CN111485789B

CN111485789B - Opening/closing body control device and structure

Info

Publication number: CN111485789B
Application number: CN202010076548.XA
Authority: CN
Inventors: 足立真人; 森田佳晓
Original assignee: Nidco Smart Motion Co ltd
Current assignee: Nidco Smart Motion Co ltd
Priority date: 2019-01-25
Filing date: 2020-01-23
Publication date: 2022-07-26
Anticipated expiration: 2040-01-23
Also published as: JP2020117978A; DE102020101656A8; DE102020101656A1; CN111485789A

Abstract

Provided are an opening/closing body control device and a structure, which can more effectively prevent damage of an opening/closing member than before. In an opening/closing body control device for opening/closing an opening/closing body by a drive motor, a time point when a position detection unit detects that the opening/closing body has reached a predetermined position after a current detection unit detects a maximum value (IMAX) of a current (I) of the motor during a period when the drive of the motor is started is referred to as an arrival time point (ta). The motor control unit stops the motor at a time point after the time point (ta) is reached, when: (i) a state in which the current (I) is equal to or greater than a 1 st threshold (th1) set according to the local maximum value (IMAX) continues for a 1 st period (t 1); or (ii) a state in which the current (I) is equal to or greater than the 2 nd threshold value (th2) continues for a 2 nd period (t2) longer than the 1 st period (t1), and the 2 nd threshold value (th2) is set in accordance with the maximum value (IMAX) and is smaller than the 1 st threshold value (th 1).

Description

Opening/closing body control device and structure

Technical Field

The present invention relates to an opening/closing body control device that opens and closes an opening/closing body by driving a motor.

Background

As an example of an opening/closing body control device, a Power Window (hereinafter, abbreviated as "PW") control device is known. The PW control device operates a PW opening/closing mechanism (hereinafter, simply referred to as an opening/closing mechanism) to open/close an opening/closing body (e.g., a window glass of a vehicle). Specifically, the PW control device drives the opening/closing mechanism by driving the motor. Patent document 1 discloses an example of such a PW control device.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2016-8409

Disclosure of Invention

Problems to be solved by the invention

As shown in patent document 1, when the opening/closing body is fully opened or closed, the opening/closing body is mechanically locked (restrained) by a mechanical element (for example, a window frame or a stopper). When the impact is large when the mechanical element comes into contact with the opening/closing mechanism, the mechanical system components (for example, the mechanical element and the components of the opening/closing mechanism) may be damaged. Further, when the opening/closing body is restrained by the mechanical element, the motor is also in the locked state. In the case where the driving of the motor is continued in such a locked state, the motor reaches an overload state. Thus, electrical system components (e.g., components of the motor and motor drive circuit) may be damaged. Furthermore, mechanical system components may be damaged due to motor overload operation.

In view of this, the opening/closing body control device (PW control device) of patent document 1 is configured to effectively prevent damage to the opening/closing member. The opening/closing member collectively indicates members (mechanical system member and electrical system member) related to the opening/closing operation of the opening/closing body. Specifically, the opening/closing body control device of patent document 1 calculates an integrated value based on the current of the motor when the amount of change in the current of the motor exceeds an integration start determination threshold (threshold 1 of patent document 1). Then, the opening/closing body control device stops the motor when the integrated value exceeds a lock determination threshold value (threshold value 2 of patent document 1). In the opening/closing body control device of patent document 1, damage to the opening/closing member is prevented by stopping the motor in this manner.

As described above, in the conventional opening/closing body control device (for example, the opening/closing body control device of patent document 1), in order to stop the motor (more specifically, in order to detect the locked state of the motor), 1 lock determination threshold value related to the current is used. However, as described in detail below, when only 1 lock determination threshold is set for the current, the lock state of the motor cannot necessarily be appropriately detected.

One aspect of the present invention has been made in view of the above problems, and an object of the present invention is to effectively prevent damage to an opening/closing member compared to the conventional art.

Means for solving the problems

In order to solve the above problems, the present invention adopts the following configuration.

That is, an opening/closing body control device according to an aspect of the present invention opens and closes an opening/closing body by driving a motor, the opening/closing body control device including: a motor control unit that controls the motor; a current detection unit that detects a current of the motor; and a position detection unit that detects an open/close position of the opening/closing body, wherein a time point at which the position detection unit detects that the opening/closing body has reached a predetermined position after the current detection unit detects a maximum value of the current in a drive start period of the motor is referred to as an arrival time point, and the motor control unit stops the motor at a time point after the arrival time point when: (i) a state where the current is 1 st threshold or more, which 1 st threshold is set based on the maximum value, continues for a 1 st period; or (ii) a state in which the current is equal to or greater than a 2 nd threshold value set in accordance with the maximum value and smaller than the 1 st threshold value continues for a 2 nd period longer than the 1 st period.

