JP2008150828A - Control unit of opening and closing body for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the false determination of pinching and make the determination of the pinching highly accurate, even if an environmental temperature is greatly changed during the restarting of an opening and closing body from a stopped state. <P>SOLUTION: This control unit comprises an estimated load computing means for determining an estimated load on the basis of the rotational speed and acceleration of a direct-current motor for driving a window, and the inertia and driving voltage of the motor, and a pinching determining means for determining the pinching of an object on the basis of the estimated load. The control unit permits only a manual opening/closing actuation or an automatic opening one for an opening/closing operation after the stopped state of the window continues for a predetermined period of time or more, which may change the environmental temperature, and updates a motor torque map as a load reference value by learning the load computed during the drive of the window. The control unit can prevent the false determination of the pinching by automatic drive from occurring at the restarting when the environmental temperature is changed due to a long-time halt, so as to accurately determine the pinching after that. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a vehicle opening / closing body such as a vehicle window, a sunroof, or a sliding door, and more particularly, to control a vehicle opening / closing body capable of driving the opening / closing body with a DC motor and detecting the inclusion of a foreign object. It relates to the device.

2. Description of the Related Art Conventionally, an opening / closing body control device that drives and controls a vehicle opening / closing body such as a vehicle window, sunroof, and sliding door with a DC motor is known. In such an opening / closing body control device, it is necessary to stop or reverse the rotation of the motor when a foreign object is caught. It is conceivable to detect the load of the motor in order to detect foreign object pinching. The load of the motor can be obtained from the load current of the motor, for example (see, for example, Patent Document 1).
JP-A-7-71164

  On the other hand, when the opening / closing body is opened / closed from a state where it is stopped halfway, in the above-mentioned Patent Document 1, the pinching load stored before the stop is used, and it is always compared with the motor load as the pinching load at the time of restart. The jamming is determined based on the latest updated comparison value.

  However, although it is effective against secular changes such as rubber materials, the hardness of rubber materials may change due to changes in environmental temperature in a short period of time, for example, the environmental temperature is stopped for a long time, for example. There is a problem that the load necessary for the opening / closing body to change may change when the value of the opening / closing member changes greatly, and the pinch may be erroneously determined to be caught when the load increases.

  Solving such problems, it is possible to prevent erroneous determination of pinching and increase the accuracy of the determination even when the environmental temperature changes greatly during the restart from the stop state of the opening / closing body. Therefore, in the present invention, there is provided a control device for a vehicle opening / closing body for driving the opening / closing body by a DC motor, wherein the drive control means for controlling the driving of the DC motor and the rotational speed of the DC motor are detected. Based on the estimated load, the rotational speed detecting means for detecting, the voltage detecting means for detecting the drive voltage of the DC motor, the estimated load calculating means for estimating the load of the DC motor based on at least the rotational speed and the drive voltage, A pinching determination unit that determines whether the object is pinched, and an estimated load calculated by the estimated load calculation unit for each opening / closing operation of the opening / closing body as a load reference value Load reference value storage means, wherein the drive control means determines the pinching by the pinching determination means according to the load reference value and satisfies a predetermined stop condition when the opening / closing body stops. Permits only the manual opening / closing operation by the operator or the automatic opening operation by the DC motor immediately after that, and the load reference value storage means calculates the estimated load for the opening / closing operation of the opening / closing body by the manual operation. The estimated load calculated by the means is stored as the load reference value.

  In particular, the stop state of the opening / closing body may be a position in the middle of opening / closing of the opening / closing body, and the stop condition of the opening / closing body may be that the stop state of the opening / closing body elapses for a predetermined time or the drive control. It may be when the power supply to the means is cut off. The drive control means permits both the manual operation and the automatic operation for the opening / closing operation when the stop condition of the opening / closing body is not satisfied, and the load reference value storage means is configured to perform the manual operation and the automatic operation. The estimated load calculated by the estimated load calculating means may be stored as the load reference value for any of the opening / closing operations of the opening / closing body, and the calculation of the estimated load by the estimated load calculating means may be performed as described above. It is preferable to use a term based on the rotational speed, a term based on the drive voltage, a term based on the rotational acceleration obtained from the rotational speed and the inertia moment of the DC motor, and the pinching determination processing by the pinching determination means The opening / closing body may be set not to be performed in the vicinity of the fully closed position.

