WO1997048868A1

WO1997048868A1 - Window opening and closing apparatus

Info

Publication number: WO1997048868A1
Application number: PCT/JP1997/001820
Authority: WO
Inventors: Masato Kume; Noritaka Ohiro
Original assignee: Toyota Jidosha Kabushiki Kaisha
Priority date: 1996-06-19
Filing date: 1997-05-29
Publication date: 1997-12-24
Also published as: JP3237521B2; JPH108826A

Abstract

A revolution sensor (29) generates pulses at a cycle corresponding to a speed of a motor. A load change amount calculating unit (32) calculates load on the motor from the cycle of the pulses to provide an amount of time-dependent change of the load. An integrating unit (34) integrates a time-dependent changing amount of motor load, while the motor load monotonously increases, to calculate an increase of the motor load relative to a normal value. In the case where the increase becomes at least a predetermined value, a judging unit (36) judges interposition of a foreign matter.

Description

Description Window opening device Technical field

The present invention relates to a window opening / closing device that opens and closes a window by driving a motor, and more particularly to a window opening / closing device that can detect entrapment of foreign matter during opening / closing operations.

Background art

A technique for opening and closing windows by a motor is known, and a so-called power window in which a side window of a vehicle is opened and closed by a motor is a typical example thereof. When a window is automatically opened and closed by a motor drive, it is necessary to perform control such as stopping the opening and closing operation when a foreign object is caught between the opening and closing part and the frame part. This is to prevent the foreign substance itself and the opening / closing portion of the window from being damaged due to the foreign substance being pinched.

Japanese Patent Laid-Open No. Hei 5-95694 discloses a technique for detecting such a foreign substance being caught. This is to generate a pulse according to the rotation speed of the motor and detect the entrapment of the object by the change of the pulse cycle. When a foreign object is caught, the load on the motor increases and the number of rotations decreases, which is detected.

However, the change in the pulse period is not a unique factor for determining the occurrence of pinching. For example, when the sliding resistance of the open / close portion increases due to aging or the like, the amount of change in the pulse cycle may be different from the initial one. The motor load is also different from when the vehicle is stopped and when the vehicle is traveling at low speed, for example, when the window glass is sucked out due to the pressure difference between the inside and outside of the vehicle compartment that occurs during high-speed traveling in the vehicle power window. Therefore, the change in pulse period when pinching occurs differs. Disclosure of the invention

The wooden invention was made in order to solve the above-mentioned problem, It is an object of the present invention to provide a window opening / closing device that can reliably detect a foreign object being caught even when the load changes in a state where there is no window.

In order to achieve the above object, a window opening / closing device according to the present invention is a device for opening and closing window glass by a motor, comprising: a pulse generating means for generating a pulse at a cycle corresponding to the speed of the motor; A cycle calculating means for calculating a cycle of the pulse; a motor load calculating means for calculating a motor load based on the cycle; and a motor load for calculating a change in a predetermined time of the motor load from the calculated motor load. A change amount calculating means; a pinch estimating means for estimating that the window glass has caught a foreign object or the like based on the calculated motor load change amount; and a window glass at the time of pinch estimation when the pinch is estimated. And control for at least prohibiting the operation.

According to the above configuration, the pinching of foreign matter is detected based on the motor load when the window glass is opened and closed, so that more accurate detection is possible.

Further, the entrapment estimating means can estimate the entrapment only when the motor load is monotonously applied. In this case, when the window glass is not smoothly opened and closed, and there is a change in the motor load, for example, it is possible to discriminate the object from being pinched. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic configuration diagram of a window opening / closing device according to the tree invention.

FIG. 2 is a configuration block diagram of a control unit of the window opening / closing device according to the embodiment of the present invention.

Fig. 3 is a control flowchart of the present embodiment.

Fig. 4 is a diagram showing an equivalent circuit of a general motor.

