JP5300228B2 - Open / close body pinching detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To shorten a time required for detecting a pinch by an opening/closing body such as a slide door, particularly, to quickly detect a pinch when an elastic soft article is pinched or an article is slowly pinched, and also detect the pinch without being affected by secular deterioration. <P>SOLUTION: This pinch detector for an opening/closing body comprises a calculation part 25 for calculating the difference between an output duty from a PWM circuit 23 and frequency data from an encoder 32 and a determination part 27 for determining that a pinch occurs when the result of the calculation by the calculation part 25 exceeds a predetermined threshold. By reducing the frequency data reduced when the pinch occurs from the output duty increased when the pinch occurs, the amount of the change is calculated in the form of large values. Therefore, since the threshold for detecting the pinch can be accurately set, the time required for detecting the pinch can be shortened. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a pinch detection device for an opening / closing body such as a slide door that opens and closes by sliding a vehicle door with a cable that circulates by an electric cable drive mechanism.

  Conventionally, for example, Patent Documents 1 to 3 listed below detect the pinching of a sliding door that opens and closes by sliding a vehicle door with a cable that circulates by this type of electric cable drive mechanism. .

JP 2003-56250 A JP 2005-351042 A JP 2006-183392 A

  In the above-mentioned patent document 1, in order not to be affected by the vibration of the vehicle, calculation is performed on the rotation speed data of the motor with a predetermined integration time constant to improve the pinching detection accuracy. Then, the latest rotational speed data is compared with the rotational speed data of a predetermined number of minutes, and when the difference exceeds the reference value, it is determined that the jamming has occurred.

  Further, in the above-mentioned Patent Document 2, the difference between the current duty and the duty before a predetermined cycle is monitored using the duty for driving the motor, and even if the duty is increased, the duty difference is monitored and the duty difference is If the reference value is exceeded, pinching is detected.

  In Patent Document 3, the first pinching condition for determining pinching based on the correction current value of the motor, the second pinching condition for determining pinching based on the moving speed of the door, and pinching according to the rotational speed of the motor are determined. There is a third pinching condition, and pinching is determined based on all the determination results of the first to third pinching conditions, and the second and third pinching conditions are not satisfied. If the first pinching condition is satisfied, it is determined that pinching has occurred.

  However, the parameters for detecting pinching in Patent Documents 1 to 3 are a difference in motor rotation speed, a motor drive duty difference, a motor current, a door speed, a motor rotation speed, and the like. Therefore, there is a problem that it takes a long time to reach a predetermined threshold for pinching detection.

Incidentally, the entrapment detection of the sliding door, when using the pulse period of the encoder to be synchronized to the output amount of movement of the slide door, sudden movement of the slide door when sandwiched hard object during operation of the sliding door Therefore, the change of the pulse period from the encoder can be easily detected, and the pinching can be detected smoothly.

However, when a soft object with elasticity is pinched or when pinching is gradually applied, the pulse period from the encoder hardly changes, and it takes time to detect pinching. have.
In addition, since the electric sliding door performs feedback control that increases the motor output as the speed decreases, the electric sliding door is less likely to be reflected in the pulse period, which increases the pinching load.

As in the case of Patent Documents 1 to 3, there are various problems as described below when only one parameter for pinching detection is used.
First, in the case of detection of pinching only by pulses from an encoder provided on the drive motor side, there are the following problems.
(1) When a soft object is sandwiched, the pulse period from the encoder gradually changes, so it takes time for the pulse period to reach the sandwiching detection threshold. In this case, by reducing the threshold value, the time until pinching detection can be shortened, but pinching is erroneously detected even when the pulse period changes due to factors other than pinching.
(2) Since the duty of the motor is changed so that the target pulse period is obtained by the feedback control of the motor, the pulse period is unlikely to change.
(3) It is necessary to set the pulse period considering aging degradation.

In addition, there are the following problems in the pinching detection only by the duty for controlling the driving of the motor.
(1) Due to the feedback control, it takes time until the duty reaches the trapping detection threshold.
(2) It is necessary to set a duty considering aging degradation.