According to this configuration, the opening/closing body control device (more specifically, the motor control unit) can appropriately determine the locked state of the motor at the normal time by the determination process based on the 1 st period and the 1 st threshold value (the determination process based on the 1 st condition to be described later). Further, unlike the related art, the opening/closing body control device can also perform a determination process based on the 2 nd period and the 2 nd threshold value (a determination process based on the 2 nd condition to be described later). According to the determination process based on the 2 nd condition, the lock state of the motor can be appropriately determined even in an abnormal state (described later). When the opening/closing body control device determines that the motor is in the locked state, the opening/closing body control device stops the motor. Therefore, according to the opening/closing body control device, unlike the related art, the motor can be appropriately stopped even in an abnormal state. In this way, according to the opening/closing body control device, the locked state of the motor can be determined more appropriately than in the related art, and damage to the opening/closing member can be prevented more effectively than in the related art.

In the opening/closing body control device according to the above aspect, the size of the 2 nd threshold may be equal to or less than half the size of the 1 st threshold.

According to this configuration, the 2 nd threshold can be sufficiently different from the 1 st threshold. Therefore, the locked state of the motor in the abnormal state can be determined more appropriately.

In the opening/closing body control device according to the above aspect, the length of the 2 nd period may be 3 times or more the length of the 1 st period.

According to this configuration, the length of the 2 nd period can be sufficiently different from the length of the 1 st period. Therefore, the locked state of the motor in the abnormal state can be determined more appropriately.

The opening/closing body control device according to the one aspect may be an electric window control device (PW control device) that drives the motor to open and close a window glass as the opening/closing body.

The structure according to the above aspect may have the opening/closing body control device according to the above aspect, the motor, and the opening/closing body.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the opening/closing body control device of one aspect of the present invention, damage to the opening/closing member can be prevented more effectively than before.

Drawings

Fig. 1 is a functional block diagram showing the configuration of a main part of a vehicle according to embodiment 1.

Fig. 2 (a) and (b) are diagrams for explaining an outline of an operation of the PW control device according to embodiment 1.

Fig. 3 is a diagram illustrating a flow of processing of the PW control device according to embodiment 1.

Description of the reference symbols

1: PW control device (opening/closing body control device)

10: control part (Motor control part)

12: motor drive unit

13: motor current detecting part (Current detecting part)

14: position detecting unit

80: motor with a stator and a rotor

81: opening and closing mechanism

91: window glass (opening and closing body)

100: vehicle (Structure)

110: maximum value detection unit

111: threshold setting unit

112: arrival determination unit

112 a: fully-closed vicinity position arrival determination unit

112 b: full-open vicinity position arrival determination unit

113: lock determination unit

113 a: full-closing lock determination unit

113 b: full-open lock determination unit

I: motor current (Motor current)

IMAX: maximum value of starting current (maximum value of I during start period of driving motor)

th 1: 1 st threshold value

th 2: 2 nd threshold value

ta: the fully-closed vicinity position arrival time point (arrival time point)

t 1: period 1

t 2: and 2. period.

Detailed Description

[ embodiment 1 ]

Hereinafter, an embodiment (hereinafter, also simply referred to as "the present embodiment") according to one aspect of the present invention will be described with reference to the drawings. For convenience, this embodiment will be referred to as embodiment 1. Note that descriptions of the same matters as those in the known art (for example, matters similar to those in patent document 1) are appropriately omitted.

Note that the device configuration shown in each of the drawings is merely an example for convenience of description. Note that each drawing (each graph) is not necessarily drawn on a scale for the purpose of schematically illustrating the magnitude relationship of each parameter. In the specification, each numerical value described below is also only an example.

Application example § 1

An example of a scenario to which the present invention is applied will be described with reference to fig. 1 and 2. Fig. 1 is a functional block diagram showing the configuration of a main part of a vehicle 100 according to embodiment 1. Vehicle 100 is an example of the "structure" of the present invention. The vehicle 100 includes the PW control device 1, a motor 80, an opening/closing mechanism 81, and a window glass 91. The PW control device 1 is an example of the "opening/closing body control device" of the present invention. The window glass 91 is an example of the "opening/closing body" of the present invention. In the example of fig. 1, window glass 91 is provided in window 90 of vehicle 100.

The PW control device 1 drives the motor 80 to operate the opening/closing mechanism 81. The opening/closing position (described later) of the window glass 91 can be changed in accordance with the operation of the opening/closing mechanism 81. In this way, the PW control device 1 can open and close the opening/closing body by driving the motor 80. The motor 80 may also be of a known type. Hereinafter, the current flowing through the motor 80 is referred to as a motor current (I).

