor starting period has elapsed. If there is a drive initial flag, it is cleared, and the process proceeds to step 103, where A/D conversion of the motor load is performed. If the startup period has not elapsed, the process returns to the main routine, performs one cycle of key-in reading, goes through step 6, and returns to base point determination.

When the A/D conversion is completed in step 103, the motor rotation direction is referred to in step +04, and if there is no forward rotation flag, it is a sudden descent, so the A/D conversion data reference data ■. (See Table 8) When ■ is 1° or more, the window glass reaches the fully open position, so the current position register is cleared (
The 0th position data is memorized), the motor is stopped, the motor is set to normal rotation, the motor is returned to the main routine via initial motor drive control, the key-in reading is performed once, and step 6 is executed. Return to determining the base point.

When there is a forward rotation flag, compare the A/D conversion data with the reference data I2 (see Table 8), and if ■ is greater than I2, it means that the window glass has reached the fully open position, so step Proceed to step 117 to stop the motor. If ■ is less than 12, A/D conversion data ■ is used as reference data l2f (8th
(see table), and when ■ becomes I2f, step 124
Proceed to.

When starting the base point setting with the motor reversed, when the window glass reaches the fully open position (0th position), the current position register is cleared and the motor is set to forward rotation (steps 105 to 109). Returning to the routine, the key-in reading is performed once, and the process returns to step 6 to determine the base point. And now steps 104-110-123
When the window glass hits the weather strip, the base point register D is passed through step 124 and then step 128.
(See Table 6), the value obtained by subtracting the error tolerance d1 from the contents of the current position register is memorized as the first position data,
In Steps 129-130-131-132, set the content of the number counter to 2, stop the motor once, then set the energizer to reverse rotation this time, return to the main routine, perform one cycle of key-in reading, and go through Step 6. Then go back to determining the base point. Next, in steps 104 to 109, the window glass is lowered to the fully open position, the motor is set to normal rotation, the main routine is returned, the key-in reading is performed once, and the reference point is determined again via step 6. Return to Next step l 04-110-123-124-125-12
In step 6, the glass position when the window glass hits the weather lip (contents of the current position register - dl) is compared with the previously memorized first position data, and if they match, the number counter is set in step 127. The content is set to 1, the process returns to the main routine, performs one cycle of key-in reading, and returns to base point determination via step 6. Then, this time, while driving the motor in normal rotation, step 104-123-12
4-125-Main Routine--When step 110C-] becomes 112 or more (fully opened) after going through 104, the process proceeds to step 111, and steps 112-113-1
At 14, the mechanism is virtually stopped (YES at 114)
If the motor is stopped (No at 114), the motor is stopped (step 115), and the second
The value obtained by subtracting d2 from the contents of the current position register is stored as the position, and the data of the current position register is stored as the third position. Then, the process proceeds to step 120, where the base point determination flag is cleared (base point determination is completed), and the process returns to the main routine. If the mechanism is not substantially stopped in step 114, the motor is stopped in step 117, and a value obtained by subtracting d2 from the contents of the current position register is memorized as the second position in the base point register in step 119 via step 118. The data of the current position register is memorized as the third position. Then, in steps 130-131-132, the motor is reversed, and the main routine is returned to for key-in reading of 1.
Then, go back to step 6 and return to base point determination.

Then, in steps 104 to 109, the motor is stopped and forward rotation is made to the cylinder 1, and the main routine is returned to the key-in reading for one cycle, and the process is returned to the reference point setting via step 6. In step 110, the motor is moved to the fully closed position. Then, the second
and memorize the third position data. Then, step 114 becomes YES or step 118 becomes YIE.
Repeat this until you reach S. In addition, when starting the base point determination from normal rotation of the motor, first step 104-110-
Proceed to 123. The other steps are the same as those described above when starting from the reverse to determining the base point.

The reference point determination described above allows the windows to be repeatedly opened and closed in order to determine the accurate limit position and load variation position for each window in its current state. Therefore, due to the slow opening/closing speed of the window, the predetermined key-in operation has already been completed by the time the reference point is determined. When this is the predetermined mode, the key-in stop flag is set to 1- as already explained, so when the base point setting is finished and the main routine is returned, there is no base point setting flag, so window control is performed again in step 121. Since the flag is set to +-t, step 5-6 of the main routine
-174, the process proceeds to window control, and in the window control described later, the window glass is driven to the position instructed by key-in. If the key-in is not in a predetermined mode, there is no key-in reading stop flag, so window control does not proceed.