The present invention has been provided in view of the above-described problems, and provides a pinch detection device for an opening / closing body having at least the following objects.
(1) It is to reduce the time until detection of pinching by an opening / closing body such as a sliding door, and in particular, pinching can be detected quickly even when a soft object having elasticity is pinched or slowly pinched.
(2) Capturing can be detected without being affected by aging degradation.

Therefore, in the pinch detection device for the opening / closing body according to claim 1 of the present invention, the sliding-type opening / closing body 2, the motor 31 capable of opening and closing the opening / closing body 2 by winding and sending out the cable, A PWM circuit 23 that drives and controls the motor 31 at a predetermined duty ratio to open and close the opening / closing body 2 at a target speed; an encoder 32 that outputs a pulse period whose frequency changes according to the rotational speed of the motor 31; An arithmetic unit 25 for calculating a difference between a value obtained by multiplying the output duty from the PWM circuit 23 by a duty proportional coefficient and a battery voltage and a value obtained by multiplying the frequency data from the encoder 32 by the proportional coefficient of the frequency of the encoder 32 ; And a pinching determination unit 27 that determines pinching when the calculation result by the calculation unit 25 exceeds a predetermined threshold. It is characterized in Rukoto.

In entrapment detection apparatus for the opening and closing member according to claim 2, in the arithmetic unit 25, the encoder from a value obtained by multiplying the duty proportionality coefficient and the battery voltage to the output duty from the PWM circuit 23 to the frequency data from the encoder 32 The calculation of the difference from the value multiplied by the proportional coefficient of the frequency of 32 is calculated as a disturbance torque, the change of the disturbance torque that changes with the operation of the opening / closing body 2 is stored as a torque change amount, and the change of the disturbance torque What is calculated as an integration value obtained by integrating the amount by a predetermined amount is used as a pinching detection parameter, and when the pinching detection parameter exceeds a predetermined threshold value, the pinching is recognized.

  In the pinch detection device for the opening / closing body according to claim 3, feedback control is performed so that the difference between the opening / closing speed of the opening / closing body 2 and the target speed becomes zero by feeding back the frequency data from the encoder 32 to the PWM circuit 23 side. It is characterized by that.

According to the pinch detection device of the opening / closing body according to claim 1 of the present invention, the frequency data from the encoder 32 is obtained from the value obtained by multiplying the output duty from the PWM circuit 23 by the duty proportionality factor and the battery voltage . The difference between the frequency and the value multiplied by the proportional coefficient is calculated, and when this calculation result exceeds a predetermined threshold value, it is determined that the jamming has occurred. By reducing the decreasing frequency data, the amount of change can be calculated with a large value, so that the threshold for pinching detection can be set with high accuracy and the time until pinching detection can be shortened. it can.

According to the entrapment detection apparatus for the opening and closing member according to claim 2, proportional from a value obtained by multiplying the duty proportionality coefficient and the battery voltage to the output duty of the PWM circuit 23 of the frequency of the encoder 32 to the frequency data from the encoder 32 The calculation of the difference from the value multiplied by the coefficient is calculated as disturbance torque, the change in disturbance torque that changes with the operation of the opening / closing body 2 is stored as the amount of change in torque, and the amount of change in the disturbance torque is a predetermined amount The value obtained by calculating the integrated value is used as a pinch detection parameter, and when the pinch detection parameter exceeds a predetermined threshold value, it is recognized as pinching. Even when sandwiched, the sandwiching can be easily detected. In addition, since the amount of increase is calculated by integral calculation, even when the output of the motor 31 decreases due to durability, aging deterioration, etc., it is not easily affected by changes in the pinching load, and aging deterioration is considered as in the past. There is no need to set the pulse period or duty ratio.

  According to the pinch detection device for the opening and closing body according to the third aspect, it is possible to shorten the time until the pinch detection even in the case of feedback control.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, the overall configuration of the sliding door opening and closing system will be described with reference to FIG. A slide door 2 is provided on the side surface of the vehicle 1 so as to be openable and closable. Upper and lower rails (both not shown) are provided above and below the front portion of the slide door 2 above and below the side surface of the vehicle 1. It is arranged in the front-rear direction. The sliding door 2 is slidably guided by the upper rail and the lower rail.
In addition, the slide door 2 is guided by a center rail 3 provided in the front-rear direction of the rear portion of the vehicle 1 at a middle portion of the rear portion of the slide door 2 in the vertical direction.