Fig. 2 is a graph for explaining an outline of the operation of the PW control device 1. In the graph of fig. 2, the horizontal axis represents time (t) and the vertical axis represents motor current (I). In the present specification, "time" is an example of "time point". The graph shows an example of a change in I with time. As shown in fig. 2, generally, a relatively large motor current is generated during a start-up period (drive start period) of the motor 80. This motor current flowing during the starting of the motor 80 is also referred to as a starting current (or inrush current).

In the present specification, the value of I means "the size of I (the absolute value of I)". Therefore, both the 1 st threshold (th1) and the 2 nd threshold (th2) are set to positive values.

Fig. 2 (a) shows an example of behavior of I in a normal state. On the other hand, fig. 2 (b) shows an example of behavior of I in the abnormal state. As shown in fig. 2 (a) and (b), the lock current of the motor 80 (I value in the case where the motor 80 is in the locked state) (hereinafter, simply referred to as the lock current) greatly differs between the normal time and the non-normal time. That is, the waveform of I greatly differs between the normal time and the abnormal time after time ta (described later).

In the example of fig. 2, at time t0 (initial time), the motor 80 is started. The following is illustrated in fig. 2: by driving the motor 80, the window glass 91 in the half-open state is raised at t0, and the window glass 91 is shifted to the fully-closed state. However, the following description is also applicable to the following cases: at t0, window glass 91 in the half-open state is lowered, and window glass 91 is shifted to the fully-open state. The opening/closing position of the window glass 91 at t0 is referred to as an initial position.

As shown in fig. 2, the PW control device 1 detects a maximum value of I (i.e., a maximum value of the start current) (IMAX) during the start period of the motor 80. The start period of the motor 80 is a relatively short period (for example, about 50 ms) with t0 as a reference time point (starting point). The start period of the motor 80 includes an occurrence time point of IMAX (hereinafter referred to as a maximum value occurrence time point).

It is known that the lock current is somewhat larger than the unlock current of the motor 80 (the value of I in the case where the motor 80 is in the lock state) (hereinafter referred to as the unlock current). However, the non-lock current does not include the start current. Therefore, the lock current (particularly, the lock current in the normal state) is considered to be a value close to IMAX to some extent.

Therefore, the PW control device 1 sets a 1 st threshold (th1) based on the IMAX. th1 is an example of a lock determination threshold relating to a current. th1 may also be referred to as a 1 st lock determination threshold. th1 is suitable for determination (detection) of the locked state of the motor 80 in a normal state (see fig. 2 (a)).

Further, the PW control device 1 sets a 2 nd threshold (th2) different from th1 in accordance with IMAX. More specifically, th2 is set to a value less than th 1. th2 is another example of a lock determination threshold value relating to a current. th2 may also be referred to as a 2 nd lock decision threshold. th2 is suitable for determining the locked state of the motor 80 during abnormal conditions (see fig. 2 (b)). Thus, the PW control device 1 uses 2 lock determination thresholds with respect to the current, such as th1 and th 2.

Next, the PW control device 1 detects a time point (hereinafter referred to as an arrival time point) at which the window glass 91 has reached a predetermined position. The "fully-closed vicinity position" in fig. 2 is an example of the "predetermined position" in the present invention. As described later, the fully-closed vicinity position is set with reference to the position of the window glass 91 in the fully-closed state (fully-closed position). Time ta in fig. 2 is an example of the arrival time. Ta in the example of fig. 2 may also be referred to as a full-close vicinity position arrival time point.

The PW control device 1 starts determining the locked state of the motor 80 when the window glass 91 reaches a predetermined position (e.g., a position near the full close position). That is, the PW control device 1 starts determining the locked state of the motor 80 with ta as a reference time point. When determining that the motor 80 is in the locked state, the PW control device 1 stops the motor 80.

Specifically, the PW control device 1 determines that the motor 80 is in the locked state when a condition (hereinafter referred to as "1 st locking condition") that "a state where I is equal to or greater than th1 continues for the 1 st period at a time point after the arrival time point" is satisfied (see fig. 2 (a)). T1 in fig. 2 (a) is an example of the 1 st period. The 1 st period is a predetermined period set in advance and is shorter than t2 (2 nd period) described below. The 1 st period may also be referred to as a 1 st lock determination period. In the example of fig. 2 (a), the PW control device 1 determines that the motor 80 is in the locked state at time tb. Therefore, the PW control device 1 stops the motor 80 at time tb.

The PW control device 1 determines that the motor 80 is in the locked state even when the condition (hereinafter, the 2 nd locking condition) that "the state where I is equal to or greater than th2 continues for the 2 nd period at the time point after the arrival time point" is satisfied (see fig. 2 (b)). T2 in fig. 2 (b) is an example of the 2 nd period. The 2 nd period may also be referred to as a 2 nd lock determination period. In the example of fig. 2 (b), the PW control device 1 determines that the motor 80 is in the locked state at time tc. Therefore, the PW control device 1 stops the motor 80 at time tc.

