JPS61286484A - Electric controller for door open-close system for car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a vehicle door opening/closing system, and particularly to a vehicle door opening/closing system that can be opened and closed laterally along the entrance/exit of a vehicle such as a wagon or a bus. The present invention relates to an electric control device for a vehicle door opening/closing system in which opening/closing of a door provided therein is controlled by a rotary electric motor.

[Prior art]

Conventionally, this type of device includes a rotation speed detector that detects the rotation speed of a rotating electric motor, and a resistor connected between the rotating electric motor and a power source, as shown in Japanese Patent Application Laid-Open No. 58-69980. During the door opening (or closing) operation, when the rotation speed detector detects that the rotation speed of the rotary motor is lower than the reference value and the door opening (or opening) speed has become small, the resistor is short-circuited. The power from the power source is applied directly to the rotating motor, increasing the rotational speed of the rotating motor to increase the opening (or closing) speed of the door. Opening (or closing) the door at a higher height
When the rotation speed detector detects that the speed has increased, the short circuit is released and power from the power source is applied to the rotary motor through the resistance, reducing the rotation speed of the rotary motor and opening the door. The opening (or closing) speed of the door is reduced so that the door opens (or closes) smoothly and at a predetermined speed.

[Problem that the invention seeks to solve]

However, in the conventional device described above, when the vehicle is stopped on a slope and the door is opened (or closed) by moving in the direction supported by gravity, the door's own weight will cause the door to open (or close). Since it acts to increase the speed, the opening (or closing) speed of the door that overshoots to a higher side than the reference value based on the short circuit will not return to the reference value immediately even if the short circuit is removed. , and the opening (or closing) speed of the door, which undershot to a lower side than the reference value based on the release of the short circuit, immediately returns to the reference value due to the short circuit. As a result, the temporal change in door opening (or closing) speed will periodically fluctuate around a value slightly higher than the reference value, so the average opening (or closing) speed of the door will increase. ,
When the opening (or closing) of the door is completed, the impact between the door and its frame becomes large, and the door or its frame may be damaged or the impact may generate a loud noise.

On the other hand, when opening (or closing) the door by moving it in the direction opposite to gravity, the weight of the door acts to reduce the opening (or closing) speed of the door, so, contrary to the above, The opening (or closing) speed of the door, which overshoots to a higher side than the reference value based on the above short circuit, will be reduced by the release of the above short circuit.
The opening (or opening) speed of the door, which has already returned to the reference value and undershot to a lower side than the reference value based on the release of the short circuit, does not immediately return to the reference value even if the short circuit is performed. As a result, the temporal change in door opening (or closing) speed will periodically fluctuate around a value slightly lower than the reference value, so the average opening (or closing) speed of the door will become smaller. There is a problem that the time required to open (or close) the door becomes unnecessarily long.

In order to deal with such problems, an object of the present invention is to provide a part of the vehicle body with a tilt angle detection means for detecting the tilt angle in the opening/closing direction of the door, and to determine whether the door is opened (or closed) based on the detected tilt angle. ), the opening (or closing) speed of the door can be increased by setting the reference value larger than when the direction of movement is in a direction that is assisted by gravity. Another object of the present invention is to provide an electric control device for a vehicle door opening/closing system that eliminates the influence of gravity on time.

[Means for solving problems]

In solving this problem, the structural features of the present invention are as follows:
As shown in FIG. 1, a door 1a is provided at a vehicle entrance and is equipped with a rotary electric motor 1b that opens the door 1a by rotating in one direction and closes it by rotating in the other direction. an operating means 2 which is used in an opening/closing system and is operated when the door 1a is opened or closed to generate a first operating signal when opening the door 1a and generate a second operating signal when closing the door s1a; A power source connected through a resistor 3a so as to enter a first drive state in response to a signal and rotate the rotary motor 1b in one direction, and to enter a second drive state in response to a second operation signal to rotate the rotary motor 1b in the other direction. 3
a drive means 4 for allowing power to be supplied from the rotary motor 1b to the rotary electric motor 1b; a rotation speed detection means 5 for detecting the rotation speed of the rotary electric motor 1b; Bypass power supply means 6 that bypasses and allows power supply from the power source 3a to the rotary motor 1b.
An electric control device comprising: an inclination angle detection means 7 provided in a part of the vehicle body to detect the inclination angle in the opening/closing direction of the door 1a; and generation of a first operation signal or a second operation signal by the operation means 2. In relation to this, when the direction of movement of the door 1a when opening and closing is in a direction supported by gravity based on the detected inclination angle, the reference rotation speed is set to a first value, and the direction of movement is in a direction opposite to gravity. A reference rotation speed setting means 8 is provided for setting the reference rotation speed to a second value larger than the first value when the rotation speed is .

