JP2018141338A - Electric sliding door control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric sliding door control device capable fo suppressing vibration produced by a movement of a sliding door when the sliding door is stopped during opening/closing.SOLUTION: When a temporary holding control to maintain a stop state of the sliding door 5 is performed, a movement speed (door speed) of a sliding door 22 is controlled to zero by controlling a current supplied to a door motor 22 which is a drive source of a sliding door 5. The door speed is calculated through a pulse signal output by a motor rotation sensor 26, while the rotation sensor 26 comprising a hall IC is arranged on the door motor 22. The slower the door speed becomes, the longer an edge interval of the pulse signal (rising edge, falling edge) becomes and also the calculation interval of the door speed becomes longer. When the edge interval of the pulse signal is less than a predetermined time, the door speed for temporary holding control is to be a door speed calculated from the pulse signal, while the door speed for temporary holding control is to be zero when the edge interval is equal to or longer than the predetermined time.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device for an electric sliding door.

  One-box type and minivan type vehicles employ a sliding door that opens and closes by sliding in the front-rear direction on the rear side door. Depending on the option or grade, the sliding door can be opened and closed by the driving force of the motor. It is equipped with a so-called electric sliding door (power sliding door).

  In an example of a sliding door driving mechanism, a motor is connected to a pulley via an electromagnetic clutch and a speed reducer, and the pulley is rotated by the driving force of the motor, and the belt connected to the sliding door moves. The slide door moves (slides) in the opening direction and the closing direction. In this drive mechanism, the moving speed of the slide door can be adjusted by controlling the energization of the electromagnetic clutch, and the stopped state of the slide door can be maintained. If the motor and the pulley are separated by the electromagnetic clutch, the sliding door can be manually opened and closed.

  By eliminating the electromagnetic clutch and adopting a clutchless configuration, the cost of the drive mechanism can be reduced. However, since the motor and pulley (sliding door) are always connected in the clutchless drive mechanism, the motor friction and reduction gear reduction ratio must be set low so that the sliding door can be manually opened and closed. I have to. Therefore, when the sliding door is stopped while it is stopped on a slope, it is necessary to control the energization of the motor and maintain the sliding door stopped so that the sliding door does not move under its own weight after stopping. is there.

Japanese Patent Laid-Open No. 10-266691

  In order to maintain the stopped state of the sliding door, the present inventor sets the target value of the moving speed (door speed) of the sliding door to 0, and feedback-controls the current flowing through the motor so that the door speed becomes 0. I thought.

  The door speed can be obtained from, for example, a Hall IC that outputs a pulse signal synchronized with the rotation of the motor shaft of the motor, and the period of the pulse signal output from the Hall IC. However, as the door speed decreases, the period of the pulse signal output from the Hall IC becomes longer, and the previously obtained door speed is used for control for a long time until a new door speed is obtained. Therefore, even though the sliding door is actually stopped, a current is supplied to the motor so that the door speed becomes zero, and there is a possibility that vibration of the operation of the sliding door may occur.

  An object of the present invention is to provide an electric slide door control device that can suppress vibration of the operation of the slide door when the slide door is stopped during opening and closing.

  In order to achieve the above object, an electric sliding door control device according to the present invention is a control device for an electric sliding door capable of opening and closing the sliding door by a driving force of a motor, and a pulse corresponding to the movement of the sliding door. In order to maintain a state in which the slide door is stopped during opening and closing, pulse output means for outputting a signal, speed calculation means for calculating the moving speed of the sliding door (door speed) from the pulse signal output by the pulse output means, When the interval between the edges of the pulse signal output from the control means for controlling the current supplied to the motor so that the moving speed of the sliding door becomes 0 and the pulse output means is less than a predetermined time, the motor current control by the control means The movement speed used in the above is the movement speed calculated by the speed calculation means, and when the edge interval is equal to or longer than the predetermined time, the control means The movement speed used for containing and controlling the moving speed setting means to 0.

  According to this configuration, the current supplied to the motor is controlled (motor current control) so that the moving speed of the sliding door becomes zero in order to maintain the state where the sliding door stops in the middle of opening and closing. Further, pulse output means such as a Hall IC that outputs a pulse signal corresponding to the movement of the slide door is provided, and the moving speed of the slide door is calculated from the pulse signal output by the pulse output means. As the moving speed of the sliding door decreases, the interval between the edges (rising edge, falling edge) of the pulse signal becomes longer, and accordingly, the calculation period of the moving speed of the sliding door becomes longer. When the movement speed calculated from the pulse signal is used for motor current control, if the movement speed calculation cycle becomes longer, the previously calculated movement speed will be the same even though the sliding door is actually stopped. Used for motor current control.