(problem of the prior art)

As described above, in the conventional opening/closing body control device, only 1 lock determination threshold value (hereinafter, simply referred to as a threshold value) concerning the current is set in order to detect the lock state of the motor 80. As an example, a case where the threshold is set based on IMAX is considered. This threshold corresponds to th1 in the PW control device 1. Therefore, in the following description, this threshold value is referred to as th1 for convenience.

First, a case where IMAX can be detected with high accuracy (for example, a case where not so much noise component is superimposed on the waveform of the starting current) is considered. In this specification, a case where IMAX can be detected with high accuracy is referred to as a normal time. In a normal state, the lock current of the motor 80 can be estimated with a certain degree of accuracy from IMAX. Therefore, th1 corresponding to the actual lock current can be set appropriately according to IMAX. For example, th1 can be set to a value slightly smaller than the lock current. By setting th1 in this manner, the locked state of motor 80 can be appropriately determined at normal times (see th1 in fig. 2 (a)).

However, it is considered that IMAX cannot be detected with high accuracy in practice. For example, when a large noise component is superimposed on the waveform of the start current, the detection accuracy of IMAX may be lowered. When the voltage applied to the motor 80 varies at the time of starting the motor, the detection accuracy of IMAX may be lowered. In this case, there is a problem that th1 corresponding to the actual lock current cannot be set appropriately according to IMAX. For example, th1 is set to a value slightly larger than the lock current. When th1 is set in this way, the locked state of motor 80 cannot be appropriately determined only by th1 (see th1 in fig. 2 (b)). In this specification, the "case where the locked state of the motor 80 cannot be appropriately determined only by th 1" is referred to as an abnormal state.

In addition, in consideration of the decrease in detection accuracy of IMAX, it is also considered to set th1 to a smaller value in order to determine the locked state of the motor 80 by th 1. However, if th1 is set to be small as described above, the lock state of motor 80 may be erroneously determined (erroneously detected).

For example, during the raising of the window glass 91 (during the period from t0 to ta in fig. 2), a non-lock current flows according to the mechanical sliding resistance of the window glass 91. As described above, the non-lock current is smaller than the lock current. However, if th1 is set to be small, th1 may be lower than the non-lock current. In this case, the motor 80 is erroneously determined to be in the locked state even while the window glass 91 is actually being closed. As a result, the motor 80 is stopped, and the window glass 91 cannot be further closed.

Further, the motor 80 generates heat during driving of the motor 80. Due to this heat generation, the resistance of the motor 80 is greater than immediately after the start. In addition, the resistance of the motor 80 is also dependent on the ambient environment (particularly the ambient temperature). Further, with the switching of the electrical system for driving the motor 80, the resistance of the electrical system may also vary. For example, in the example of fig. 1, the electric system is switched between a case where the motor 80 is driven via the operation switch 70 and a case where the motor 80 is driven via the operation switch 71.

Considering such a state change, it is also considered to correct th1 to properly detect the lock state of motor 80 using only th 1. However, in the case where th1 is corrected to a small value, as described above, the lock state of motor 80 may be erroneously determined. As described above, when only th1 is used, the locked state of motor 80 cannot necessarily be appropriately determined.

(Effect of the PW controller 1)

Based on the above-described problems of the conventional techniques, the inventors of the present application (hereinafter, the inventors) newly found that "th 2 is introduced in order to determine the locked state of the motor 80 more reliably than before". More specifically, the inventors conceived a new configuration of "determination of the locked state of the motor 80 using th2 as well".

In the PW control device 1, th2 is set to a value smaller than th 1. Therefore, for example, in the example of fig. 2 (b), th2 is smaller than the lock current in the abnormal state. Thus, by using th2, the locked state of motor 80 can be appropriately determined even in the abnormal state.

Further, immediately after the window glass 91 reaches the fully closed position, it is preferable to generate a large torque (tightening torque) in the motor 80 in a short time in order to reliably separate the internal space and the external space of the vehicle 100 by the window glass 91. Therefore, it is considered that a large lock current flows immediately after the window glass 91 reaches the fully closed vicinity position. In view of this, t1 is set to a relatively short period in consideration of the generation time of the tightening torque. Thus, t1 is set assuming a current change mode within a short time immediately after window glass 91 reaches a predetermined position (for example, a fully closed vicinity position).

In contrast, t2 is set to a relatively long period. T2 is set assuming that the locked state continues for a relatively long period when the 1 st locking condition is not satisfied. That is, t2 is set assuming a state where a relatively small lock current continues to flow. In this way, by setting t2 longer than t1, the locked state of motor 80 can be determined more appropriately.

As described above, the 2 nd lock condition can be said to be a lock condition for backup of the 1 st lock condition. According to the PW control device 1, by performing the determination process using the 2 nd locking condition, unlike the related art, the locked state of the motor 80 in the abnormal state can be appropriately determined. Thus, according to the PW control device 1, the locked state of the motor 80 can be determined more appropriately than in the related art, and therefore damage to the opening/closing member can be prevented more effectively than in the related art.