[Effect]

When the vehicle is stopped on a slope and the door 1a is opened (or closed) by moving in the direction supported by gravity, the inclination angle detection means 7 detects the inclination angle of the door 1a in the opening/closing direction, and the reference rotation is detected. The number setting means 8 sets the reference rotation speed to a first value based on the detected tilt angle under the generation of the first operation signal (or second operation signal) by the operation means 2. On the other hand, when closing (or opening) the door 1a by moving it in a direction that opposes gravity, the reference rotation speed setting means 8 controls the second
The reference rotation speed is set to a second value larger than the first value based on the detected tilt angle under the generation of the operation signal (or the first operation signal). When the rotational speed of the rotary motor 1b detected by the rotational speed detection means 5 is lower than the set reference rotational speed, the bypass power supply means 6 bypasses the resistor 3a and supplies the electric power from the power source 3b to the rotary motor 1b. by increasing the rotational speed of the rotary electric motor 1b, and increasing the rotation speed of the rotary electric motor 1b.
When the rotation speed of b becomes higher than the set standard rotation speed,
The bypass power supply means 6 prohibits power supply that bypasses the resistor 3a and lowers the rotation speed of the rotary electric motor vi1b, so when the door 1a is moved in the direction assisted by gravity, the rotation speed of the rotary electric motor 1b is the first. On the other hand, when the door 1a is moved in a direction opposing gravity, the rotation speed of the rotary motor 1b changes based on a second value that is larger than the first value. The difference between the first value and the second value as the reference rotation speed causes the door to move in the direction supported by gravity.
The average opening/closing speed of the door 1a becomes faster based on the above-mentioned overshoot when moving the door 1a to open/close it, and the average of 5ikla becomes slower based on the above-mentioned undershoot when the door 1a is opened/closed by moving the door 1a in a direction that opposes gravity. Since the speed difference between the opening and closing speed is corrected, the door 1a of a vehicle stopped on a slope
Even when opening and closing the door 1a, the opening/closing speed of the door 1a is approximately constant, so that when the opening and closing of the door 1a is completed, the impact between the door 1a and its frame can be reduced, and the opening and closing time of the door 1a is unnecessary. It doesn't get too long.

〔Example〕

Hereinafter, one embodiment of the present invention will be explained with reference to the drawings.
3 and 3 show an example in which the electric control device according to the present invention is applied to the opening/closing mechanism 20 of the bus riverbed 10, and the door 1
0 is disposed at an entrance provided on the side wall of the bus so that it can be opened and closed in the front and rear directions along the entrance. Opening/closing mechanism 2
0 is equipped with a stepped drive shaft 21 that is vertically installed on a part of the floor surface of the bus, and this drive shaft 21 has a support arm that extends horizontally from a part of the inner wall of the bus. 22 and a portion of the floor surface so as to be rotatable in the horizontal direction. A pair of upper and lower connecting arms 21a, 21a extending horizontally from the large diameter portion of the drive shaft 21 are connected at each tip to an inner wall portion of the door 10 so as to be rotatable horizontally relative to the inner wall portion. This causes the drive shaft 21 to move to the second position.
In the figure, 910 is the drive shaft 21 when rotated counterclockwise.
As the door 10 rotates, the connecting arms 21a, 21a open toward the rear of the bus (towards the left in FIG. 2), and when the drive shaft 21 rotates clockwise in this state, the door 10 opens.
is closed toward the front of the bus (toward the right in FIG. 2) by the action of the connecting arms 21a, 21a. Further, the opening/closing mechanism 20 includes a large-diameter spur gear 23 pivotally supported at the lower end of the large-diameter drive shaft 21 .

A small-diameter spur gear 24 that meshes with the spur gear 23 is provided, and the spur gear 24 is integrally supported by the output shaft of a DC motor M mounted on the floor of the bus. In addition, door 1
0 is a full opening/closing mechanism (or a fully closing claw mechanism) provided on the periphery of the doorway when it is fully opened (or fully opened).
The fully open state (or fully closed state) is maintained by removable engagement with the main body.

Further, forward rotation (or reverse rotation) of the DC motor M corresponds to opening (or closing) of the door 10.

The electric control device has an operation switch 3 as shown in FIG.
0, fully open detection switch 40a, fully closed detection switch 4
0b, auxiliary detection switch 40c, and operation switch 30
The operating switch 30 is placed near the driver's seat of the bus and connected to the positive terminal of the DC power supply B via the ignition switch IG of the bus. A double-throw contact 31 and a pair of fixed contacts 32 and 33 are provided. Thus, the operation switch 30 responds to the connection of the double-throw contact 31 with the fixed contact 32 to open the first! ! ! The operation signal is generated at a high level, and in response to the connection of the double-throw contact 31 with the fixed contact 33, the second operation signal necessary for closing the door 10 is generated at a high level, and the double-throw contact 31 re-fixing contact 3
2. In the cutoff state from 33, that is, in the neutral state, the generation of the first and second operation signals is stopped.

The fully open detection switch 40a is of a normally closed type, and is opened only when the door 10 is fully opened to generate a fully open detection signal at a high level. The fully closed detection switch 40b is of a normally closed type, and is opened only when the door 10 is fully closed to generate a fully closed detection signal at a high level. The auxiliary detection switch 40c is of a normally open type, and is closed when the door 10 is closed to the position immediately before fully closed, and generates a completely closed position detection signal at a low level.

The relay 50 has an electromagnetic coil 51 and a double-throw switch 52, and the double-throw switch 52 connects the double-throw contact 52a to the fixed contact 52 by excitation (or demagnetization) of the electromagnetic coil 51.
b (or 52c).

In such a case, the double-throw contact 52a is connected to the first input terminal of the DC motor M, and the fixed contact 52b is connected to the load resistor 90.
It is connected to the positive side terminal of the DC power supply B through the terminal, and the constant contact point 52c on one side is grounded.

The relay 60 has an electromagnetic coil 61 and a double-throw switch 62, and the double-throw switch 62 changes the double-throw contact 62a to the fixed contact 62b by excitation (or demagnetization) of the electromagnetic coil 61.
(or 62c).