  As described above, according to the present invention, when a predetermined stop condition is satisfied when the opening / closing body stops, only the manual opening / closing operation by the operator or the automatic opening operation by the DC motor is permitted. Even when the latest environmental status (environment temperature) cannot be recognized, it is possible to prevent erroneous determination of pinching due to automatic driving during subsequent re-operation. Then, the estimated load is calculated with respect to the manually driven opening / closing operation, and the load reference value is updated thereby, so that the subsequent pinching determination can be performed accurately.

  In particular, since the stop state of the opening / closing body is a position in the middle of opening / closing of the opening / closing body, reliable pinching determination can be performed for any opening / closing state. Further, the stop condition of the opening / closing body is that when the stop state of the opening / closing body has elapsed for a predetermined time or more, or when the power supply to the control device is cut off, the vehicle is left for a long time and Even if the environmental conditions (environmental temperature) change or the ignition switch is turned off and the drive control means is de-energized, the drive control means can no longer recognize the latest environmental changes. it can. In addition, when the stop condition of the opening / closing body is not satisfied, both manual operation and automatic driving of the opening / closing operation are permitted, and the load reference value is also updated by the opening / closing operation, whereby accurate pinching determination can be performed. Therefore, the determination value (pinching load) for pinching determination can be set as low as possible, and pinching determination with higher accuracy can be performed.

  According to claim 5, the estimated load is obtained by a simple expression of adding a change in the rotational speed of the DC motor, a change in the drive voltage, and an inertia term based on the rotational acceleration and the inertia moment of the DC motor. The load can be estimated easily. According to the sixth aspect of the present invention, the disturbance determination and the pinching are performed by avoiding the pinching determination in a small region reaching the full closing as the vicinity of the full closing position in the full closing driving because of being affected by a weather strip or the like. It is possible to ensure the determination.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a case where the present invention is applied to an automotive power window device as a preferred embodiment of a control device for a vehicle opening / closing body according to the present invention.

  As shown in the drawing, the control unit 1 outputs an automatic or manual opening / closing control signal to the control unit 1 according to each opening / closing operation signal of the automatic operation switch 2a and the manual operation switch 2b provided in the driver's seat or the like. In response to the open / close control signal, a drive circuit 4 for driving the DC motor (hereinafter referred to as motor) 3 forward / reversely, a voltage detection circuit 5 for detecting the drive voltage of the motor 3, and interlocking with the rotation of the motor 3 An angular speed calculation circuit 7 that calculates the rotational speed of the motor 3 as an angular speed based on the interval of the pulse signal from the rotation sensor (or rotary encoder) 6 as the rotational speed detection means, and a drive control means that performs the main control of the controller 1. As a CPU 8. The CPU 8 detects the energization state to the control unit 1 from the on / off state of the ignition switch IG.

  The CPU 8 includes an angular acceleration calculation unit 8a that calculates angular acceleration based on the angular velocity signal from the angular velocity calculation circuit 7, and an estimated load calculation that estimates the external load of the motor 3 based on the drive voltage, angular velocity, and angular acceleration. An estimated load calculation unit 8b as a means and a determination unit 8c that determines the pinching based on the estimated load are provided. The angular acceleration calculation unit 8a, the estimated load calculation unit 8b, and the determination unit 8c may be performed by program processing in the CPU 8.

