JP2003056250A - Actuator control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator control device which is improved in confinement detecting accuracy by correcting rotational speed data by using a new time constant, according to the magnitude of vibrations. SOLUTION: The actuator control device 1 is comprised of two rotational signal generating means 8, 9, an output shaft rotational speed calculating block 14, and an integral correcting block 17. The rotational signal generating means 8, 9 each generate a rotational signal according to rotation of an armature shaft 5a of a motor 5. The output shaft rotational speed calculating block 14 calculates the rotational speed data by estimating the rotational speed of an output shaft 7, based on the rotational signals generated by the rotational signal generating means 8, 9. The integral correcting block 17 compares a latest value of the rotational speed data with a value of the rotational speed data obtained before predetermined minutes, and if the difference between the two values exceeds a predetermined value, the integral correcting block 17 carries out calculation of new corrected rotational speed data which is referred to when determination as to pinching is executed.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention
Actuator that automatically drives the sunroof lid
The present invention relates to an actuator control device that controls 2. Description of the Related Art As an actuator control device of this kind,
Is pinched while the sunroof lid is moving to the closing side.
Flips the sunroof lid to the open side
Things are known. [0003] The above-mentioned actuator
In the control device, the
Significant fluctuations in the rotation speed of the armature shaft of the tutor
Then, it is mistaken as a pinch, so pinch
The threshold value for fluctuations in rotation speed was set high.
However, in that case, make sure that even large vibrations are not misrecognized.
And the normal pinch threshold is also high, resulting in pinch
There was a problem that the load at the time of insertion became large. An object of the present invention is to rotate a rotary shaft according to the magnitude of vibration.
Numerical data can be corrected with a new time constant and used.
That can improve the detection accuracy of entrapment
It is an object to provide a tutor control device. SUMMARY OF THE INVENTION [0006] The present invention relates to a first aspect of the present invention.
In the actuator control device, a switch and a switch
Armature that is connected to the
Connected to a motor with a fixed shaft and the armature shaft of the motor
Mounted output shaft and near the motor armature shaft
Generates a rotation signal in accordance with the rotation of the armature shaft.
And two rotation signal generating means.
Measure the time between the generated signals and calculate the rotation speed data
Output shaft speed calculation block and output shaft speed calculation block
Saves only a certain amount of rotation speed data calculated by locking
Rotation speed memory block and output shaft rotation speed calculation block
The rotation speed data obtained by locking is
Compare and integrate with a certain time constant.
Integral correction block to obtain corrected rotation speed data by
And the corrected rotation speed data obtained by the integration correction block
A corrected rotation speed memory block for storing only a predetermined amount,
Actuator control device with an integral correction block.
The lock is based on the latest rotation speed data and the
Minutes before the rotation speed data, and the difference is determined in advance.
If the value exceeds the specified value, the integration process is performed with a new time constant.
The new corrected rotation speed data is used to determine the entrapment.
It is characterized by having been completed. [0007] The actuator control device according to the present invention
In this case, the actuator arm
When the rotation speed of the armature shaft fluctuates, the armature shaft
The latest output shaft rotation speed calculated based on the rotation speed data of
The data and the rotation speed memory block before the specified amount are saved.
Is compared with the output shaft speed data
Integrates with a new time constant when it exceeds the specified value
Processed new corrected rotational speed data is used to determine pinching
You can. Therefore, a new threshold is used to determine pinching.
New time set according to vehicle vibration without
Corrected rotation speed data based on a constant is used. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 to 7 show an actuator according to the present invention.
One embodiment of a heater controller is shown. Show
The actuator control device 1 mainly has a slide opening /
Tilt down switch 2, slide closed / tilt ups
It is composed of switch 3, power supply 20, and actuator 4.
I have. The actuator 4 also has an armature shaft 5a.
Motor 5, output circuit 6, output shaft 7, first armature
A shaft rotation signal generating means 8 (Hall IC1),
Mature shaft rotation signal generating means 9 (Hall IC2),
Troll unit MCU (micro program control unit)
Is incorporated. The control unit MCU has:
Input block 10, control block 11, output block 1
2. Edge detection block 13, output shaft rotation speed calculation block
14, an output shaft rotation speed memory block 15 before integration correction,
Calculation interval timer 16, integral correction block 17, integral correction
A rear output shaft rotation speed memory block 18 is incorporated.