In such a case, the double-throw contact 62a is connected to the second input terminal of the DC motor M, and the fixed contact 62b is connected to the load resistor 90.
It is connected to the positive side terminal of the DC power supply B through the terminal, and the constant contact point 62c on one side is grounded. The relay 70 has an electromagnetic coil 7
1 and a normally open switch 72 that is closed (or opened) by the excitation (or demagnetization) of the electromagnetic coil 71, and the switch 72 is connected in parallel to a load resistor 90.

The relay 80 includes an electromagnetic coil 81 and an electromagnetic coil 81.
It has a normally open switch 82 that is closed (or opened) by the excitation (or demagnetization) of the load resistor 90. It is connected.

Further, the electric control device includes a pair of inverters 100a, 1
00b and a pair of negative AND gates 110a, 1
10b (negative logic NAND gates 110a, 110b
), the negative AND gate 1loa has its first inverting input terminal connected to the fixed contact 32 of the operation switch 30 via the inverter 100a, while the second inverting input terminal of the negative AND gate 1loa is connected to the fully open detection switch. It is grounded via 40a. Thus, the negative AND gate 110a responds to the disappearance (or generation) of the full-open detection signal from the full-open detection switch 40a under the inverting action of the inverter 100a in response to the generation of the first operation signal from the operation switch 30. low level signal (
or a high level signal). Further, when the first operation signal from the operation switch 30 disappears, the negative AN
D gate 110a produces a high level signal. and,
The electromagnetic coil 51 of the relay 50 receives the low level signal (or high level signal) from the negative AND gate 110a.
Therefore, the electromagnetic coil 51 of the relay 50 is activated (or demagnetized) only when the first operation signal is generated from the operation switch 30 and the fully open signal from the fully open detection switch 40a disappears. It will be excited.

The negative AND generator 110b has its first inverting input terminal connected to the fixed contact 33 of the operation switch 30 via the inverter 100b, and the negative AND
The second inverting input terminal of the gate 110b is grounded via the fully closed detection switch 40b. However, negative A
The ND gate 110b goes low in response to the disappearance (or generation) of the fully closed detection signal from the fully closed detection switch 40b under the inverting action of the inverter 100b in response to the generation of the second operation signal from the operation switch 30. Generates a level signal (or high level signal). Furthermore, when the second operation signal from the operation switch 30 disappears, the negative AND gate 110b generates a high level signal. And relay 6
0 electromagnetic coil 61 is a negative AND gate 100b
Since it is excited (or demagnetized) in response to a low level signal (or high level signal) from the operation switch 30, the second operation signal is generated from the operation switch 30 and the fully closed detection switch 40
The electromagnetic coil 61 of the relay 60 is excited only when the fully closed detection signal from the relay 60 is extinguished.

Further, the electric control device includes a negative NAND gate 12
0 (negative logic AND gate 120) and speed sensor 1
30, tilt sensor 140, fixed contacts 32, 33 of operation switch 30, speed sensor 130, and tilt sensor 1
40 connected to the microcomputer 150, the negative NAND gate 120 and the microcomputer 1
50, the negative NAND gate 120 is connected at its first inverting input terminal to the output terminal of the negative AND gate 110b;
The second inverting input terminal of 20 is grounded via an auxiliary detection switch 40c. Thus, the negative NAND gate 120 responds to the generation (or disappearance) of the immediately before fully closed position detection signal from the auxiliary detection switch 40c while the negative AND gate 110b is generating the low level signal, and receives a high level signal (or low level signal). signal).

In addition, the negative NAND gate 120 has a negative A
A high level signal is generated in response to a high level signal from ND game 1-110b.

The speed sensor 130 includes a rotary magnet 131 and a rotary magnet 131 that rotate in conjunction with the DC motor M.
It has a reed switch 132 that opens and closes according to the rotation of the
A series of pulse signals having a frequency proportional to the rotation speed of the DC motor M is generated. The tilt sensor 140 is provided in a part of the vehicle body, detects the tilt angle of the vehicle body with respect to the opening/closing direction of the door 10, that is, the tilt angle of the door 10, and generates a tilt angle signal representing the tilt angle with respect to the horizontal.

In response to the arrival of the first operation signal or the second operation signal from the operation switch 30, the microcomputer 150 executes a computer program stored therein in advance in cooperation with the speed sensor 130 and the inclination sensor 140 according to the flowchart shown in FIG. During such execution, as described in the action below, the positive NOR
Performs calculation processing necessary for controlling gate 160 and relay 80. As will be described later, the positive NOR gate 150 generates a low level signal (or high level signal) in cooperation with the negative NAND gate 120 and the microcomputer 150, and excites (or demagnetizes) the electromagnetic coil 71 of the relay 70. .

The electromagnetic coil 81 of the relay 80 is connected to the microcomputer 1
It is excited (or demagnetized) by a low level signal (or high level signal) from 50. In addition, each electric element surrounded by the two-dot chain line in FIG. 3 is supplied with power from the DC power source B when the ignition switch IG is closed.

In this embodiment configured as described above, when the ignition switch IG is closed, power is supplied to the electric control device from the DC power supply B, but the operation switch 30 is
In the state shown in the figure, since the first operation signal and the second operation signal are not generated, the negative AND gates 110a and 11
0b is generating a high level signal, relay 50.6
Since the electromagnetic coils 51, 61 of 0 are not excited and the double-throw switches 52, 62 are in the illustrated state, the DC motor M is in a stationary state. At this time, the positive NOR gate 160 receives a low level signal based on the high level signal from the negative AND gate 110b from the negative NAND gate 120 at its input terminal, and receives a low level signal from the microcomputer 150 at its second input terminal. Since a level signal is input, a high level signal is generated at its output terminal, and the electromagnetic coil 71 of the relay 70 is in a demagnetized state.