Construction example 2

Referring again to fig. 1, a configuration example of vehicle 100 will be described. Vehicle 100 includes PW control device 1, operation switch 70, operation switch 71, motor 80, opening/closing mechanism 81, window 90, and window glass 91. The PW control device 1 includes a control unit 10 (motor control unit), a switch input circuit 11, a motor drive unit 12, a motor current detection unit 13 (current detection unit), and a position detection unit 14.

In the example of fig. 1, the 4 operation switches 70a to 70d are collectively referred to as operation switches 70. The operation switch 70 is an example of an input device that receives a user operation for opening and closing the window 90 (for moving the window glass 91 up and down). The operation switch 70 generates an operation signal corresponding to a user operation, and supplies the operation signal to the switch input circuit 11. For example, the operation switch 70 is provided near the driver's seat of the vehicle 100. However, the number of the operation switches 70 is arbitrary and is not limited to the example of fig. 1.

The switch input circuits 11 are provided so as to correspond one-to-one to the operation switches 70. In the example of fig. 1, the 4 switch input circuits 11a to 11d are collectively referred to as a switch input circuit 11. The switch input circuit 11 supplies the operation signal supplied from the operation switch 70 to the control section 10. In this case, the window 90 can be opened and closed by manual operation. However, when the window 90 is opened and closed by an automatic operation, the control unit 10 may generate an operation signal.

The operation switches 71 collectively show operation switches other than the operation switch 70 among the operation switches provided in the vehicle 100. As an example, the operation switches 71 include (i) an operation switch provided near a front passenger seat of the vehicle 100 and (ii) an operation switch provided near a rear seat of the vehicle 100. The operation switch 71 supplies an operation signal corresponding to a user operation to the control unit 10 via a switch input circuit (not shown) corresponding one-to-one to the operation switch 71.

The control Unit 10 includes a CPU (Central Processing Unit), a RAM (Random access Memory), a ROM (Read Only Memory), and the like, and controls each component element according to information Processing. In particular, in embodiment 1, the control unit 10 functions as a motor control unit that controls the motor 80. Specifically, the control unit 10 supplies a control signal (a signal for controlling the motor 80 via the motor drive unit 12) corresponding to the operation signal to the motor drive unit 12. Each part of the control unit 10 will be described later.

The motor drive unit 12 receives a control signal supplied from the control unit 10, and generates a signal (drive signal) for driving the motor 80. The drive signal is also referred to as an action indication signal. The motor drive unit 12 drives the motor 80 by supplying a drive signal to the motor. The motor drive unit 12 includes a circuit (drive circuit) for rotating the motor 80 in a desired rotational direction.

The motor current detection unit 13 detects a motor current (I). The motor current detection unit 13 may be a known current sensor. The control unit 10 can perform feedback control (current feedback control) of the motor 80 based on I detected by the motor current detection unit 13. The motor current detection unit 13 may also function as a local maximum value detection unit 110, which will be described later.

The position detector 14 detects the position of the window glass 91 in the opening/closing direction (vertical direction, for example). For convenience, the position in the opening/closing direction of the window glass 91 is referred to as the opening/closing position of the window glass 91 (or simply the opening/closing position). In the example of fig. 1, the position detection unit 14 may be an encoder (more specifically, a rotary encoder) that detects a position of a rotor of the motor 80 (more specifically, a rotation angle of the motor 80). In this case, the position detection unit 14 can detect the open/close position based on a signal indicating the position of the rotor of the motor 80. The control unit 10 can perform feedback control (position feedback control) of the motor 80 based on the open/close position detected by the position detection unit 14.

However, the position detection unit 14 is not limited to an encoder. For example, a position sensor (for example, a distance sensor) that directly detects the open/close position of the window glass 91 may be used as the position detection unit 14. The position detection unit 14 may also have a function of an arrival determination unit 112, which will be described later.

The opening/closing mechanism 81 is a mechanical element interposed between the motor 80 and the window glass 91. For example, the opening/closing mechanism 81 is an actuator that changes the opening/closing position. For example, when the motor 80 is rotated in the normal direction (for example, rotated clockwise), the opening/closing mechanism 81 can be driven to raise the window glass 91. On the other hand, when the motor 80 is rotated in the reverse direction (for example, counterclockwise), the opening and closing mechanism 81 can be driven so as to lower the window glass 91. The opening/closing mechanism 81 may be incorporated in the motor 80. Alternatively, the opening/closing mechanism 81 may be omitted depending on the mechanical structure of the structure. In this case, the motor 80 may be directly mechanically connected to the opening/closing body.