Next, window control will be explained with reference to FIGS. 8a and 8b. When entering "window control", steps 133-134-
135-136-137-138-139-140~1
At step 44, the motor drive is set, the drive initial flag is set, the input/output ports are set, and if one mechanism does not move, the motor is stopped.

Then, the process returns to the main routine, performs one cycle of key-in reading, and returns to window control via step 6. When the mechanism moves and returns to window control from the main routine, steps 133-134-145-146-147-148-
149-150 and set the motor drive flag to Sera 1~
Then, the initial drive flag is cleared, the process returns to the main routine, one cycle of key-in reading is performed, and the process returns to window control via step 6. This time step 133 151-]5
3-154-155, the current position data (contents of the current position register) is updated every time the input of Ki to the input capo-1 changes, and the motor current is A/D converted. In steps 156 to 163, when the current position is in the range from the 0th position to the 1st position, ■ is used as the reference data I
+ (See Table 8 and Figure 3a), ■ is 1
If it is 1 or more (abnormal load), the process proceeds to step 7 to stop the motor, and if not, the contents of the current position register are compared with the contents of the target register, and if they match, the process goes to step 175, and if there is a key-in reading stop flag (already (If key-in reading is completed and target position data is set)
Proceed to Step 7 to stop the motor, but if the current position has not reached the target position, or if there is no key-in reading stop flag (the target position data has not been let because the key-in reading has not yet been completed), the main The process returns to the routine, performs one cycle of key-in reading, and returns to window control via step 6.

When the current position is in the range from the first position to the second position, ■
is compared with l2f (see Table 8 and FIG. 3a), and if ■ is greater than or equal to l2f, the process proceeds to step 7 where the motor is stopped; otherwise, the process proceeds to step 158.

When the current position is in the range from the second position to the third position, the window glass has already penetrated deeply into the weather lip and is almost fully open, so change ■ to 12 (Table 8 and 3a
(see figure), if ■ is 12 or more, it is assumed that the glass is in the fully open position and the process proceeds to Step 7 where the motor is stopped; otherwise, the process proceeds to Step 158.

The maximum stroke of window drive in window control is the value indicated by the third position data, and the minimum stroke is 1/1 of that.
3, and the window drive speed is slow.

Key-in reading is completed at the beginning of 1/3 stroke driving. Therefore, when the key-in is performed normally, the window glass is positioned at the instructed opening degree. If the key-in is unsuccessful, the window control flag is cleared in step 173, so the main routine proceeds from step 174 to step 7, motor stop, where the motor is stopped.

In the above embodiment, overload detection and reaching the limit position are performed by comparing the motor current with fixed data stored in the ROM in advance. The normal motor current is memorized and the tolerance value is added to it as reference data.The normal motor current is accessed and read out using the current position data, and the Kl (capacity value is added to this reference data). Create a value and compare it with the current motor current, and if the current motor current is smaller than the reference value, it is considered normal and the current motor current is updated to the non-volatile reading semiconductor memory. good.

In addition to the motor current, the pulse period or frequency of the rotary encoder may be used as the calculated load value.

In any case, in the present invention, when a predetermined condition is met, limit position detection is automatically started, and the limit position determined by the state of the mechanical system at that time is updated and stored, so that position control for automatic window opening/closing is possible. It is accurate and does not cause misalignment.

In the above explanation, a side window was illustrated, but the present invention is not limited to that window, but is applicable to an electric sun roof, an electric seat window 1 to 1. It can be applied to any on-vehicle electric mechanism such as electric mirrors, electric steering (up/down, tilt adjustment, etc. are electric!! II), etc.