The integration correction block 17 calculates the integration filter constant FT data
(X), integral filter constant FTROM data (XA, X
An), integration filter constant subtraction value ROM data (SUB
n). The slide open / tilt down switch 2 is
Operated when performing slide open operation and tilt down operation.
Input switch. Slide closed / tilt ups
The switch 3 performs a slide closing operation and a tilt-up operation.
It is an input switch that is sometimes operated. In the motor 5,
First and second brushes 5b and 5c are provided.
The first and second brushes 5b and 5c are connected to the output circuit 6, respectively.
Has been continued. The armature shaft 5a of the motor 5 outputs
It is connected to the shaft 7. Output shaft 7 is sunroof lid
Connected to a sunroof lid 31 via a drive mechanism 30
ing. The output circuit 7 includes switches such as relays and transistors.
An etching element is provided. The output circuit 7 outputs
Output given from block 12 for switching element
To drive the switching element
1st and 2nd brushes 5 for stopping, normal rotation and reverse rotation
b, 5c. First armature shaft rotation signal generating means 8
Is a first sensor arm attached to the armature shaft 5a.
Gnet (not shown)
ing. The first armature shaft rotation signal generating means 8
The first sensor magnet is together with the armature shaft 5a
By rotating, the rotation of the armature shaft 5a
A first rotation signal in the form of a pulse is generated. The second armor
The armature rotation signal generating means 9 includes a first armature axis.
At a position shifted by 90 degrees with respect to the rotation signal generating means 8,
-With the first sensor magnet on the armature shaft 5a
Is a second sensor magnet (not shown)
, And is arranged in non-contact with the outer periphery of ()). The second a
The armature rotation signal generating means 9 is provided with a second sensor magnet.
When the net rotates with the armature shaft 5a
Therefore, the first armature shaft rotation signal generating means 8 is generated.
Pulse with a phase difference of 1/2 cycle
A second rotation signal in the form of a circle is generated. The input block 10 is a slide open / tilt.
This is caused by turning down switch 2 on.
Input signal, slide close / tilt up switch 3
Input signal generated by the
Filter processing, prohibition processing, etc., and process the processed signal
Transfer to lock 11. The control block 11
It controls the operation of the entire control unit MCU. Control block
The slide open / tilt down switch 2 is turned on
Input signal generated by operation, slide closed
When the / tilt-up switch 3 is turned on,
Of the actuator 31 in response to the input signal
Operation and the moving direction are determined, and the output block 12 is driven.
You. The control block 11 reads from the integral correction block 17
The output shaft speed data Ro (n) sent and after the integration correction
The past value transferred from the output shaft speed memory block 18
Rotation speed data COL (M) and a predetermined threshold ND
When the vehicle is decelerating beyond
To move the sunroof lid 31 in the opening direction.
An output signal is supplied to the output block 12. Output block
The clock 12 receives the signal given from the control block 11.
The output circuit 6 controls the motor 5 to stop, forward, or reverse.
Output. The edge detection block 13 includes a first armor
The first rotation signal generated by the true shaft rotation signal generating means 9
No., the second armature shaft rotation signal generating means 10 is generated
Rising edge, falling edge of the second rotation signal
Detects edges and prompts to start calculating output shaft speed data
To output a calculation start signal for Also, edge detection block
The block 13 is a factor of the calculation start to the integral correction block 17.
make. The output shaft rotation speed calculation block 14 detects an edge.
The time between signals is measured by the calculation start signal in block 13.
And the rotation speed of the armature shaft 5a
Calculate the data and add the armature axis to the rotation speed data.
5a is multiplied by the reduction ratio of the output shaft 7 to obtain the rotation speed of the output shaft 7.
calculate. Output shaft speed memory block 1 before integration correction
5 is the output obtained by the output shaft rotation speed calculation block 14.