The control unit 10 includes a local maximum value detection unit 110, a threshold value setting unit 111, an arrival determination unit 112, and a lock determination unit 113. The arrival determination unit 112 has a fully closed vicinity position arrival determination unit 112a and a fully open vicinity position arrival determination unit 112 b. The lock determination unit 113 includes a fully closed lock determination unit 113a and a fully open lock determination unit 113 b.

The local maximum value detection unit 110 obtains the value of I at each time from the motor current detection unit 13. Then, the local maximum value detection unit 110 analyzes the form of temporal change in I (e.g., analyzes the waveform of I) to detect IMAX. For detection of IMAX, known methods can be used. The local maximum value detection unit 110 may further detect the local maximum value occurrence time. More precisely, the local maximum value occurrence time point can be expressed as "a time point at which IMAX is detected by the motor current detection unit 13".

The threshold setting unit 111 sets th1 and th2 based on IMAX detected by the local maximum value detection unit 110 (more precisely, the motor current detection unit 13). For example, the threshold setting unit 111 sets th1 and th2 as follows.

th1＝α×IMAX…(1)

th2＝β×IMAX…(2)

In embodiment 1, α > β. By setting α and β so as to satisfy this magnitude relationship, th2 can be set to a value smaller than th 1.

The values of α and β can be set as appropriate by the manufacturer of the PW control device 1 based on a result of an experiment in advance or the like. In embodiment 1, α is 0.8, for example. This α is set with the intention of setting th1 to a value slightly smaller than the lock current at normal times.

In contrast, in embodiment 1, β is 0.4, for example. This β is set with the intention of setting th2 to a value slightly smaller than the lock current at the time of abnormal operation. More specifically, β is set to a value lower than an "assumed value of the minimum value of the lock current in the abnormal state" (hereinafter, Imin). For example, Imin may be set according to "the lock current when the motor 80 is driven at the lower limit value of the usable temperature". Alternatively, Imin may be set according to "a lock current when the motor 80 is driven at the lower limit value of the usable voltage".

For example, th2 may be set to a size equal to or less than half (1/2) of th 1. By setting th2 in this way, th2 and th1 can be sufficiently different. That is, the 2 nd lock condition can be made sufficiently different from the 1 st lock condition. Therefore, the locked state of the motor in the abnormal state can be determined more appropriately. However, it is also not preferable to set th2 to an excessively small value in order to avoid erroneous determination of the lock state.

The arrival determination unit 112 collectively indicates a fully closed vicinity position arrival determination unit 112a and a fully open vicinity position arrival determination unit 112 b. The arrival determination unit 112 obtains information indicating the opening/closing position at each time from the position detection unit 14. Based on this information, arrival determination unit 112 determines whether or not window glass 91 that was located at the initial position has reached a predetermined position. Further, the arrival determination unit 112 detects the arrival time point. Strictly speaking, the arrival time can be expressed as "the time at which the opening/closing body is detected by the position detection unit 14 to have reached a predetermined position". As can be seen from the example of fig. 2, the arrival time point is a time point after the maximum value occurrence time point.

Whether the fully closed vicinity position reaching determination unit 112a or the fully open vicinity position reaching determination unit 112b is operated may be determined according to the moving direction of the window glass 91 (or the rotating direction of the motor 80). This is the same for the fully closed lock determination unit 113a and the fully open lock determination unit 113b, which will be described later.

As illustrated in fig. 2, the fully-closed vicinity position reaching determination unit 112a determines whether or not the window glass 91 has reached the fully-closed vicinity position when the window glass 91 once positioned at the initial position is raised (when the window 90 once in the half-open state is shifted to the fully-closed state). The fully-closed vicinity position is set with reference to the fully-closed position. For example, the fully-closed vicinity position may be set to a position lower than the fully-closed position by a predetermined dimension (for example, 50 mm).

On the other hand, when lowering window glass 91 once at the initial position (when shifting window 90 once in the half-open state to the fully-open state), full-open vicinity position arrival determination unit 112b determines whether window glass 91 has reached the full-open vicinity position. The full open vicinity position is another example of the predetermined position. The fully-open vicinity position is set with reference to the position of the window glass 91 in the fully-open state (fully-open position). For example, the fully-opened vicinity position may be set to a position higher than the fully-opened position by a predetermined dimension (for example, 50 mm). Further, the fully-opened vicinity position arrival determining section 112b detects a point in time when the window glass 91 reaches the fully-opened vicinity position (hereinafter referred to as fully-opened vicinity position arrival point in time). The full-open vicinity position arrival time point is another example of the arrival time point.

The lock determination unit 113 collectively indicates a fully closed lock determination unit 113a and a fully open lock determination unit 113 b. The lock determination unit 113 starts determining the locked state of the motor 80 when the window glass 91 reaches a predetermined position. That is, the lock determination unit 113 starts determining the locked state of the motor 80 with the arrival time as a reference time.