Further, the electromagnetic coil 81 of the relay 80 also receives a high level signal from the microcomputer 150 and is in a demagnetized state. It is assumed that the door 10 is closed in this state.

In such a state, the operation switch 3 is pressed to open the door 10.
When the first operation signal is generated by the operation from 0, the negative AND gate) 110a activates the fully open detection switch 40.
A low level signal is generated under the inverting action of the inverter 100a in response to the first operation signal from the operation switch 30 when the full open detection signal from the operation switch 30 disappears. At this time, the negative AND gate 110b generates a high level signal under the inverting action of the inverter 100b as the second operation signal from the operation switch 30 disappears, and the negative
ND gate 120 is negative AND gate 1-110b
A low level signal is generated based on a high level signal from the auxiliary detection switch 40c and a position detection signal immediately before full opening from the auxiliary detection switch 40c. Further, the microcomputer 150 starts executing the program from step 200 in response to the first operation signal, and in step 210, the door 10 operates to open based on the generation of the first operation signal and the non-occurrence of the second operation signal. It is determined that the vehicle is in the control state, and in step 220, a tilt angle signal is input from the tilt sensor 140 to determine whether the vehicle is moving forward or upward.

If the vehicle is in a forward-upward state, the microcomputer 150 determines rYEsJ in step 220, and in step 300 sets the initial short circuit time To1 to a predetermined value tol, the first reference rotation speed Rol to a predetermined value rol, A second reference rotation speed Ro2 is set to a predetermined value ro2. In this case, since the vehicle is in a forward-upward state and the direction in which the door 10 is opened is toward the rear of the vehicle, the direction in which the door 10 is opened is in a direction that is assisted by gravity. Note that the predetermined values tol and rol.

ro2 is a relatively small value and has the relationship rol<r02. Next, in step 310, the microcomputer 150 generates a high level signal to the positive NOR gate I-160 for an initial short circuit time Tol, and the positive NOR gate 16o generates a front-level signal for the period Tol.

In this case, the t magnetic coil 51 of the relay 5o is excited by the low level signal from the negative AND gate 110a, and the double throw contact 52a of the double throw switch 52 is connected to the fixed contact 5.
2b and the low level signal from the positive NOR gate 160 causes the electromagnetic coil 71 of the relay 70 to
is excited and the normally open switch 72 is closed, so the DC motor M
Electric power is supplied from DC power supply B via 2, and normal rotation begins. Then, the spur gear 23 is rotated counterclockwise by the spur gear 24 interlocked with the DC motor M, and in response, the drive shaft 21 is rotated by its connecting arms 21a, 21a to rotate the door 1.
o begins to open to the left in FIG. 2 against the engagement force with the fully closed ivy mechanism.

The timer of the microcomputer 150 starts at step 310.
After completing the measurement of the initial short circuit time Tol, the mafri computer 150 determines the positive N in step 320.
The high level signal supplied to the OR gate 160 is switched to a low level signal, and the positive NOR gate 16
Generates a high level signal from 0. Due to the generation of this high-level signal, the electromagnetic coil 71 of the relay 70 is demagnetized and the normally open switch 72 is opened, and power from the DC power supply B is supplied to the DC motor M via the resistor 90 and the double-throw switch 52. That will happen. After the calculation in step 320, the microcomputer 150 performs the calculation in step 330.
The rotation speed N of the DC motor M is calculated by inputting a pulse signal from the speed sensor 130, and the rotation speed N is compared with the first reference rotation speed Rol. In this case, step 310 above
Since the DC power supply B and the DC motor M are short-circuited by closing the normally open switch 72 and the terminal voltage of the DC motor M is set high, the rotational speed N of the DC motor M is at a high value. For this purpose, the microcomputer 150
In the comparison in step 330, rNOJ, that is, the rotation speed N, is determined to be larger than the first reference rotation speed Rol, and the program is again advanced to step 320, and the step 320,
330 circular operations continue to be executed. During this cyclic calculation, power is supplied to the DC motor M from the DC power supply B via the resistor 90, so the terminal voltage of the DC motor M becomes low and the rotation speed N decreases to below the first reference rotation speed Rol. Then, the microcomputer 150 performs step 330.
It is determined that rYEsJ is selected, and the program proceeds to steps 340 and 350.

At step 340, the microcomputer 150 supplies a low level signal to the electromagnetic coil 81 of the relay 80,
The electromagnetic coil 81 is excited and the normally open switch 82 is closed. At this time, the DC motor M has a resistance of 90 and a resistance of 90
Since power is supplied from the DC power supply B through the parallel circuit of the resistor 83 having a smaller resistance value, the terminal voltage of the DC power supply B increases. Due to this increase in terminal voltage, the rotational speed N of the DC motor M, which has become lower than the first reference rotational speed Rol, undershoots to the lower side and then gradually increases. Then, until the rotational speed N of the DC motor M becomes high and becomes equal to or higher than the second reference rotational speed Ro2, the microcomputer 150 continues at step 350.
, 350 cyclic operations are performed. During this cyclic calculation, when the rotation speed N of the DC motor M increases and becomes larger than the second reference rotation speed Ro2, the microcomputer 150 determines rYEsJ in step 350, and demagnetizes the electromagnetic coil 81 of the relay 80 in step 360. Normally open type switch 8
Open 2. At this time, since the DC motor M receives power from the DC power supply B only through the resistor 90, the terminal voltage of the DC motor M becomes low and the second reference rotation speed Ro
The rotation speed N of the DC motor M, which has become higher than 2, overshoots to the high side and then gradually decreases. 320 and 330 cyclic operations are performed.