  Then, the motor 3 rotates forward and backward in accordance with a drive signal from the drive circuit 4, and a window 9 as a driven body connected to the motor 3 via a link or a wire is opened and closed. The auto control circuit 1a outputs a continuous open / close control signal when the open / close signal of the auto operation switch 2a is input, and the open / close signal of the manual operation switch 2b is input. Outputs an open / close control signal only during operation. As the control of the motor 3, constant voltage control or PWM control can be used.

  The CPU 8 is further provided with a motor position calculation unit 8d for calculating the position of the motor 3 corresponding to the position of the window 9 from the fully closed position to the fully opened position based on the angular velocity signal from the angular velocity calculating circuit 7 and the rotation direction of the motor. . The function of the motor position calculation unit 8d is also realized by program processing in the CPU 8. The motor position is determined by counting pulses from the rotation sensor 6, for example, the fully open position is 2500 counts, the fully closed position is 0 counts, and between the fully closed and fully open positions is a count value between 0 and 2500 counts. Can be represented.

  FIG. 2 shows a schematic flow of a preferred embodiment of the pinching determination control during the closing operation by the power window device configured as described above. The flow in FIG. 2 can be performed by program processing in the CPU 8 at a constant cycle of, for example, 5 ms.

  First, in step ST1, the terminal voltage V (effective value) of the motor 3 is detected by the voltage detection circuit 5 and A / D converted, and the process proceeds to step ST2. In step ST2, the period t is calculated from the interval between each pulse signal from the rotation sensor 6, and the angular velocity ω (= 2π / t) is calculated from the value. In the next step ST3, the angular acceleration dω is calculated based on the angular velocity ω calculated in step ST2, and the process proceeds to step ST4.

In step ST4, the estimated load calculation unit 8b obtains an estimated load P, which is an external load of the motor 3, based on the terminal voltage V, the angular velocity ω, and the angular acceleration dω by the following equation.
P = Bm (ω0−ω) + (Tm−Tm0) −Jm · dω (1)
Here, Bm is the viscosity coefficient of the motor internal load, ω is the angular velocity, ω0 is the steady angular velocity value when there is no external load, Tm is the motor torque, Tm0 is the motor torque when there is no external load, and Jm is a device including the motor (for example, Moment of inertia of the window opening and closing device), dω is angular acceleration.

In this equation, (Tm−Tm0) can be decomposed into voltage and angular velocity and expressed by the following equation.
Tm = −a · ω + b · V + c (2)
Here, a, b, and c are constants specific to the motor, and Expression (2) can be stored in a memory such as a ROM by converting it into a function or a map for each motor.

From the equations (1) and (2), the estimated load P can also be expressed as follows.
P = (Bm + a) (ω0−ω) + b (V−V0) −Jm · dω (3)
In equation (3), (Bm + a) (ω0−ω) is also called an angular velocity difference calculation term, b (V−V0) is a voltage difference calculation term, and Jm · dω is also called an angular acceleration calculation term (or inertia term). is there.

  In the above formula (1) or (3), the estimated load P can be obtained by a simple formula in which the angular velocity difference calculation term, the voltage difference calculation term, and the angular acceleration calculation term (or inertia term) are added as described above. It is possible to easily estimate the load.

  Note that the estimated load P at the time of pinching is a combination of the friction characteristics of the motor and the load increase due to pinching, but the motor friction characteristics differ from motor to motor, and even the same motor can cause secular change. . Therefore, a motor torque map (load reference value storage means) indicating a change in motor torque as a load reference value with respect to a motor position (open / close position of window 9) when there is no external load (that is, when there is no pinching) is opened / closed of window 9. By creating for each operation, the individual differences and aging of the motor characteristics as described above can be reflected in the motor torque map. By subtracting it from the estimated load obtained from equation (1) or (3) as an external load, only the load increase due to pinching is detected without being affected by individual differences in motor characteristics or aging. Thus, pinching determination can be performed with high accuracy.