Specifically, the lock determination unit 113 determines that the motor 80 is in the locked state when: (i) "at a time point after the arrival time point, a state where I is th1 or more continues for the 1 st period" (the 1 st condition is satisfied); or, (ii) "at a time point after the arrival time point, a state where I is th2 or more continues for the 2 nd period" (the 2 nd condition is satisfied).

Then, when determining that the motor 80 is in the locked state, the lock determination unit 113 stops the motor 80. Specifically, the lock determination unit 113 generates a control signal for stopping the motor 80, and supplies the control signal to the motor drive unit 12. The motor drive unit 12 receives the control signal and stops supplying the drive signal to the motor 80.

The fully-closed lock determination unit 113a detects the locked state of the motor 80 when the window 90 is fully closed. As shown in fig. 2, the fully-closed lock determination unit 113a operates when the window 90 is shifted to the fully-closed state. The fully-closed lock determination unit 113a determines whether or not the 1 st condition or the 2 nd condition is satisfied at a time point after the fully-closed vicinity position reaches the time point.

On the other hand, the fully-opened lock determination unit 113b detects the locked state of the motor 80 when the window 90 is fully opened. The fully-opened lock determination unit 113b operates to shift the window 90 to the fully-opened state. The fully-open lock determination unit 113b determines whether or not the 1 st condition or the 2 nd condition is satisfied at a time point after the fully-open vicinity position reaches the time point.

The values of the 1 st period (example: t1) and the 2 nd period (example: t2) can be set as appropriate by the manufacturer of the PW control device 1 based on the results of experiments in advance and the like. In embodiment 1, t1 is set to 300ms, for example. On the other hand, t2 is set to about 1 to 2 s. Thus, t2 is set to be somewhat longer than t 1.

For example, the length of the 2 nd period may be 3 times or more the length of the 1 st period. By setting the 2 nd period in this way, the 2 nd period can be sufficiently different from the 1 st period. That is, the 2 nd lock condition can be made sufficiently different from the 1 st lock condition. Therefore, the locked state of the motor in the abnormal state can be determined more appropriately. However, it is also not preferable to set the period 2 too long. This is because, in order to more reliably prevent damage to the opening/closing member, it is also preferable to perform the lock determination in the abnormal state to some extent quickly.

Action example 3

Fig. 3 is a flowchart illustrating a flow of processing of the PW control device 1. In the example of fig. 3, at a time point before S1, the motor 80 is not driven. Therefore, at this point in time, the window glass 91 is stationary at the initial position.

First, the control unit 10 determines whether or not a drive signal (operation instruction signal) for the motor 80 is present (S1). If there is no drive signal (no in S1), the motor 80 remains undriven, and therefore the process returns to S1 again.

On the other hand, when the drive signal is supplied to the motor 80 (yes in S1), the motor 80 is started. In this case, as described above, the local maximum value detection unit 110 detects (acquires) IMAX (local maximum value of the starting current) (S2). Next, the threshold setting unit 111 sets (calculates) th1 based on IMAX (for example, using equation (1)) (S3). Further, the threshold setting unit 111 sets th2 based on IMAX (for example, using equation (2)) (S4). As mentioned above, th2 is smaller than th 1.

Subsequently, the arrival determination unit 112 determines whether or not the window glass 91 has reached a predetermined position (for example, the fully closed vicinity position or the fully open vicinity position) (S5). If the window glass 91 does not reach the predetermined position (no in S5), the process returns to S5 again. On the other hand, when window glass 91 reaches the predetermined position (yes in S5), arrival determination unit 112 detects the arrival time (for example, the fully-closed vicinity position arrival time or the fully-open vicinity position arrival time). Then, the process proceeds to S6. Thereafter, lock determination processing by the lock determination unit 113 is performed.

Initially, the lock determination unit 113 performs a lock determination process based on the 1 st lock condition. First, the lock determination unit 113 determines whether I is equal to or greater than th1 (S6). When I is equal to or greater than th1 (yes in S6), lock determination unit 113 determines whether or not the duration of the state in which I is equal to or greater than th1 is equal to or greater than the 1 st period (S7). According to the flow of the processing of fig. 3, if yes in S7, the 1 st lock condition is satisfied.

Therefore, when yes in S7, the lock determination unit 113 determines that the motor 80 is in the locked state. Then, the lock determination unit 113 executes a motor operation stop process (a process of stopping the operation of the motor 80) (S8). After S8, the motor 80 is stopped, and the process of fig. 3 is completed.

On the other hand, if I is smaller than th1 (no in S6), or if the duration of the state where I is equal to or greater than th1 is shorter than the 1 st period (no in S7), the 1 st lock condition is not satisfied. Therefore, when "no" in S6 or "no" in S7, the lock determination unit 113 determines whether or not I is equal to or greater than th2 (S9). That is, the lock determination unit 113 temporarily ends the lock determination process based on the 1 st lock condition and performs only the lock determination process based on the 2 nd lock condition.

