JP5602372B2 - Control device for vehicle opening / closing body - Google Patents

Description

  The present invention relates to a control device for a vehicle opening / closing body that drives a window or a sliding door as a vehicle opening / closing body with a motor.

  2. Description of the Related Art Conventionally, a control device for a vehicle opening / closing body that drives and controls a vehicle opening / closing body such as an automobile window or a sliding door with a motor is known. In such a control device for a vehicle opening / closing body, when an object is caught by the opening / closing body, the rotation of the motor is stopped or reversed. Such pinching can be detected by detecting the load of the motor and determining that an abnormal increase in the load occurs. When the motor load is estimated from the motor voltage, angular velocity, and angular acceleration, and the load estimated value exceeds a predetermined pinching judgment value for a predetermined time (also referred to as mask time). It has been proposed to determine that a foreign object is caught (see, for example, Patent Document 1).

In the said patent document, the load estimated value P is calculated | required by following Formula.
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 can be decomposed into a voltage V and an angular velocity ω 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 Equation (2) can be stored in a memory such as a ROM by converting it into a function or a map for each motor.

From equations (1) and (2), the load estimated value 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. V0 is a voltage when no external load is applied.

JP 2004-242425 A

  In the pinching determination based on the load estimation value as described above, for example, when an opening / closing operation is performed with a power window as a window opening / closing device, the pinching determination value (threshold value Pd) is used as the load estimation value P as shown in FIG. Can be determined to be caught when it exceeds twice (n1 · n2). The number of times in this case may be the number of control cycles for calculating the estimated load value P.

  However, if a disturbance vibration is applied during the closing operation, for example, when the vehicle is traveling on a rough road with many irregularities, the angular velocity ω and the angular acceleration dω of the motor greatly fluctuate and the estimated load value P fluctuates greatly. In some cases, the estimated load value calculated under the influence of such disturbance vibration has a waveform similar to that shown in FIG. 5, and in such a case, no foreign matter is actually caught, so that point n2 and thereafter in the figure. The estimated load value P decreases at the estimated load value calculation timing (each black circle), but there is a problem that it may be erroneously determined to be caught.

In order to solve such a problem and to perform pinching determination by estimating the motor load from the motor voltage, angular velocity, and angular acceleration, in order to enable reliable pinching determination against disturbance vibration, the present invention is applied. A control device for a vehicle opening / closing body that drives the opening / closing body by a motor, comprising: a load estimated value calculating means for calculating a load estimated value from the rotational speed, rotational acceleration, and driving voltage of the motor; A travel determination means that detects and determines that the vehicle is traveling, and compares the load estimated value with one preset threshold value serving as a reference for determining whether the object is caught by the opening and closing body, and If it is determined by the travel determination means that the vehicle is not traveling, a first number of times of at least two times is set, and if the travel determination means determines that the vehicle is traveling, the first number of times is set. The second number of times is set, and when it is determined by the traveling determination means that the vehicle is not traveling and it is continuously detected that the load estimated value is equal to or greater than the threshold value for the first number of times or more, the sandwiching is performed. If it is determined that the vehicle is traveling by the travel determination means and it is continuously detected that the load estimated value is equal to or greater than the threshold value for the second number of times or more, the jamming has occurred. also Noto and a determination unit.

  In particular, the determination means may determine the pinching when it is determined that the load estimated value continues to increase.

  As described above, according to the present invention, in the calculation of the load estimated value, when it is determined that the vehicle is traveling as a case where there is a risk of being affected by disturbance vibration when traveling on a rough road, The comparison with the threshold value is performed a second number of times greater than the first number of times when the vehicle is not running, and the second number of times is followed to determine whether the jamming has occurred when the load estimated value exceeds the threshold value. Therefore, it is possible to prevent erroneous determination of pinching with respect to disturbance vibration during traveling on a rough road. In addition, when it is determined that the vehicle is not traveling, the determination is made with the first number less than the second number, so that it is possible to make a quick pinch determination.

  Further, according to the second aspect, since the sandwiching determination is limited by time, the determination can be made in an accurate time. According to the third aspect of the present invention, since the additional condition is that the load estimated value continues to increase until the number of determinations or the passage of time, it is possible to perform more reliable determination of pinching.

1 is a block diagram of an automotive power window device according to the present invention. It is a flowchart which shows the control point based on this invention. It is explanatory drawing which shows the determination point at the time of receiving a disturbance vibration. It is a figure corresponding to FIG. 2 which shows 2nd Embodiment. It is explanatory drawing which shows the conventional pinching determination point.

  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 figure, the control unit 1 outputs automatic or manual open / close control signals in response to input of open / close operation signals from the automatic operation switch 2a and the manual operation switch 2b provided in the driver's seat or the like. An open / close signal control circuit 1a, a drive circuit 4 for controlling forward / reverse drive of the DC motor 3 in accordance with the open / close control signal, a voltage detection circuit 5 for detecting the drive voltage of the motor 3, and the rotation of the motor 3. An angular speed calculation circuit 7 that calculates an angular speed as a rotation speed of the motor 3 based on an interval of pulse signals from the interlocking rotation sensor (or rotary encoder) 6 and a CPU 8 that performs main control of the control unit 1 are provided. Yes.