Figure 5 top 1¾ the form of the _r invention 'J¾ Hodokosuru for a diagram showing the balance of forces of external forces applied to the motor and the motor torque

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 shows the schematic structure of a vehicle power window. Door 10 is the body 1 2 and sash 14 And a window glass 16 that slides along the guide rails 15. When the window glass 16 is opened, it is almost stored in the main body, moves from this state to a position where the window glass 16 comes into contact with the sash 14, and is closed. The window is driven by a motor 18 to open and close. The motor 18 is arranged in the door main body 12 in such a direction that its drive shaft is substantially contained in the plane of FIG. The rotation of the motor drive shaft is transmitted via a worm gear or the like to a toothed drive pulley 20 having a rotation axis orthogonal to the paper surface. A toothed belt 26 is stretched over two driven pulleys 22 and 24 arranged vertically in the drive pulley 20 and the door body 12. Further, to the toothed belt 26, a support fitting 28 supporting the lower end of the window glass is fixed. Accordingly, the toothed belt is rotated by the rotation of the motor, and in accordance with this, the support ft 28 moves up and down depending on the driven pulleys 22 and 24 ₍ , and the opening and closing of the window glass is performed). Will be

In such a window, if the closing operation is continued while the window glass is closing the window glass and foreign matter is caught between the glass and the sash, the window between the caught foreign matter, the window, and the motor The drive mechanism of the door may be damaged. Also, a foreign object may be drawn into the door body 12 together with the window glass during the opening operation and may be caught between the door body 12 and the glass. At this time, there is a possibility of damage such as foreign matter as described above. In the present embodiment, the above-described foreign object entrapment is detected, and when entrapment is detected, the motor control corresponding to the entrapment is performed.

The motor is provided with a rotation speed sensor 29 that generates a predetermined number of square pulses per rotation in order to detect the rotation speed. Therefore, the rotation speed sensor 29 functions as a pulse generation stage. The output of the rotation speed sensor 29 is sent to the control unit 30. The control unit 30 has a configuration shown in FIG. That is, a load change amount calculation unit 32 that calculates a change amount of a motor load, that is, a change amount of a load applied when the window glass is opened and closed, based on the pulse cycle, and an integration unit that integrates the change It under a predetermined condition. And a judging section 36 for judging the presence or absence of foreign matter based on the integrated value. Further, the control unit 30 is actually a microcomputer, and operates according to a program stored in advance, thereby controlling the load. It functions as the change amount calculating section 32, the integrating section 34, and the determining section 36.

The flow of the calculation of the control unit 30 relating to the foreign object entrapment will be described with reference to FIG. Following equation food load change delta F time and the time t ₂ Q from pulse period T ₂ Metropolitan in pulse period and Tokii IJ t 2 in the load change amount calculating section 3 2, Tokii t 1

1 1

Δ F = f 2-f, = k i (—— one ——) (1) to calculate (S 100). k, is a proportionality constant, and its actual value will be described later. The positive / negative judgment of the load change Δd is performed (S 102), and if 0 or positive, the load F p is calculated by the following equation:

F p = F p + AF (2)

(S 1 ⁽⁾ 4) “On the other hand, if the food change AF is negative in step S 102, the load F n is

De n = F n — Δ F (3)

It is updated based on (S106). More load change delta F is i Oh ¹ Go of iH, the load F n is updated to 0 (S 1 08), in the case of a negative updates the load F p to 0 (S 1 1 0). The loads F p and F n integrated as described above represent the load when the Kag-ton increases for the load F p and the load when the load monotonically decreases for the load! ⁷ n. I know. Hereinafter, F p is called increasing load and F n is called decreasing load.

The medium load F p calculated as described above is the determination value F. Is compared with (SI 1 2), and if it exceeds the judgment value T ′,>, it is judged that a foreign object is caught (S 1 I 4). Then, the motor is controlled to stop so that no more load is applied, and the window operation is stopped. Also, judgment value F. If so, the process returns to step SI00. As described above, in the present embodiment, the increasing load Fp is the predetermined determination value F. Is reached, it is determined that a foreign object has been caught. On the other hand, when the load change amount Δd becomes negative, the apparent increase in the integrated value due to other factors is eliminated by setting the increasing load Fp integrated up to that point to 0. For example, when the load change ΔF is positive due to the change in resistance due to the guide rail portion, this is not multiplied. This is because such load fluctuations are repeated during step S110 when the sign becomes negative repeatedly. This is because the load F p becomes zero. That is, according to the above-described control, it is determined that a foreign object is caught only when the load monotonically increases and reaches a predetermined value, thereby preventing erroneous determination due to other load fluctuations.