This circular operation of steps 320 and 330 and step 3
The rotation speed N of the DC motor M is determined by the cyclic calculation of 40,350
repeats falling and rising and fluctuates between the first reference rotation speed Rol and the second reference rotation speed RoZ while slightly overshooting and undershooting, and the spur gears 24 and 23 open the door 10. Approximate reference rotation speed Rol
The engine is opened at a speed determined by the second reference rotation speed Ro2.

However, when the door 10 is fully opened, the fully open detection switch 4
0a generates a fully open detection signal, the negative AND gate 110a generates a high level signal, and the relay 50 demagnetizes the electromagnetic coil 51 to connect the double throw contact 52a to the fixed contact 52.
c to cut off the DC motor M from the DC power supply B.

As a result, the DC morph M stops rotating in the normal direction and the drive mechanism 2
The opening action on the door 10 of No. 0 is stopped. in this case,
Due to the inertia caused by the opening speed, the door 10 easily engages the fully open locking mechanism and is maintained in the fully open state.

After the door is fully opened, when the operation switch 30 is operated and the double-throw contact 31 returns to the neutral state, the first operation signal disappears, and this disappearance causes the microcomputer 150 to complete the cyclic operation of steps 320-360.

On the other hand, if the vehicle is in a forward downhill state, the microcomputer 150 performs step 22 after the comparison in step 210.
0 is determined to be rNOJ, and in step 400, the initial short circuit time Tll is set to a predetermined value tll, the first reference rotation speed R11 is set to a predetermined value rll, and the second reference rotation speed R12 is set to a predetermined value r12.
Set to . In this case, if the vehicle is in a forward downward position and a
Since the opening direction of the door 10 is toward the rear of the vehicle, the opening direction of the door 10 is in a direction that opposes gravity. In addition, the predetermined value 11
, rll, and r12 are each the above-mentioned predetermined value tol.

The value is slightly larger than rol and ro2, and rll<
The relationship is r12. Next, the microcomputer 150
is the positive NOR gate 160 at step 410.
generate a high level signal during the initial short circuit time Tl1O,
A positive NOR gate 160 generates a front-level signal at the time Tll. In this case as well, as in the case of the previous upstream, the relay 50 and the relay 70 are connected to the negative AND gate 110a and the positive NOR gate 1, respectively.
60, the DC motor M is supplied with power from the DC power supply B via the normally open switch 72 and the double-throw switch 52, and begins to rotate forward, opening the door 10 to the left in the drawing.

The timer of the microcomputer 150 starts at step 410.
After completing the measurement of the initial short circuit time Tll, the microcomputer 150 executes the cyclic calculations of steps 420 to 460 in the same way as the cyclic calculations of steps 320 to 360 in the case of the previous upstream, and The door 10 is opened by controlling the rotation speed N. In this case, the rotation speed N repeats a fall and rise and fluctuates between the first reference rotation speed R11 and the second reference rotation speed R12 while slightly overshooting and undershooting, and the spur gears 24 and 23 are used to open the door 10. Therefore, the door 10 is closed at a speed approximately determined by the first reference rotation speed R11 and the second reference rotation speed R12. Also, when the door 10 is fully opened, the DC motor M is cut off from the DC power supply B by the full open detection switch 40a, and the DC motor M stops rotating forward, and the door 10 cannot be opened. Finished, operation switch 30
Based on the return of the double-throw contact 31 to the neutral state by the operation of
End the 0 cycle operation.

Conversely, when the second operation signal is generated by operating the operation switch 30 to close the door 10, the negative A is generated.
The ND gate 110b receives the inverting action of the inverter 110b in response to the second operation signal when the fully closed detection signal from the fully closed detection switch 40b disappears, and generates a low level signal. At this time, the negative NAND gate 120 generates a low level signal under the disappearance of the low level signal from the negative AND gate 110b and the immediately before full open position detection signal from the auxiliary detection switch 4Qc.

In addition, the microcomputer 150 starts executing the program from step 200 in response to the second operation signal, and in step 210, the door 100 is opened based on the generation of the second operation signal and the non-occurrence of the first operation signal. is in the closing operation control state, and in step 230 the tilt sensor 140
The system inputs a tilt angle signal from the vehicle to determine whether the vehicle is moving forward uphill or downhill.