A predetermined number of force axis rotation data is stored. Calculation interval
Ima 16 is a waiting time for performing the integral calculation at regular intervals.
Is set for a certain period of time, and the output shaft speed data
When the time is low, the integral correction block is set every waiting time TCAL.
17 is prompted. The integral correction block 17 calculates an output shaft speed.
Output shaft speed data Rin calculated in the output block 14
(N) and the output shaft memory block after the previous calculation and integration correction
Output shaft correction rotation speed data Ro stored in the
(N-1) and the integration time constant FT selected at that time
And the calculation interval Ts known in advance or edge detection
With the calculation start signal given from block 13,
Calculate the corrected output shaft rotation value. In addition, the integral correction block
In block 17, the output shaft rotation speed memory block before integration correction
Acceleration by the output shaft speed data stored in
Check rotation speed fluctuation in the direction and output this time by integral calculation
Shaft rotation speed data Rin (n) and predetermined rotation speed data before correction
REV (L), and if it exceeds the threshold value NA, R
An integration filter constant is set from the OM data. Also,
The calculation start signal provided by the
When the time is less than or equal to the calculation interval timer Ts, the edge detection block 13
The correction process is performed by the calculation start signal. Output after integration correction
The shaft rotation speed memory block 18 includes an integral correction block 17
Save the output shaft rotation speed data calculated in
You. The integral filter constant FT data (X) is obtained by multiplying the product
The convergence value X of the integration filter constant FT is added to the minute correction block 17.
give. Integral filter constant FTROM data (XA,
XAn) indicates the integration filter constant in the integration correction block 17.
The values XA and XAn to be set to FT are given. Integral
The filter constant subtraction value ROM data (SUBn) is
For each integral operation from the integral filter constant FT in the positive block 17
Is given a value SUBn which is subtracted by a predetermined value. In such an actuator control device 1,
And the motor 5 rotates as shown in FIG.
At time t1, the output shaft rotation speed is Rin
If it fluctuates to (n), the correction calculated
The rotation speed is as follows. Ro (n) = Ts / FT (Rin (n) -Ro (n-
1) + Ro (n-1) At this time, the output shaft rotation speed data obtained by this calculation
Is Ro (n), the output shaft rotation obtained by the previous calculation.
Number data Ro (n-1), output before calculation measured this time
Shaft speed data Rin (n), time constant FT, between calculations
The interval is Ts. As shown in FIG. 2B, the motor 5
First and second armature shaft rotation by rotating
First and second rotation signals are generated by the signal generation means 8 and 9.
Armature shaft at every rising of the first and second rotation signals.
The rotation speed calculation of 5a is executed. And in FIG. 2 (2)
Armature axis at the indicated intervals T1, T2, T3
Time Ro (1), Ro (2), Ro for one rotation of 5a
(3) is calculated and converted to the armature shaft speed data.
The output shaft speed data can be obtained by multiplying by the reduction ratio of the output shaft 7.
You. Then, as shown in FIGS. 2 (3) and 2 (4).
In the output shaft speed data,
Is calculated with a predetermined integration time constant FT, and
The obtained rotation speed data is inserted as corrected rotation speed data.
It is used to judge the inclusion. As is clear from the above formula
Meanwhile, when the time constant FT decreases, as shown in FIG.
Output shaft speed data fluctuates sharply, and vice versa.
Meanwhile, when the time constant FT increases, as shown in FIG.
The fluctuation of the output shaft speed data becomes slow. As shown in FIG. 3 (5), the motor 5
By rotating, first and second armature shaft rotation
First and second rotation signals are generated by the rotation signal generation means 8 and 9
Armature at each rising edge of the first and second rotation signals.
Calculation of the number of revolutions of the shaft 5a is performed, and is shown in FIG.
When the motor 5 is rotating, the vehicle
The vibration generated by traveling on the vehicle is transmitted to the motor 5.
As a result, the sliding resistance in the sunroof lid 31
Of the output shaft 7 also fluctuates. this
When the vibration stops, the motor 5 returns to the normal rotation speed.