When I is equal to or greater than th2 (yes in S9), lock determination unit 113 determines whether or not the time during which the state where I is equal to or greater than th2 continues is equal to or greater than the 2 nd period (S10). As described above, the 2 nd period is longer than the 1 st period. According to the flow of the processing of fig. 3, if yes in S10, the 2 nd lock condition is satisfied. Therefore, if yes in S10, the lock determination unit 113 determines that the motor 80 is in the locked state. Therefore, if yes in S10, the process proceeds to S8.

On the other hand, if I is smaller than th2 (no in S9), or if the time during which the state where I is equal to or greater than th2 continues is shorter than the 2 nd period (no in S10), the 2 nd lock condition is not satisfied. Therefore, when no in S9 or no in S10, the control unit 10 continues the process of operating the motor 80 (S11). Then, the process returns to S6. After that, the same process is repeated until S8 is reached.

As described above, according to the processing of fig. 3, by performing the lock determination processing based on the 2 nd lock condition, the lock state of the motor 80 can be determined more appropriately than in the past. As a result, damage to the opening/closing member can be prevented more effectively than before.

[ embodiment 2 ]

Embodiment 2 will be explained below. The same reference numerals are given to members having the same functions as those described in embodiment 1, and the description thereof will not be repeated below.

(1) The "opening/closing body" of the present invention is not limited to the "window glass". Therefore, the "opening/closing body control device" of the present invention is not limited to the "PW control device". The opening/closing body may be any object that can be opened and closed by driving a motor. For example, the opening/closing body may be a sunroof provided in the vehicle 100. Alternatively, the opening/closing body may be a slide door provided in the vehicle 100. Therefore, the "opening/closing direction" in the present invention is not limited to the vertical direction, and may be, for example, the horizontal direction.

(2) Further, the "structure" of the present invention is not limited to the "vehicle". The structure may be any structure that can separate an internal space from an external space by an opening/closing body, for example. Examples of the structure include buildings such as houses and buildings. Therefore, the opening/closing body is not limited to the member in the vehicle 100. For example, the opening/closing body may be an automatic door (e.g., a glass door) installed in a building. Alternatively, the opening/closing body may be a window glass provided in a building. In this way, the opening/closing body control device may be a PW control device installed in a building.

[ software-based implementation example ]

The control block (particularly, the control unit 10) of the vehicle 100 may be realized by a logic circuit (hardware) formed on an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, vehicle 100 includes a computer that executes commands of a program that is software for realizing each function. The computer has, for example, 1 or more processors, and a computer-readable recording medium storing the program. Also, in the computer, the processor reads and executes the program from the recording medium, thereby achieving the object of the present invention. As the processor, for example, a CPU can be used. As the recording medium, a "non-transitory tangible medium" such as a ROM, etc., may be used, and a magnetic tape, a magnetic disk, a card, a semiconductor memory, a programmable logic circuit, etc. may be used. Further, the system may have a RAM or the like for loading the program. Further, the program may be supplied to the computer via an arbitrary transmission medium (a communication network, a broadcast wave, or the like) capable of transmitting the program. In addition, an aspect of the present invention can also be implemented by electronically transmitting a data signal embedded in a carrier wave that embodies the program.

[ Note attached ]

The present invention is not limited to the above embodiments, and various modifications can be made within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments are also included in the technical scope of the present invention.

Claims

1. An opening/closing body control device for opening/closing an opening/closing body by driving a motor,

the opening/closing body control device includes:

a motor control unit that controls the motor;

a current detection unit that detects a current of the motor; and

a position detecting unit that detects an open/close position of the opening/closing body,

a time point when the position detection unit detects that the opening/closing body has reached the predetermined position after the current detection unit detects the maximum value of the current in the drive start period of the motor is referred to as an arrival time point,

the motor control unit stops the motor at a time point after the arrival time point when:

(i) a state where the current is equal to or more than a 1 st threshold value set according to the maximum value continues for a 1 st period; or

(ii) The state where the current is equal to or greater than the 2 nd threshold value set in accordance with the maximum value and smaller than the 1 st threshold value continues for the 2 nd period longer than the 1 st period.

2. The opening-closing body control device according to claim 1,

the size of the 2 nd threshold is less than half of the size of the 1 st threshold.

3. The opening-closing body control device according to claim 1 or 2, wherein,

the length of the 2 nd period is 3 times or more the length of the 1 st period.

4. The opening-and-closing body control device according to claim 1 or 2,

the opening/closing body control device is an electric window control device that drives the motor to open and close a window glass as the opening/closing body.

5. The opening-and-closing body control device according to claim 3,

6. A structure, the structure having:

the opening-closing body control device according to any one of claims 1 to 5;

the motor; and

the opening/closing body.