  A cable drive mechanism 4 that opens and closes the slide door 2 is disposed in the vicinity of the center rail 3, and a control unit 5 as a controller that controls the drive of the cable drive mechanism 4 is disposed on the body side of the vehicle 1. Is provided. The cable drive mechanism 4 is provided before and after the center rail 3, pulleys 6 and 7 for changing the direction of the cable, a cable drive unit 10 disposed in the vicinity of the center rail 3, and the pulleys 6 and 7. The control cable 11 is routed from the cable drive unit 10 to the center rail 3 via the cable.

  The pulleys 6 and 7 are disposed in the vicinity of the front and rear ends of the center rail 3 and are fixed to the inner panel of the body. The control cable 11 includes an outer casing and an inner cable routed inside the outer casing. It consists of The inner cable of the control cable 11 transmits the driving force of the cable drive unit 10 to the slide door 2, and the inner cable is slidably accommodated in the center rail 3 and fixed to the end of the inner cable. The cable end is locked to the end holder of the roller assembly 12 provided on the body side.

In addition, an open / close switch 14 for automatically opening and closing the slide door 2 may be provided near the driver's seat, and an open / close switch 14a may be provided on the slide door 2 side. In such a case, both the open / close switches 14 and 14a have a parallel configuration in terms of circuit. Further, a switch for opening and closing the slide door 2 may be provided on the key side, and the slide door 2 may be opened and closed wirelessly by operating the key.
Also, a courtesy switch 15 is provided on the pillar side of the opening of the vehicle 1 where the slide door 2 is disposed, and detects that the slide door 2 is fully closed.

The cable drive unit 10 includes a motor, a speed reducer, a drum, a clutch, and the like. The cable drive unit 10 may be provided on the body side or the slide door 2 side.
Since the operation of the sliding door opening / closing system is well known, it will not be described in detail, but will be briefly described. For example, when the motor of the cable drive unit 10 is driven to rotate normally, the inner cable of the control cable 11 is driven by the drum in the cable drive unit 10. Is taken up and sent out, and the slide door 2 is opened. Conversely, the motor is driven in reverse to close the slide door 2.

FIG. 2 shows a block diagram of the control unit 5 and the cable drive unit 10. The control unit 5 includes a control unit 21, a memory 22, a PWM circuit 23, a motor drive circuit 24, a calculation unit 25, and a storage unit. The unit 26, the pinch determination unit 27, and the like.
The cable drive unit 10 also has a motor 31 that can rotate forward and reverse to open and close the slide door 2 by winding and sending out the control cable 11, and a pulse signal according to the rotation of the output shaft of the motor 31. The encoder 32 etc. which output are comprised.

  The control unit 21 performs overall control based on a predetermined program procedure. The memory 22 includes a ROM for storing the program and a RAM for temporarily storing data. ing. Further, a signal is output from the control unit 21 to the PWM circuit 23 so as to have a duty ratio so as to open and close the slide door 2 at a desired speed. The signal from the control unit 21 and a triangular wave generated internally are output. Alternatively, pulse width modulation is performed with a sawtooth wave, and a pulse signal having a predetermined duty ratio is output from the PWM circuit 23.

The motor drive circuit 24 is constituted by circuits using a switching element, a pulse signal from the PWM circuit 23 (PWM signal) is switched the switching element at a predetermined duty ratio, the motor 31 of the cable drive unit 10 Is driven to rotate. The control unit 21 determines whether the sliding door 2 is opened or closed from the opening / closing switch 14 and selects a switching element of the motor drive circuit 24 so that the motor 31 is rotated forward or reverse. I have control.