When a stop request is issued, the motor 5 starts
It stops at high speed. As shown in FIG.
In addition, the output shaft rotation speed data due to the rotation of the motor 5
Rin (n) is the rise (fall) of the first and second rotation signals.
) Calculated from the latest output shaft speed data in the past.
Up to a certain number of output shaft speed data,
The data is stored in the memory without performing the correction processing.
And the Nth output shaft speed data and the latest output
Compared with the shaft rotation speed data Rin (n), the rotation speed difference
Is shown as in FIG. 3 (7). At this time, the rotational speed difference
Is positive in the acceleration state where the rotation speed gradually increases
(+) Difference, and on the contrary, the rotation speed gradually
And in the decelerating state in which it descends, the difference is minus (-).
In the determination of the entrapment, this negative difference determines the threshold ND.
It is performed when it falls below. ΔnD shown in FIG. 2 (7)
1, ΔnD2 and ΔnD3 are all below the threshold value ND
Therefore, it is determined that “jamming is present”. FIG.
As shown in (8), the output shaft rotation speed data is equal to the threshold N
When the value is lower than D, it is determined that “jamming is present”. As shown in FIG. 3 (9), FIG.
In the acceleration direction due to the output shaft rotational speed difference not corrected by
At time t3 when there is a fluctuation and the fluctuation difference exceeds the threshold value ND,
At t4 and t5, it is determined that "vibration has occurred", and
The integration time constant FT of the positive routine is set to a new value. This
The latest output shaft speed data Ri by the integration time constant FT of
n (0) and the output shaft rotational speed data Ro (n−
1) The rotation speed variation is corrected by
Output shaft speed data Ro (n) is stored in the memory.
You. The output shaft speed data Ro (n) at this time is
A memo that stores the "No correction" output shaft speed data
This is another memory. The output calculated in this way
Is the force axis rotation speed data Ro (n) abrupt fluctuation before correction?
The result is a slow variation that is integrated. As shown in FIG. 3 (10), FIG.
When the output shaft rotation speed difference after correction is obtained in the same manner as (7),
It is expressed as shown in this figure, and when it is affected by vibration
Does not fall below the threshold value ND. As shown in FIG.
Even if it is affected by vibration,
There are no locations that are judged to be "
No operation. As shown in FIG.
When the output shaft rotation speed difference without the correction of (6) is expanded,
It is represented as shown in this figure. At times t3, t4, and t5
Since the threshold value NA is exceeded, a predetermined value is set for the integration filter constant FT.
When the value is set and the rotational speed difference increases,
Is set. As shown in FIG.
The set value of the integral filter time constant FT is affected by vibration.
When there is no value, the value of X is set.
When the value exceeds the value NA, the value of XA is set. In addition, the time
At t3 ', t4', t5 ', the difference in the number of rotations becomes large.
If set values XA1, XA2 and XA3 are set accordingly
Is done. Here, the integration constant once set is
Predetermined every time or input of the first or second rotation signal
Is reduced by the value of, and when the initial value X is reached, the value is retained
I do. Thus, the time at which the integration filter is corrected
Is the time of ΔtC1 when the set value is XA1, and the set value is
At XA2, time of ΔtC2, when set value is XA3
Is the time of ΔtC3, and the correction continues for the time of TC
Is done. As shown in FIG.
Even if data is affected by vibration,
Is corrected from the output shaft speed data
Will not work. As shown in FIG. 5 (15), the output shaft rotation
The calculation of the turn data is performed by switching the first and second rotation signals.
This is implemented for each cartridge, and the output shaft speed data is integrated and corrected.
The calculation to be performed is performed by switching the first and second rotation signals or
-When the rotation speed of the armature shaft 5a is less than LREV,
Is executed when TCAL elapses from the calculation of. Time t6
Is not the edge of the first and second rotation signals, but the elapsed time
Is calculated at the time t7.
This shows a point in time when new output shaft speed data is calculated.
As shown in FIG. 5 (16), the output shaft rotation before the integration calculation is performed.
The calculation of the turn data is performed at the edges of the first and second rotation signals.
Performed synchronously. This is the total output shaft speed data.