If the vehicle is in the uphill position, microcomputer 1
50 is determined to be rYEsJ in step 230, and in step 400, the initial short circuit time T11 is set to a predetermined value t12,
The first reference rotation speed R11 is set to a predetermined value rll, and the second reference rotation speed R12 is set to a predetermined value r12. In this case, since the vehicle is in a forward uphill state and the closing direction of the door 10 is in front of the vehicle, the closing direction of the door 10 is in a direction that opposes gravity. Note that the predetermined value t12 is a value slightly smaller than the predetermined value tll. Next, in step 410, the microcomputer 150 generates a high level signal to the positive NOR gate 160 for the initial short circuit time Tl1O, so that the positive NOR gate 160 outputs a high level signal for the initial short circuit time TllO.
Generates a level signal. The electromagnetic coil 61 of the relay 60 is energized by the low level signal from the negative NAND gate 110b, and the double-throw contact 6 of the double-throw switch 62 is energized.
2a is connected to the fixed contact 62b and positive NO.
The relay 70 is activated by the low level signal from the R gate 160.
Since the electromagnetic coil 71 is excited and the normally open switch 72 is closed, the DC motor M is supplied with power from the DC power supply B via the normally open switch 72 and the double-throw switch 62, and rotates in reverse. start. Then, the spur gear 23 is rotated clockwise by the spur gear 24 interlocked with the DC motor M, and in response, the drive mechanism 20 rotates its connecting arm 21a.
, 21a, the door 10 begins to close forward against the engagement force with the fully open locking mechanism.

The timer of the microcomputer 150 starts at step 410.
After completing the measurement of the initial short circuit time Tll, the microcomputer 150 executes the cyclic operations of steps 420 to 460. The control of this cyclic calculation is the same as the case where the door 10 is opened while the vehicle is in the forward downward direction, except that the door 10 is closed.

When the egg weight 0 reaches the position immediately before fully open and a completely close position detection signal is generated from the auxiliary detection switch 40G, the negative NAN
The D gate 1''20 generates a high level signal, the positive NOR gate 160 generates a low level signal, and the relay 70 shorts out the resistor 83.90 by closing the switch 72.Then, the voltage applied to the DC motor M The voltage increases to the voltage value of the DC power source B, the reverse speed of the DC motor M increases, and the closing force to the door 10 increases.
This means that under the action of the drive mechanism 20, the fully closed locking mechanism easily engages with the fully closed state.

When the door 10 is fully closed in this way, the fully closed detection switch 4
0b generates a fully closed detection signal, negative AND game)
110b generates a high-level signal, and the relay 60 demagnetizes the electromagnetic coil 61 to connect the double-throw contact 62a to the fixed contact 62.
c to cut off DC motor M from DC power supply B. As a result, the DC motor M stops rotating in the reverse direction, and the drive mechanism 20
The closing action on the door 10 is stopped. In this case, the door 10 is easily engaged with the fully closed locking mechanism and maintained in the fully closed state due to inertia due to its closing speed. After the door 10 is fully closed, when the operation switch 30 is operated and the double-throw contact 31 returns to the neutral state, the second operation signal disappears, and this disappearance causes the microcomputer 150 to complete the cyclic calculation of steps 420 to 460. do.

On the other hand, if the vehicle is in a forward downhill state, the microcomputer 150 performs step 230 after the comparison in step 210.
In step 300, the initial short-circuit time Tol is set to a predetermined value to2, the first reference rotation speed Rol is set to a predetermined value rol, and the second reference rotation speed Ro2 is set to a predetermined value ro2. In this case, since the vehicle is in a forward downward direction and the closing direction of the door 1o is in front of the vehicle, the opening direction of the door 1o is in the direction supported by gravity. Note that the predetermined value to
2 is a value slightly smaller than the predetermined value tol. next,
In step 310, the microcomputer 150 generates a high level signal to the positive NOR gate 160 for the initial short circuit time ToIO, and the positive NOR gate 16
0 generates the frontage-level signal at the time To1. In this case as well, as in the case where the door 10 is closed when the vehicle is in the front-up state, the relay 60 and the relay 70 are controlled by the negative AND gate 110b and the positive NOR gate 160, respectively, so that the DC motor M is Power is supplied from the DC power supply B via the normally open switch 72 and the double-throw switch 62, and the reverse rotation begins to begin to close the door 10 forward.

The timer of the microcomputer 150 starts at step 310.
After completing the measurement of the initial short circuit time TOI, the microcomputer 150 executes the cyclic operations of steps 320 to 360. This cyclic calculation is similar to the case where the door 10 is opened while the vehicle is in the forward uphill state, except that the door 10 is closed. Further, the point at which the door 10 reaches the fully closed position and a fully closed position detection signal is generated from the auxiliary detection switch 40c to fully close the door 10, and when the door 10 is fully closed, the operation switch 30 is operated and the microcomputer 150 is activated. The point in which the cyclic calculations in steps 320 to 360 are completed is the same as in the case where the door 10 is closed while the vehicle is in the forward uphill state.

As can be understood from the above operation description, in this embodiment, the first operation signal (or second operation signal) from the operation switch 30 is
F9i operation signal) and the tilt angle signal from the tilt sensor 140, the microcomputer 150 performs step 21.
The moving direction of the door 10 is determined by calculating 0 to 230, and when this moving direction is in the direction supported by gravity, the initial short circuit time Tol is set to a predetermined value t01 (or t02) in step 300, and the first standard is set. When the rotation speed ROI is set to a predetermined value rol and the second reference rotation speed Ro2 is set to a predetermined value r02, and the direction of movement is in a direction opposing gravity, step 400
The initial short circuit time Tll is set to a predetermined value t11 (or t12
), the first reference rotation speed R11 is set to a predetermined value rll, the second reference rotation speed R12 is set to a predetermined value r12, and step 3
The initial short circuit is controlled by the calculation in steps 10 or 410, and the rotation speed N of the DC motor M is controlled by the cyclic calculation in steps 320 to 360 or 420 to 460. At this time, the predetermined values tol, tll, to2. t12 tof<
tll, to2<t12, so door 1
When the direction of movement of door 0 is in a direction opposing gravity compared to the case where the direction of movement of door 10 is in a direction supported by gravity, the short circuit time at the start of movement of door 10 is longer and the supply to DC motor M is longer. The amount of electricity consumed increases. As a result, the DC motor M starts opening (or closing) the door 10 with a small force when the direction of movement of the door 10 is in the direction supported by gravity, and the direction of movement of the door 10 opposes gravity. Opening (or closing) the door 10 with a large force when the door is in the direction of
Since the opening of the door 10 of the vehicle stopped on the slope starts (
(or closing), the movement start speed of the door 1° is always constant regardless of the inclination of R10. In addition, the above predetermined value rol
, rll.