A pulse signal is output from the encoder 32 according to the rotation of the motor 31, and the number of pulses corresponding to the position of the slide door 2 is output. Further, the pulse period (frequency data) output from the encoder 32 also changes according to the rotation speed of the motor 31, and the pulse period becomes longer as the rotation speed of the motor 31 becomes slower. That is, the frequency of the pulse period output from the encoder 32 is lowered.
A signal (pulse) from the encoder 32 is fed back to the control unit 21, and the control unit 21 performs feedback control so that the actual speed (actual speed) of the slide door 2 becomes the target speed.

  The calculation unit 25 calculates a pinch detection parameter reflecting the output duty output from the PWM circuit 23 as the disturbance torque, and stores a change in the disturbance torque that changes as the slide door 2 is operated as a torque change amount. An integral value obtained by integrating the stored disturbance torque change amount by a predetermined amount is calculated, and the calculated integral value is used as a pinch detection parameter.

  The pinch determination unit 27 determines whether or not a predetermined threshold value is exceeded based on the calculation result in the calculation unit 25. If the threshold value is exceeded, it is determined that the slide door 2 is pinching an object. The pinch determination unit 27 sends a signal to the control unit 21 when pinching is detected, and the control unit 21 sends a signal to the PWM circuit 23 and the motor drive circuit 24 to drive the motor 31 in reverse.

  FIG. 3 shows the target speed according to the position when the sliding door 2 is opened and closed between the fully open position and the fully closed position. It opens at a constant speed from the position, and further decreases the speed from a predetermined position. The same applies to the closing operation, and the target speeds of the acceleration / deceleration area, constant speed area, and acceleration / deceleration area correspond to the position of the slide door 2.

  The feedback control is performed as described above so that the actual speed of the slide door 2 becomes the target speed, and FIG. 4 is a schematic diagram of the feedback control. A difference signal between the target door speed signal from the control unit 21 and the actual speed signal of the slide door 2 is input to the amplifier AMP, and an output (signal) of the amplifier AMP is input to the PWM circuit 23, and further the motor. The motor 31 is driven by the drive circuit 24, and feedback control is performed so that the difference between the target door speed signal and the actual door speed signal becomes zero.

Here, a method for calculating a pinching detection parameter in which the output duty is reflected as the disturbance torque in the arithmetic unit 25 will be described. The parameter used for pinching detection is calculated as disturbance torque by the following formula.
T = (KV * Vbat * DUTY_PWM) − (KD * DELTA_PLS)
T: Disturbance torque KV: Duty proportional coefficient Vbat: Battery voltage DUTY_PWM: Output duty KD: DELTA_PLS proportional coefficient DELTA_PLS: Encoder 32 frequency

By using the above calculation formula for the pinching detection parameter, even if the output duty of the PWM circuit 23 is increased and the pulse period from the encoder 32 does not change, it can be expressed as a change in the parameter.
That is, the amount of change (disturbance torque T) can be calculated as a large value by subtracting the pulse period that decreases when the jamming occurs from the output duty that increases when the jamming occurs. For this reason, it is possible to set the pinching detection threshold with high accuracy and to shorten the time until pinching detection.

Further, as an actual pinching detection method, the calculation unit 25 stores a change in disturbance torque that changes with the operation of the slide door 2 in the storage unit 26 as a torque change amount, and the stored disturbance torque change amount is predetermined. A value obtained by calculating an integral value obtained by integrating by the amount is set as a pinching detection parameter. FIG. 5 shows the relationship between the door position and the torque, and the hatched portion in the figure shows the integrated value.
When the pinching detection parameter exceeds a predetermined threshold value, the control unit 21 recognizes pinching and causes the slide door 2 to reversely operate in the direction opposite to the operation direction. Here, as shown in FIG. 5, since the closing operation is started from the fully open position W1 of the slide door 2 and the disturbance torque gradually increases from W2, it is confirmed that pinching has started to occur at the time of W2. Represents. Thereafter, the motor 31 is stopped by recognizing that the jamming is detected at the position W3 where the integral value of the disturbance torque has reached a predetermined threshold value.