Is the switching of the same output shaft rotation signal.
This is due to the reason that the interval in which the edge directions are the same is measured.
As shown in FIG. 5 (17), the integral correction is performed for the first and
Synchronous with the edge of the rotation signal 2 or T from the previous calculation
Implemented when CAL has elapsed. In this case, FIG.
Unlike the case of 6), it is always necessary to synchronize with the edge
There is no. This means that the timing of the integration calculation
That the output shaft speed data of
It depends. The corrected calculation result obtained here is
In addition to being recognized as output shaft speed data at
Is used in the correction calculation. Also, the same as the edge of the rotation signal
Output shaft speed data calculated unexpectedly is stored in memory.
Is not preserved. As shown in FIG.
The memory save timing for the output shaft speed data is displayed.
Have been. Output shaft speed data is stored in L memories.
Be preserved. As described above, it is not synchronized with the edge of the rotation signal
Output shaft speed data is not saved in memory.
No. As shown in FIG. 5 (19), the output shaft rotation after the correction is performed.
The timing of memory storage related to turn data is shown.
You. Output shaft speed data is stored in M memories.
You. As described above, when not synchronized with the edge of the rotation signal
Does not store the output shaft speed data in memory. Such an actuator control device 1 includes:
The main routine for normal operation shown in FIG.
By executing the rotation speed integration subroutine
The movement of the sunroof lid 50 is controlled. In the program
, “GPC” is a roof position counter.
The rising and falling edges of the first and second rotation signals
In addition, it is incremented depending on the rotation direction of the armature shaft 5a.
Decremented, 1/4 of armature axis 5a
Inversion is counted as one pulse. "FG SAF
“E” is the output shaft speed data calculated by integration,
Speed COL (M) and the latest corrected speed COL
In comparison with (1), the fluctuation of the rotation speed is in the deceleration direction, and
If the difference exceeds the threshold value ND, "there is a pinch"
This flag is set by recognizing that. "FG EDG
"E" checks the first and second rotation signals,
If there is a change, it is determined that there is an edge and set
Is a flag to be executed. "COL (1)" is after integration correction
The current output shaft rotation is determined by the value of the output shaft rotation speed memory block.
It has the same value as the number Ro (n). "COL (M)" is the product
The value of the output shaft rotation speed memory block after minute correction, M pulses
This is the previous output shaft speed data. "ND" means "sandwich"
This is a rotation speed threshold value for determining “existence”. "XSA
FE ”indicates that when the reversing operation is performed in the opening direction,
Is the position data at which the “rolling operation” ends.
Are compared. "PLS TM" is the first and second rotation signals.
Timer to measure the time between edges at
You. “PT1 to PT4” is a value between the first and second rotation signals.
This is a time value, and four times correspond to one rotation of the armature shaft 5a.
Hit. "AT" is one rotation time of the armature shaft 5a
It is. "RAT" means armature shaft 5a and output shaft 7
And the speed reduction ratio. “REV (L)” is the value before integration correction.
This is a rotation speed storage RAM, and has L in total. "Rin
(N) "is the latest output shaft speed data,
Just before. “LREV” is the minimum rotation value, and the product
This is a threshold value for performing minute calculation for each rotation signal. "TCA
L ”is a waiting time for performing the integral calculation at regular intervals.
is there. “Ts” is a calculation interval from the previous integration calculation.
You. "INT TM" is a parameter for measuring the calculation interval.
I'm imma. “X” is a convergence value of the integration time constant.
"NA" is the threshold for resetting the integration time constant.
It is a value rotation speed. “XAn” is the rotation speed fluctuation of the output shaft 7.
Table data exceeds “NA” in the acceleration direction.
This is the integration time constant set by the data. "FT" is the product
Time constant used for minute calculation. "Ro (n-1)"
Is the rotation value of the previous calculation result in the integral calculation.
"Ro (n)" is the number of times this calculation result
It is a transformation value. “COL (M)” is the rotation after integration correction
It is a RAM for storing numbers, and has M in total. "SUBn"
Is a value subtracted from the time constant FT for each integral calculation,
Read from the ROM table data according to the value of Ts,
Arithmetic processing is performed. When the sunroof lid 31 is closed
The slide open / tilt down switch 2 is turned on.