ro2. Since r12 is set to the relationship rol<rll, ro2<r12, the door 1 is moved in the direction supported by gravity.
DC motor M when opening (or closing) by moving 0
The door 10 becomes faster based on the overshoot of the rotation speed N.
The difference in speed between the average moving speed of the door 10 and the average moving speed of the door 10, which slows down based on the above-mentioned undershoot when opening (or closing) the door 10 by moving it in a direction that opposes gravity, is corrected. When opening (or closing) the door 10 of a stopped vehicle, the average moving speed of the door 10 is always constant regardless of the inclination of the door 10. By controlling the movement start speed and average movement speed of the floor 10, the opening/closing speed and opening/closing time of the door 10 can be set to constant and appropriate values, so that when the opening/closing of the door is completed, the door and its frame are The impact of the door can be reduced and the opening/closing time of the door will not be unnecessarily long.

Furthermore, the initial short circuit time T o 1 when opening 5ii10
+Tll and the initial short-circuit time To1. Predetermined value t02, t that determines T11
12 tol>to2. Since the relationship of tll>t12 is established, the engagement force of the full-close vine mechanism, which is set to be larger than the engagement force of the full-open lock mechanism, can be released with a larger force when the door 10 is opened than when the door is closed.
The opening operation can be performed smoothly.

In addition, in implementing this embodiment, the initial short circuit time To
Predetermined values tol, t11, to2 .
It is preferable to appropriately determine t12 based on the magnitude of the mechanical locking force of the opening and opening locking mechanism of the door 10 and the generated torque of the DC motor M. Furthermore, the reference rotation speed Rol, Ro
2. Predetermined values rol, ro2 . which determine R11°R12.
rll.

r12 may be appropriately determined based on the mechanical reaction force by the support mechanism of the door 10 and the torque generated by the DC motor M when the door 10 moves.

Further, in the above embodiment, as shown in the flowchart of FIG. 4, when the door 10 is moved in the direction supported by gravity to open and close, the calculations in steps 300 to 360 are executed, and the door 10 is opened and closed. The calculations in steps 400 to 460 are executed when opening and closing by moving in a direction opposing gravity, but the calculations in steps 310 to 360 and the calculations in steps 410 to 460 are performed using the constant tol.

to2. tll, t12. rol, ro2. rll, r
Except for 12, they are the same, so microcomputer 15
0 sets the initial short circuit time Tol to a predetermined value t in step 400.
ll or a predetermined value t12, and the first reference rotation speed R
The program can also be changed so that ol is set to a predetermined value rll, the second reference rotation speed Ro2 is set to a predetermined value r12, and then the calculations of steps 310 to 360 are executed. This eliminates the need for the programs in steps 410-460.

Further, in the above embodiment, based on the inclination angle signal from the inclination sensor 140, the direct current is divided into two states: when the door 10 moves with the help of gravity, and when the door 10 moves against gravity. Although the motor M is controlled based on the inclination angle signal, when the moving direction of the door 10 is in a direction supported by gravity, when the moving direction is in a substantially horizontal direction, and when the moving direction is in a direction supported by gravity, It is also possible to control the DC motor M in three states in which the direction is opposite to the current direction. At this time, the initial short circuit time, the first reference rotation speed, and the second reference rotation speed when the moving direction of the floor 10 is approximately horizontal, and each of the initial short circuit time, the first reference rotation speed, and the second reference rotation speed when the movement direction of the floor 810 is in the direction supported by gravity. It is preferable to set each set value to a median value between the set value and the set value when the moving direction of the floor 10 is in a direction opposing gravity. Further, based on the angle value of the inclination angle signal, the door 10
It is also possible to control the DC motor 10 by subdividing the direction of movement. In this case, the values of the initial short-circuit time, the first reference rotation speed, and the second reference rotation speed are set to become smaller as the moving direction of the door 10 approaches the direction of gravity. in this way,
By controlling the DC motor 10 according to the subdivision of the moving direction of the door 10, the opening/closing speed and opening/closing time of the door 10 can be kept constant even more than in the above embodiment.