[Brief explanation of drawings]

FIG. 1a is a side view of a mechanical part of an embodiment of the present invention,
This figure shows an electric window opening/closing mechanism for the passenger seat of a car. FIG. 1b is an enlarged perspective view of a part of the electric window opening/closing mechanism, and FIG. 1c is a plan view. 2a, 2b, 2c, and 2d are partial cross-sectional views showing the relationship between the window glass 2 and the weather strip 8. FIG. Figure 3a is a graph showing the energizing current of the electric motor that drives the window glass 2 when the window glass is raised;
The figure is a graph showing the relationship between the current and the motor load. Fig. 4a is a block diagram showing the configuration of an electrical control system that reads switch input and controls the energization of the electric window opening/closing mechanism; Fig. 4b is an electrical circuit diagram showing a constant voltage power supply circuit that supplies voltage Vcc to the electrical control system; FIG. 4c is a perspective view showing the appearance of one of the window opening/closing instruction switches 11 to 17 shown in FIG. 4a, and FIGS. 5a, 5b, 5C, and 5d are the steady state and operating state of the switch. FIG. Figures 6a, 6b, 6c, and 6d are
FIG. 7a is a flowchart showing the key-in reading operation of the microcomputer 9 shown in FIG. 7a. FIGS. 7b and 7c are flowcharts 1--1 showing the reference point determination control operation of the microcomputer 9 shown in FIG. 4a.
5. FIGS. 8a and 8b are flowcharts 1-- showing window opening/closing control operations of the microcomputer 9 shown in FIG. 4a.
It is. 1: Passenger door 2: Window glass 3: Link arm 4: Sector gear 5: Worm wheel assembly 6a-6d: Holumi C unit 78-7d: Ring-shaped permanent magnet 8: Weathers 1-Lip 9: Microcomputer ( 0: Automatic window control setting switches 11 to 17: Window positioning instruction switch 1B, 19 key operation response switch Mb, Ma
, Mab, Mdb: Window glass drive motor r; Motor current detection resistor 23: Constant voltage power supply circuit Patent applicant Aisin Seiki Co., Ltd. Fig. 4b Fig. 23 East Fig. 58 Fig. 5b Fig. 5c (Gu/Sui TTE ON) 4th c〆5d flash (徨°1

Claims (5)

[Claims] (1) Support means for movably supporting on-board equipment; electric drive mechanism for driving on-board equipment; a moving signal generator for generating an electrical signal that produces a level variation; an electric driver for energizing the electric motor of the electric drive mechanism; means for detecting the load of the electric motor; switch means for directing activation of the electric drive mechanism; When a predetermined condition such as the power is turned on or a predetermined switch is operated, the electric motor is activated to drive in forward and reverse directions to obtain movement limit position information of the onboard equipment; in response to the operation of the switch means, the electric motor The controller instructs the electric motor to move, monitors the level change of the electric signal during energization, obtains position information from the movement limit position information, the rotational direction of the electric motor, and the number of level changes, and stores the position information in the semiconductor memory. There is,
An on-vehicle electric vehicle comprising: an electronic control device that reads reference data associated with the position, compares the load of the electric motor with this, and stops the electric motor when the load exceeds a predetermined value determined by the reference data. Equipment drive control device. (2) The reference data associated with the positions include data that is referenced while the onboard equipment is moving between the first limit position and the constant load fluctuation position, and data that is referred to while the onboard equipment is moving between the first limit position and the constant load fluctuation position, and data that is referred to while the onboard equipment is moving between the first limit position and the constant load fluctuation position. 2. Things to refer to while on-board equipment is moving between the limit position and the limit position.
The electronic control unit drives the electric motor in the forward and reverse directions in response to the establishment of a predetermined condition, such as turning on the power or operating a predetermined switch, to move the on-board equipment to its limit position. The on-vehicle electric equipment according to claim (1) obtains constant load fluctuation position information that causes a load fluctuation smaller than the load fluctuation of the electric motor at the limit position of the on-board equipment while obtaining the information. Drive control device. (3) The electronic control device instructs the electric motor to be energized in response to the operation of the switch means, monitors changes in the level of the electric signal during the energization, and determines movement limit position information and the rotational direction of the electric motor. Obtain position information from the number of level changes, read reference data stored in the semiconductor memory that is associated with the position, compare the load of the electric motor with this, and set the load to a predetermined value determined by the reference data. When the limit position is exceeded, the electric motor is stopped energized, and when the position information matches the limit position, the electric motor is stopped energized. Control device. (4) The electronic control device does not perform the comparison for a predetermined time from the start of energization of the electric motor, but performs the comparison after a predetermined time. Drive control device for on-board electric equipment. (5) The on-vehicle electric motor according to claim (1) or (2), wherein the means for detecting the load of the electric motor is a resistor inserted in the energizing current loop of the electric motor. Equipment drive control device.