  The CPU 8 estimates the external load of the motor 3 based on the driving voltage, the angular velocity, and the angular acceleration, and the angular acceleration calculating unit 8a that calculates the angular acceleration as the rotational acceleration based on the angular velocity signal from the angular velocity calculating circuit 7. The load estimated value calculating means 8b for calculating the load estimated value P described above and a determination unit 8c as a pinching determining means for determining pinching based on the load estimated value P are provided. The angular acceleration calculation unit 8a, the load estimated value calculation unit 8b, and the determination unit 8c may be performed by program processing in the CPU 8. Further, the load estimated value P calculated by the load estimated value calculating unit 8b is obtained by the above equation (3).

  Then, the motor 3 rotates forward and backward according to the drive signal from the drive circuit 4, and the window 9 as an opening / closing body connected to the motor 3 via a link or a wire is opened and closed. The open / close signal control circuit 1a outputs a continuous open / close control signal when an open / close signal of the automatic operation switch 2a is input, and an open / close signal of the manual operation switch 2b is input. In some cases, an open / close control signal is output 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 position calculator 8d that calculates the position of the window 9 from the fully closed position to the fully open position based on the angular speed signal from the angular speed calculating circuit 7 and the rotational direction of the motor. The function of the position calculation unit 8d is also realized by program processing in the CPU 8. Note that the position of the window 9 is determined by counting pulses from the rotation sensor 6, for example, the fully closed position is set to 0 count, and between fully closed and fully open, pulses are added during the opening operation from fully closed, and the addition count The open position is determined by the value.

  Further, the CPU 8 is provided with a vehicle speed determination unit 8e that determines that the vehicle is running when it is detected that the vehicle speed is equal to or higher than a predetermined vehicle speed based on a vehicle speed signal from a known vehicle speed sensor from the outside. As the determination during traveling, the vehicle speed determination unit 8d may monitor the vehicle speed signal and input the vehicle speed signal. In addition, although it is said that it is running when the speed is even a little, it is considered that it is affected by vibration due to road surface irregularities when the vehicle speed increases to some extent, so it is possible to obtain any arbitrary value obtained from experimental data etc. The vehicle speed may be set.

  Then, according to the determination signal from the vehicle speed determination unit 8e, the first number N1 is output to the determination unit 8c when the determination signal during non-travel is input, and the second number N2 is determined when the determination signal during travel is input. A determination number setting unit 8f for output to 8c is provided. Here, the number of times corresponds to the number of input timings of the load estimated value P calculated by the load estimated value calculating unit 8b to the determining unit 8c.

  Next, a control procedure in the control device for a vehicle opening / closing body configured as described above will be described below with reference to the flowchart of FIG.

  First, in step ST1, it is determined whether or not the window 9 is operating in the closing direction. When it is determined that the window 9 is not closed (opening or stopping), this flow ends. If it is determined in step ST1 that the closing operation is performed, the process proceeds to step ST2. In step ST2, it is determined whether or not the vehicle is traveling as described above. If it is determined that the vehicle is not traveling, the process proceeds to step ST3. If it is determined that the vehicle is traveling, the process proceeds to step ST4. move on.

 In step ST3, the first number N1 is set as the number N of determinations for pinching determination when the vehicle is not running. For example, the first number N1 may be two. In step ST4, the second number N2 is set as the number N for determination in the case of traveling. The second determination number N2 may be four times, for example. The number of times may be the number of times of the control cycle for performing this flow. Specifically, when this flow is executed every time one pulse is input from the rotation sensor 6, it corresponds to the number of pulse inputs. To do.

  In step ST5 following step ST3 or step ST4, the estimated load value P is calculated by the above equation (3). In the next step ST6, it is determined whether or not the estimated load value P is greater than or equal to a threshold value Pd set in advance as a reference for determining the pinching. When it is determined that it is less than the threshold value Pd, the process returns to step ST1, and when it is determined that it is equal to or more than the threshold value Pd, the process proceeds to step ST7.

  In step ST7, is the current load estimated value P (n) calculated in the current control cycle increased (larger) than the previous load estimated value P (n-1) calculated in the previous control cycle? Determine whether or not. If it is determined that the current estimated load value P (n) has increased from the previous estimated load value P (n-1), the process proceeds to step ST8. If it is determined that the estimated load value P (n-1) has not increased, this flow is performed. finish.

  In step ST8, 1 is added to the pinching determination frequency F, and the process proceeds to step ST9. When the number of pinching determinations F is 2 or more, the load estimated value P is continuously greater than or equal to the threshold Pd and tends to increase.

  In step ST9, it is determined whether or not the pinching determination frequency F has reached the determination frequency N or more. When it is determined that the determination number F is equal to or greater than the determination number N, the process proceeds to step ST10, and when it is determined that the determination number N has not been reached, the process returns to step ST1. In step ST10, pinching control is performed, and this flow ends. As the pinching control, for example, stop and reverse control of the motor 3 is performed.