In addition, in the above embodiment, the rotation speed N of the DC motor M
When the rotation speed becomes lower than the first reference rotation speed, power is supplied from the DC power supply B to the DC motor M via the power supply path having the resistor 83 regardless of the moving direction of the door 10. The rotational speed N of the DC motor M is the first.
When the rotation speed becomes lower than the standard rotation speed, if the direction of movement of the door 10 is in the direction in which the door 10 is assisted by gravity, power is supplied from the DC power supply B to the DC motor M via a power supply path having a relatively large resistance value. When the moving direction of the door 10 is in a direction opposing gravity, power may be supplied from the DC power supply B to the DC motor M via a power supply path having a relatively small resistance value. Furthermore, when the moving direction of the door 10 is subdivided as described above, the number of subdivided power supply paths is provided, each having a resistance value that increases as the moving direction of the door 10 approaches the direction of gravity. The power supply path may be selected depending on the above-mentioned inclination angle. Also, instead of providing multiple power supply paths, the resistor 83 is configured with a variable resistor, and the door 1
The resistance value of the variable resistor may be controlled to increase as the direction of movement of zero approaches the direction of gravity. By doing this, when the rotation speed N of the DC motor M becomes lower than the first reference rotation speed, the amount of electric power given to the DC motor M to increase the movement speed of the door 10 is changed to The closer the direction is to the anti-gravity direction, the thicker it becomes (so the increase in the moving speed of the door 10 becomes constant regardless of gravity, and the opening/closing speed and opening/closing time of the door 10 can be controlled more accurately than in the above embodiment). Furthermore, when the rotational speed N of the DC motor M becomes higher than the second reference rotational speed, the resistance value of the load resistor 9o that supplies power to the DC motor M is determined based on the inclination angle signal of the plurality of resistances as described above. If the load resistance 9o is made variable and the resistance value is changed based on the above-mentioned inclination angle signal, the drop in the moving speed of the door 10 will be constant regardless of gravity, and the opening/closing speed and opening/closing time of the door 10 will be constant. can be controlled with more precision.In this case as well, the resistance value is set to increase as the moving direction of alo approaches the direction of gravity.

In addition, in the above embodiment, the rotation speed N of the DC motor M
The first reference rotational speed that controls the rotational speed N to increase when the rotational speed N of the DC motor M decreases, and the second reference rotational speed that controls the rotational speed N to decrease the rotational speed N when the rotational speed N of the DC motor M increases are set to different values. It is also possible to set the first reference rotation speed and the second reference rotation speed to the same value, and to vary the rotation speed N of the DC motor M by overshooting and undershooting based on the inertia of the door 10 around this value. be. In this case, if the number of rotations N of the DC motor M turns up and down around the reference number of rotations is extremely large, monostable multi-by-break (one-shot circuit), the normally open switch 82 is controlled to close by the pulse signal from the monostable multi-bi break, and power is allowed to be supplied to the DC motor M from the DC power supply B for a time corresponding to the pulse width of the pulse signal. Just do it. By doing so, it is possible to expect effects equivalent to those of the above embodiment. Note that if the pulse width of the pulse signal is made larger as the moving direction of the door 10 approaches the anti-gravity direction in accordance with the inclination angle signal, the DC motor M
This means that enough power is supplied to counteract the force of gravity.1
．． The opening/closing speed and opening/closing time of the door 10 can be controlled more precisely.

Further, in the above embodiment, an example was described in which the present invention is applied to a door 10 that is provided at a boarding gate provided on the side wall of the bus so that it can be opened and closed in the front and rear directions along the boarding gate. However, the present invention may be applied to a door provided at the entrance/exit located on the rear wall of the bus so that it can be opened and closed in the left and right directions along this.In this case, the applicable object is limited to the bus. It may be a car.

Further, in implementing the present invention, instead of the door 10, the present invention may be applied to a door provided on a bus or the like so as to be foldable in the front-rear direction.

[Brief explanation of drawings]

FIG. 1 is a diagram corresponding to the configuration of the present invention described in the claims, FIGS. 2 and 3 are overall configuration diagrams showing one embodiment of the present invention, and FIG. 4 is a microcomputer shown in FIG. 3. It is a flowchart which shows the effect|action. Explanation of symbols B: DC power supply, M: DC motor, 10: Door, 20: Drive mechanism, 30: Operation switch, 50
．． 60,70.80...Relay, 90...Load resistance, 100a, 100b...-Inverter, 110a, 1
10b... Negative AND gate, 120... Negative NAND gate, 130... Speed sensor, 1
40... Tilt sensor, 150... Microcomputer, 160... Positive NOR gate.

Claims (1)

[Claims] The door opening/closing system is commonly used in a door opening/closing system equipped with a rotary electric motor that opens and closes a door by rotating in one direction and in the other direction, and which is disposed at the entrance of a vehicle so that it can be opened and closed laterally along the entrance. an operating means that generates a first operating signal when the door is operated to open the door and a second operating signal when the door is closed; a driving means for allowing power to be supplied to the rotary motor from a power source via a resistor so as to rotate the rotary motor in one direction and to turn the rotary motor in a second driving state in response to the second operation signal, and to rotate the rotary motor in the other direction; A rotation speed detection means for detecting the rotation speed of the electric motor; and a bypass power supply means for bypassing the resistor and allowing power to be supplied from the power source to the rotary electric motor when the detected rotation speed is lower than a reference rotation speed. In the electric control device, a tilt angle detection means is provided in a part of the vehicle body and detects a tilt angle in the opening/closing direction of the door, and a first operation signal or a second operation signal from the operation means is provided.
In relation to the generation of the operation signal, the reference rotation speed is set to a first value when the direction of movement during opening and closing of the door is in a direction supported by gravity based on the detected inclination angle, and the direction of movement is assisted by gravity. an electric control device for a vehicle door opening/closing system, characterized in that it is provided with a reference rotation speed setting means for setting the reference rotation speed to a second value larger than the first value when the reference rotation speed is in the opposite direction. .