  In the next step ST5, learning of motor torque (estimated load P) for creating a motor torque map is performed. FIG. 2 shows an example of the closing operation of the motor torque map. In the figure, the horizontal axis indicates from fully closed (above 0 count) to fully open (above 2500 count), and the vertical axis indicates motor torque (estimated load P). Therefore, during the closing operation, the horizontal axis in the figure is moved to the left side. In the illustrated example, a plurality of small areas are set by dividing the stroke of the window 9 from fully closed to fully open for each predetermined number of edges, and in an external no-load state from fully open to fully closed at a reference temperature (for example, 20 degrees). The average motor torque in the area is stored for each area, and a stepped waveform is obtained as shown in the figure.

  In the next step ST6, it is determined whether or not the motor 3 has stopped. The stop condition may be that the next pulse edge from the rotation sensor 6 is not input within the set predetermined time. If it is determined that it is not stopped (opening / closing operation), the process returns to step ST1. Therefore, while the opening / closing operation continues, a new load is learned for each area in step ST5, whereby the motor torque map can be rewritten to the latest one.

  If it is determined in step ST6 that the operation is stopped, the process proceeds to step ST7, where a timer (not shown) in the CPU 8 is activated (turned on), for example. The set time of this timer is a long time during which the environmental temperature may change, and is preferably about 1 hour, for example. In the next step ST8, it is determined whether or not the set time of the timer has elapsed (time up), or whether or not the ignition switch IG is turned off and the power supply to the control unit 1 is cut off.

  If it is determined in step ST8 that the time is not up or the ignition switch IG is not turned off, the process proceeds to step ST9, where the automatic opening / closing operation by the motor or the manual opening / closing operation by the operator is permitted. In step ST10, it is determined whether or not it is due to pinching. In the pinch determination, the motor torque map of FIG. 3 is used to determine whether the difference between the load in the external no-load state corresponding to the stop position and the estimated load P at the stop determination is larger than the pinch determination value. It's okay. A fixed value may be determined in advance as the pinching determination value. Since it is possible to perform pinching determination using a motor torque map in which the external no-load state changes according to the motor position, it is possible to appropriately detect only the load increase due to pinching regardless of the position of the window 9. .

  If it is determined in step ST10 that pinching has occurred, the flow proceeds to pinching processing, which may be another flow. For example, the motor 3 is reversed as processing during pinching. If it is determined in step ST10 that there is no jamming, the process returns to step ST1. As a result, in normal operation in which pinching does not occur, load learning is performed in step ST5, and the motor torque map is always updated to the latest one.

  If it is determined in step ST8 that the time is up or the power supply to the control unit 1 is interrupted, the process proceeds to step ST11. If the process proceeds to step ST11 due to time-up, the set stop state continues for a long time. In this case, the ambient temperature may have changed significantly. Only an operation or an automatic opening operation by a DC motor is accepted, and in the next step ST12, an opening / closing drive or an automatic opening drive by a DC motor according to each opening / closing operation signal of the manual operation switch 2b is performed. As described above, since the automatic closing operation by the DC motor is prohibited, even if an external load increases due to a change in the environmental temperature at the time of restart after a long-time stop, an erroneous determination of pinching may occur due to this. Absent. In the present invention, the closing operation at the time of re-operation after stopping the opening / closing body is permitted only at the time of manual closing operation by the operator, but this operation is performed by the operator himself. This is because there is little possibility of pinching, and even when pinching has occurred, it can be immediately stopped or reversed.

  When the ignition switch IG is turned off and the energization to the control unit 1 is cut off, the CPU 8 is reset and the stored environmental temperature data is cleared.

  In the next step ST13, the timer is reset and the process returns to step ST1. As a result, the timer count of the long-time stop state of the opening / closing body is reset, and in step ST5 in the next cycle, the load at the time of manual opening / closing operation by the operator after restart or automatic opening operation by the DC motor is learned, and the opening / closing operation The load is learned and the motor torque map is updated as described above until the stop. As a result, a motor torque map that can cope with a change in the environmental temperature is created. Therefore, when pinching occurs thereafter, accurate pinching determination using the latest updated motor torque map can be performed. .