Then, Step 50, Step 80, Step 81,
Step 51, Step 52, Step 53, Step
60, step 63, step 64 to step 50
Return, armature shaft 5a starts forward rotation and sunroof
The lid 31 starts moving to the open side. Slide open / chill
While the down switch 2 is on,
The chin is executed repeatedly. Sunroof lid 31 opens
Slide close / tilt up switch
When the switch 3 is turned on, Step 50, Step 80,
Step 81, Step 51, Step 52, Step
56, step 57, step 58, step 62,
Step 63, returning from step 64 to step 50,
-The mature shaft 5a starts reverse rotation and the sunroof lid 3
1 starts moving to the closing side. Slide close / tilt up
While the switch 3 is on, the above routine is repeated.
It is executed repeatedly. The normal operation routine has been looped for one time.
The output shaft speed calculation and speed integration routine are executed
It is. Every predetermined time TCAL, or first and second times
When it is determined that there is "edge" due to the change of the
Integral calculation of output shaft speed data is executed.
Not executed. Integration processing was performed by a pulse interrupt
Step 80, Step 83, Step 84,
By executing step 85 and step 86, the
-The time of one rotation of the armature shaft 5a is calculated (PT1 +
PT2 + PT3 + PT4), rotation of armature shaft 5a
Numerical data is calculated and multiplied by the reduction ratio.
(Rin (n)) is obtained. Then, step 8
7. Step 88 is executed, and the output shaft rotation speed data before correction is
Data is stored for a predetermined number of pulses L, and old data
Only the latest L rotation speed data is stored after being shifted.
You. The rotational speed data before correction is used in subsequent processing.
Is used to set the integration time constant FT. When a predetermined time TCAL has elapsed,
Since no interrupt has occurred, the output shaft 7
Calculation and RAM saving are not performed. However, the previous integration process
The elapsed time from is used for the next processing. Step 89,
Step 90, Step 91, Step 92, Step 9
3 is executed, and the elapsed time is set in the calculation interval Ts of the integration formula.
INT TM value is set and the output shaft rotation before correction
Output shaft speed data before a given pulse in numerical data
REV (L) and the latest output shaft speed data REV (1)
And the fluctuation of the output shaft speed data indicates the acceleration direction.
And the difference is equal to or greater than NA, the integration time constant FT
Then, the set value according to the rotation speed difference at that time is stored in the ROM table.
Is read out and set. At this time, the output shaft rotation
The fluctuation of the numerical data is in the deceleration direction or the output shaft speed
Data difference is equal to or smaller than NA, step 89, step 9
0, step 91, step 92, and step 94 are executed
Then, the convergence value X is set to the integration time constant FT. Integral
New value to be set when setting the time constant FT
Is set if is smaller than the integration time constant FT at that time.
Not. Subsequently, steps 95, 96, and
Step 97 and Step 98 are executed, and the output after the previous correction
The shaft rotation speed data Ro (n-1) and the output without correction this time
Force axis rotation speed data Rin (n), time constant FT, and calculation
The integral calculation is performed from the interval Ts, and the output shaft rotation after the correction is performed.
Inversion data Ro (n) is obtained. At this time,
If the integration process has been performed, the output after the aforementioned correction
In the same way as saving shaft speed data,
M number of turns data is also saved, and the normal operation routine is inserted.
It is used to judge only. Then, step 99, step
Step 100, Step 101, Step 102, Step
103 is executed and according to the elapsed time Ts from the time constant FT
The read ROM table data value SUBn is reduced. Timed
When the number FT falls below the convergence value X, the process proceeds from step 103 to step
The process proceeds to step 104, where X is set to the time constant FT. When the sunroof lid 31 is open
The slide close / tilt up switch 3 is turned on.
While the sunroof lid 31 is being moved to the closed side.
When pinching occurs at step 51, step 51, step
Step 52, step 56, step 57, step 58,
Step 59 is executed to store in the RAM during the closing direction operation.