  In the present invention, when the window is closed during rough road driving and the load estimated value P fluctuates due to the influence of vibration caused by rough road driving, the fluctuation is assumed to be a fluctuation at the time of the pinching. This is to prevent erroneous determination that it has occurred. The erroneous determination is as described with reference to FIG.

  For example, as shown in FIG. 3, the case where the fluctuation of the load estimated value P having the same waveform as in FIG. 5 occurs will be described. As shown by the point n1 in the figure, when the load estimated value P becomes an ascending curve and becomes greater than or equal to the threshold value Pd, in this case, since it is higher than the previous load estimated value (n-1), in step ST8 The number of determinations F is 1. Note that the determination count F is reset when the flow starts or ends.

  Since the number of times of determination F has not reached the number of times for determination N only at the point n1 in FIG. 3, each step is repeated from step ST1. When it becomes n2 point of FIG. 3, it progresses to step ST8 similarly to the above, and the frequency | count F of determination becomes 2. FIG. Here, when the vehicle is not traveling, since the first number N1 (= 2) is set as the number of times for determination N in step ST3, it is determined that pinching has occurred in the case of FIG. The sandwiching control is performed.

  On the other hand, when it is determined that the vehicle is traveling in step ST2 and the second number N2 (= 4) is set as the number N for determination, the process returns from step ST9 to step ST1. In the case of disturbance vibration caused by traveling on a rough road, the increase in the load estimated value P does not continue for a long time, and a downward curve is entered at the next point n3 as shown in FIG. In this case, the load estimated value P at the point n3 is equal to or greater than the threshold value Pd, but this flow is terminated because it is lower than the previous load estimated value (n−1). As a result, even if the load estimated value P is still greater than or equal to the threshold value Pd as indicated by the next point n4, the pinching control is not performed, and the pinching misjudgment can be prevented.

  Note that the rising curve of the estimated load value P due to disturbance vibration during driving on a rough road can be known from experimental values and the like, and the peak of the waveform ends in four times as in this embodiment from the relationship with the timing of the control cycle. In this case, the second number of times N2 may be set to 4, but it can be dealt with by arbitrarily setting it according to the vehicle model on which the power window device is mounted. The same applies to the first number N1.

  Further, in the above embodiment, the determination is made by comparing the number of times of determination F with the number of times of determination N, but time may be used instead of the number of times. In that case, as shown in FIG. 4, the non-traveling determination time (first time) T1 is set to the determination time T in step ST13 corresponding to step ST3 in FIG. In step ST14 corresponding to step ST4, the determination time T (second time) T2 is set to the determination time T, and in step ST18 corresponding to step ST8, the time Δt required for control is added to the determination time t. In step ST19 corresponding to step ST9, it is determined whether or not the determination time t is equal to or greater than the determination time T.

  In the flow of FIG. 4 as well, the same effects as those of the above-described embodiment can be obtained only by using time instead of the number of times in FIG. Further, since the determination is made with the passage of time, when the number of times is counted at the timing of the pulse input from the rotation sensor 6 that detects the rotation of the motor 3 as described above, the next pulse is caused by the difference in the hardness of the object to be sandwiched. If the time until the input becomes longer, it may take time until the determination. On the other hand, since the determination can be made with a lapse of time, accurate determination can be performed without causing a delay. In addition, the setting of each time in this case can also be set arbitrarily similarly to the above.

  In the above embodiment, the window is shown as the opening / closing body, but the present invention can also be applied to a sliding door or other devices that automatically open and close.

DESCRIPTION OF SYMBOLS 1 Control part 1a Open / close signal control circuit 3 Motor 4 Drive circuit 5 Voltage detection circuit 6 Rotation sensor 7 Angular velocity calculation circuit 8 CPU
8a Angular acceleration calculation section 8b Estimated load calculation means 8c Determination section 8d Position calculation section 8e Vehicle speed determination section 8f Number of determination setting section

Claims (2)

A control device for a vehicle opening / closing body that drives the opening / closing body with a motor,
Load estimated value calculating means for calculating a load estimated value from the rotational speed, rotational acceleration and driving voltage of the motor;
Traveling determination means for detecting the vehicle speed and determining that the vehicle is traveling;
A comparison is made between a predetermined threshold value used as a reference for determining whether the object is caught by the opening / closing body and the load estimated value, and at least when the travel determination means determines that the vehicle is not traveling A first number of times of two or more is set, and when it is determined that the vehicle is traveling by the traveling determination unit, a second number greater than the first number is set and the traveling determination unit is traveling When it is determined that the load estimation value is equal to or greater than the threshold value for the first number of times or more, it is determined that the pinching has occurred, and the travel determination unit determines that the vehicle is traveling And determining means for determining that the jamming has occurred when it is continuously detected that the load estimated value is equal to or greater than the threshold value for the second number of times or more. Control device for opening and closing member. The control device for a vehicle opening / closing body according to claim 1, wherein the determination unit determines the pinching when it is determined that the load estimated value continues to increase.

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