  The above processing is applicable regardless of where the window 9 is stopped. In the case of opening from the fully closed position as well as stopping halfway, a new load can be learned by the opening operation, and the load reference value for the next closing operation can be obtained. In the case of the closing operation that raises the opening operation that lowers the window 9, the weight is affected by the weight of the window 9, but the load reference value learned during the opening operation takes into account the weight of the window 9. It is possible to perform pinching determination using the updated motor torque map at the time of the opening operation by correcting by multiplying.

  In the pinching determination process, the load increases due to the influence of the weather strip from the vicinity of the fully closed position to the fully closed state during the fully closing operation, so that it is not erroneously determined as pinching. It is preferable to set a mask area that prohibits the determination by pinching a small area reaching the fully closed position. Thereby, reliable pinching determination can be performed.

  The control device for a vehicle opening / closing body according to the present invention enables accurate pinching determination at the time of restart when the environmental temperature changes after being stopped for a long time, and is not limited to a window. Useful as.

1 is a block diagram of a motor drive control circuit of an automotive power window device to which the present invention is applied. It is a figure which shows the control flow based on this invention. It is a figure which shows a motor torque map.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2a Auto operation switch, 2b Manual operation switch 3 Motor 4 Drive circuit 5 Voltage detection circuit 6 Rotation sensor 7 Angular velocity calculation circuit 8 CPU
8a angular acceleration calculation unit, 8b estimated load calculation unit, 8c determination unit, 8d position calculation unit 9 window

Claims (6)

A control device for a vehicle opening / closing body that drives the opening / closing body with a DC motor,
Drive control means for driving and controlling the DC motor; rotation speed detection means for detecting the rotation speed of the DC motor; voltage detection means for detecting the drive voltage of the DC motor; at least the rotation speed and the drive Calculated by the estimated load calculating means for estimating the load of the DC motor based on the voltage, the pinching determining means for determining the object pinching based on the estimated load, and the estimated load calculating means for each opening / closing operation of the opening / closing body Load reference value storage means for storing the estimated load to be performed as a load reference value,
The drive control means determines the pinching by the pinching determination means according to the load reference value, and when an opening / closing body satisfies a predetermined stop condition when the opening / closing body stops, an opening / closing operation immediately after that is performed by an operator. Only manual opening / closing operation or automatic opening operation by the DC motor is permitted,
The load reference value storage means stores the estimated load calculated by the estimated load calculation means as the load reference value for the opening / closing operation of the opening / closing body by the manual operation. Control device.   2. The control device for a vehicle opening / closing body according to claim 1, wherein the stop state of the opening / closing body is a position in the middle of opening / closing of the opening / closing body.   The stop condition of the open / close body is when the stop state of the open / close body elapses for a predetermined time or when the drive control means is de-energized. The vehicle opening / closing member control apparatus described. The drive control means permits both the manual operation and the automatic operation for the opening / closing operation when the stop condition of the opening / closing body is not satisfied,
The load reference value storage means stores the estimated load calculated by the estimated load calculation means as the load reference value for the opening / closing operation of the opening / closing body by either the manual operation or the automatic operation. The control device for a vehicle opening / closing body according to any one of claims 1 to 3.   The calculation of the estimated load by the estimated load calculation means uses a term based on the rotational speed, a term based on the driving voltage, and a term based on the rotational acceleration obtained from the rotational speed and the inertia moment of the DC motor. The control device for a vehicle opening / closing body according to any one of claims 1 to 4.   6. The vehicle according to any one of claims 1 to 5, wherein the pinching determination process by the pinching determination unit is set not to be performed near the fully closed position of the opening / closing body. Control device for opening and closing body.

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