Next, the calculation of the load change amount ΔF will be described. Figure 4 shows the equivalent circuit of the motor. FIG. 5 shows the balance of the force applied to the motor. In Fig 4, the resistance r inductance said current flowing I upon application of the ¾ source voltage E _u to a motor is represented by the counter-electromotive force E Tosureba formula 4 shown below the motor. The back EMF E and the generated torque N of the motor are expressed by the following equations (5) and (6).

d I

+ Eo + E (4) d t

G: = k13 ω (5)

Ν = k · Β I (6)

Where k is a proportionality constant. B is the magnetic flux density generated in the motor. In addition, the equation of motion (7) is obtained by balancing the forces shown in Fig. 5.

d ω

J = N— f R (7)

d

Transforming Equation 7 gives:

N d

f = -MR (8

R d t

In a short time,

d I d ω

= 0, = 0 (9)

d t d t

Holds, from Equations (4), (5) and (6),

k _t '

f = k o E o (1 0)

T

k B

Just k o =

R 2 π k ² B

k

r R

2π

ω =

T '

Is obtained. From this equation, it can be seen that the external force ί, that is, the motor load is proportional to the reciprocal of the period 周期. The change Δf in the external force between time t and time t is given by T, ', Τ ₂ ' for the rotation periods at time t and t, respectively.

1 1

Α ί = ί 一 = k ■ '() · ■ (1 1)

T. 'Ύ

Can be represented by In the present embodiment, the change in external force Δf is a change in load ΔF, and the rotation period is an integral multiple of the period of the output pulse of the rotation speed sensor. It can be seen that this is the same equation as (1). In particular, if the pulse from the rotation speed sensor is output once per rotation, T = T ', k = k! 'And equation (1 1) and equation (1) are exactly the same. Also the power supply voltage E of the motor. Usually does not change very much in a short time, so the first term of Eq. (10) is canceled out by Eq. (11). Therefore, it is possible to make a determination that does not depend on the low pressure of the vehicle-mounted battery. As described above, in the present embodiment, the load change is determined based on the change in the number of rotations of the motor, and the determination of the foreign substance entrapment is performed based only on the monotonically increasing ft load. The change in load due to can be eliminated. Judgment value F when the power supply voltage is high or low. There is no need to make changes.

In addition, the method of calculating the motor load based on the above equation (1) is to average the pulse period of a predetermined period, substitute this for _Tt , and average the pulse period of the predetermined period after this period. However, it is also possible to take a method such as substituting this for T ₂ . Then, when the value of F calculated using the average value is equal to or more than a predetermined value, the entrapment is determined. In addition, it is also possible to calculate the load by substituting each of the two pulse periods with a predetermined time interval into and in Equation (1).

Further, in the present embodiment, the operation of the window glass is stopped when it is determined that the foreign matter is caught, but the window glass is further operated in the reverse direction by a predetermined amount to release the caught foreign matter. It is also possible to do so. Industrial applicability

INDUSTRIAL APPLICABILITY The present invention can be applied to a structure other than a vehicle, for example, an opening / closing mechanism of an electric window provided on a door of a building, and also to an automatic door of a building.

Claims

The scope of the claims

(1) A window opening and closing device that opens and closes a window glass by a motor, a pulse generation unit that generates a pulse at a period according to a speed of the motor, a period calculation unit that calculates a period of the pulse,

Motor load calculating means for calculating a motor load based on the cycle,

A motor load change amount calculating means for calculating a change amount per predetermined time of the motor load from the calculated motor load;

Based on the calculated motor load change ώ, a pinch estimating means for estimating that the window glass has pinched foreign matter or the like,

A window opening / closing device, comprising: control means for at least prohibiting the operation of the window glass at the time of the entrapment when the entrapment is estimated.

(2) The window opening / closing device according to (1), wherein the entrapment estimating unit estimates the entrapment only when the motor load monotonically increases.

(3) The window opening / closing device according to claim (2), wherein the entrapment estimation unit integrates the calculated motor ί4 load change amount while the motor load is monotonically increasing, A window opening / closing device g that estimates entrapment based on the integrated value.