Stored output shaft speed data COL (1),
COL (2) are compared, the difference is in the deceleration direction, and
Since the threshold value ND has been exceeded, the judgment of “jamming”
Done, the invert operation flag is set, and
Step 61, step 63, step 64, step 51,
Steps 54 and 60 are executed and the armature
After the shaft 5a is stopped, start normal rotation and
The lid 31 is driven to be inverted to the open side. Then the sunroof
When the lid 31 reaches the position where the reversing operation is completed,
Step 51, Step 54, Step 55, Step 6
3, step 64, step 51, step 52, step
Step 53 and Step 61 are executed, and the inversion operation flag is set.
Sunlous reset and driven open to safe area
The lid 31 stops at that position. As described above, according to the present invention,
According to the actuator control device, the
Fluctuations in the rotation speed of the armature shaft of the actuator
When it occurs, it is calculated based on the armature shaft speed data
The latest output shaft speed data and the speed before the specified amount
The output shaft speed data stored in the memory block
Are compared and the difference exceeds a predetermined value.
At this time, a new corrected rotation speed data integrated with a new time constant
The data is used to determine the entrapment. Therefore, pinching
Of vehicle vibration without using a new threshold
Corrected rotation speed data based on the new time constant set accordingly
Is used. Therefore, according to the magnitude of vibration,
By using the data corrected by the new time constant
To improve the detection accuracy of entrapment
It has excellent effects.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an embodiment of an actuator control device according to the present invention. FIG. 2 is a time chart for explaining a control operation of the actuator control device shown in FIG. 1; FIG. 3 is a time chart for explaining a control operation of the actuator control device shown in FIG. 1; FIG. 4 is a time chart for explaining a control operation of the actuator control device shown in FIG. 1; FIG. 5 is a time chart for explaining a control operation of the actuator control device shown in FIG. 1; FIG. 6 is a flowchart illustrating a control operation of the actuator control device illustrated in FIG. 1; FIG. 7 is a flowchart illustrating a control operation of the actuator control device illustrated in FIG. 1; [Description of Signs] 1 Actuator control device 2 (switch) slide open / tilt down switch 3 (switch) slide close / tilt up switch 5a armature shaft 5 motor 7 output shaft 8 (rotation signal generating means) first armature shaft rotation Signal generation means 9 (rotation signal generation means) Second armature axis rotation signal generation means 14 Output shaft rotation number calculation block 15 (Rotation number memory block) Output shaft rotation number memory block before integration correction 17 Integration correction block 18 (Correction rotation Number memory block) Output shaft rotation speed memory block after integration correction

Continuation of front page    (72) Inventor Norihiro Tanaka             1760 Higashimatano-cho, Totsuka-ku, Yokohama-shi, Kanagawa             Automotive Electric Industry Co., Ltd. F term (reference) 2E052 AA09 BA02 CA06 EA12 EA16                       EB01 GA10 GB06 GB12 GB15                       GC06 GD03 HA01 KA13 LA08

Claims (1)

Claims: 1. A switch, a motor having an armature shaft connected to the switch and rotating by turning on the switch, an output shaft connected to the armature shaft of the motor, Two rotation signal generating means mounted near the armature shaft for generating a rotation signal according to the rotation of the armature shaft; and estimating the number of rotations of the output shaft based on the rotation signals generated by the rotation signal generating means. An output shaft rotation number calculation block for calculating rotation number data, a rotation number memory block for storing a predetermined amount of rotation number data calculated by the output shaft rotation number calculation block, and the output shaft rotation number calculation. By comparing the rotation speed data obtained in the block with the previous rotation speed data, and integrating with a certain time constant, And integral correction block to obtain a positive rotational speed data, a correction rotational amount of memory blocks the correction rotation speed data keep a predetermined amount obtained by the integral correction block,
Wherein the integration correction block compares the latest rotation speed data with the rotation speed data before a predetermined amount, and when the difference exceeds a predetermined value, An actuator control device characterized by using new corrected rotation speed data integrated with a short time constant for judging entrapment.