  FIG. 6 shows a flowchart of the above control operation. When battery power is input (see step S1), it is checked whether the slide door 2 is closed (see step S2), and if it is closed, it is initialized. (See step S3). After that, in the closing operation of the slide door 2, the output duty (DUTY_PWM in the above calculation formula) and the frequency data (DELTA_PLS) are input to the calculation unit 25 from the PWM circuit 23 and the encoder 32 (see step S4). In 25, the disturbance torque T is calculated from the above formula, and the calculation result is stored in the storage unit 26 as a torque change amount (see step S5). This calculation is performed every predetermined time, for example, on the order of milliseconds.

  Next, as shown in step S <b> 6, the disturbance torque change amount read from the storage unit 26 by the calculation unit 25 is integrated by a predetermined amount, and whether the integrated value exceeds a predetermined threshold value by the sandwiching determination unit 27. Is determined (see step S7). If the integrated value exceeds the threshold value, it is determined that pinching has been detected, and the sliding door 2 is reversed (see step S8).

As described above, in this embodiment, the output duty that increases at the time of jamming is reduced from the pulse from the encoder 32 that decreases at the time of jamming. Can be easily detected.
In addition, since the amount of increase is calculated by integral calculation, even when the output of the motor 31 decreases due to durability, aging deterioration, etc., it is not easily affected by changes in the pinching load, and aging deterioration is considered as in the past. There is no need to set the pulse period or duty ratio.

  Further, the frequency data from the encoder 32 is fed back to the PWM circuit 23 side, and the feedback control is performed such that the difference between the opening / closing speed of the opening / closing body 2 and the target speed becomes zero. Can be shortened.

  In the above embodiment, the opening / closing body 2 has been described as a sliding door, but is not limited to the sliding door 2. For example, the present invention can be applied to the case of sunroof and window glass.

It is a schematic block diagram of the opening / closing system of the sliding door in embodiment of this invention. It is a block diagram in an embodiment of the invention. It is a figure which shows the relationship between the door position and target speed in embodiment of this invention. It is explanatory drawing of the feedback control in embodiment of this invention. It is a figure which shows the relationship between the door position and torque in embodiment of this invention. It is a flowchart of the control operation | movement in embodiment of this invention.

Explanation of symbols

2 Sliding door (opening / closing body)
21 Control Unit 23 PWM Circuit 25 Calculation Unit 27 Entrapment Determination Unit 31 Motor 32 Encoder

Claims (3)

A sliding opening and closing body (2);
A reversible motor (31) that opens and closes the opening and closing body (2) by winding and feeding the cable;
A PWM circuit (23) that drives and controls the motor (31) at a predetermined duty ratio to open and close the opening / closing body (2) at a target speed;
An encoder (32) that outputs a pulse period whose frequency changes according to the rotational speed of the motor (31);
A difference between a value obtained by multiplying the output duty from the PWM circuit (23) by a duty proportionality factor and a battery voltage and a value obtained by multiplying the frequency data from the encoder (32) by the frequency proportionality factor of the encoder (32). A computing unit (25) for computing;
An opening / closing body pinching detection apparatus comprising: a pinching determination unit (27) that determines pinching when a calculation result by the calculation unit (25) exceeds a predetermined threshold value.
In the calculation unit (25), the frequency proportional coefficient of the encoder (32) is calculated from the value obtained by multiplying the output duty from the PWM circuit (23) by the duty proportional coefficient and the battery voltage to the frequency data from the encoder (32). The calculation of the difference from the multiplied value is calculated as disturbance torque, the change in disturbance torque that changes with the operation of the opening / closing body (2) is stored as the amount of change in torque, and the amount of change in the disturbance torque is a predetermined amount The calculated integral value is used as a pinch detection parameter.
2. The pinch detection device for an opening / closing body according to claim 1, wherein the pinch detection parameter is recognized as pinching when the pinch detection parameter exceeds a predetermined threshold value.   The frequency data from the encoder (32) is fed back to the PWM circuit (23) side, and feedback control is performed so that the difference between the opening / closing speed and the target speed of the opening / closing body (2) becomes zero. The pinch detection device for the opening and closing body according to claim 1 or 2.

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