  Therefore, when the edge interval of the pulse signal is less than the predetermined time, the moving speed used for the motor current control is the moving speed calculated from the pulse signal, and the edge interval of the pulse signal is equal to or longer than the predetermined time. In this case, the moving speed used for motor current control is set to zero. Thereby, even though the sliding door is actually stopped, it is possible to suppress the current corresponding to the non-zero moving speed from being supplied to the motor. As a result, the sliding door can be prevented from vibrating without stopping.

  The electric sliding door control device includes an acceleration calculating unit that calculates an acceleration of the sliding door movement from a moving speed calculated by the speed calculating unit, and an acceleration calculated by the acceleration calculating unit during the opening / closing operation of the sliding door sets a determination threshold value. If it exceeds, the pinch determination means for determining that the pinch of foreign matter has occurred between the slide door and the other member, and the acceleration of the acceleration by the acceleration calculation means regardless of the edge interval of the pulse signal output by the pulse output means The structure may further include pinching determination moving speed setting means that uses the moving speed used for the calculation as the moving speed calculated by the speed calculating means.

  In the configuration in which the moving speed used for calculating the acceleration of the sliding door is 0 when the interval between the edges of the pulse signal is equal to or longer than a predetermined time, the moving speed is 0 even when the sliding door stops gently. Since the value decreases from 0 to 0 at a stretch, the acceleration of the sliding door calculated from the moving speed becomes a large value. Therefore, there is a possibility that it is erroneously determined that a foreign object has been caught between the sliding door and another member even though the sliding door has been gently stopped instead of being caught.

  Even if the interval between the edges of the pulse signal is equal to or longer than a predetermined time, the configuration in which the moving speed used for calculating the acceleration of the sliding door is the moving speed calculated from the pulse signal can accurately calculate the acceleration of the sliding door. Therefore, it is possible to suppress erroneous determination that pinching has occurred when the sliding door stops instead of pinching.

  ADVANTAGE OF THE INVENTION According to this invention, when a sliding door is stopped in the middle of opening and closing, it can suppress that the operation | movement of a sliding door vibrates.

1 is a right side view of a vehicle on which an electric sliding door control device according to an embodiment of the present invention is mounted. It is a block diagram which shows the structure regarding control of the opening / closing operation | movement of a slide door. It is a figure which shows the example of a waveform of the pulse signal output from a motor current sensor (Hall IC). It is a graph which shows the change of the electric current supplied to the speed and acceleration of a sliding door at the time of opening / closing operation | movement of a sliding door, and a door motor. It is a flowchart which shows the flow of a temporary holding process.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

<Vehicle configuration>
FIG. 1 is a right side view of a vehicle 1 on which an electric sliding door control device according to an embodiment of the present invention is mounted.

  The vehicle 1 is, for example, a minivan type automobile. Although only the right side surface of the vehicle 1 is shown in FIG. 1, a front door opening 2 and a rear door opening 3 are formed on both left and right side surfaces of the vehicle 1, and the front door opening 2 and the rear door opening are formed. The hinge door 4 and the slide door 5 which open and close 3 are provided.

  The hinge door 4 opens and closes the front door opening 2 by swinging with the hinge disposed at the front end as a fulcrum. An outdoor handle 6 that is operated to open and close the hinge door 4 is provided on the outer surface of the hinge door 4.

  As shown by a two-dot chain line and a solid line in FIG. 1, the slide door 5 opens and closes the rear door opening 3 by sliding in the front-rear direction. An outdoor handle 7 that is operated to open and close the slide door 5 is provided on the outer surface of the slide door 5.

  Although not shown, door handles (indoor handles) operated to open and close the hinge door 4 and the slide door 5 are also provided on the surfaces of the hinge door 4 and the slide door 5 on the vehicle interior side. In the following description, there is no need to distinguish between the outdoor handle 7 and the indoor handle of the slide door 5, and these are collectively referred to as “door handle 7”.

<Electric sliding door>
FIG. 2 is a block diagram showing a configuration relating to the control of the opening / closing operation of the slide door 5. FIG. 3 is a diagram illustrating a waveform example of a pulse signal output from the motor current sensor 25 (Hall IC).

  The vehicle 1 is equipped with an ECU (Electronic Control Unit) including a microcomputer (microcontroller unit). The microcomputer includes, for example, a CPU, ROM and RAM, data flash (flash memory), and the like. Although only an ECU (slide door ECU) 11 for controlling the opening / closing operation of the slide door 5 is shown in FIG. 2, a plurality of ECUs are mounted on the vehicle 1 to control each part. . The plurality of ECUs including the slide door ECU 11 are connected so as to be capable of bidirectional communication using a CAN (Controller Area Network) communication protocol.

  The slide door 5 employs an electric slide door (power slide door), and the slide door 5 can be opened and closed electrically as well as manually opened and closed. The slide door 5 is provided with a door slide unit 21 for electric opening and closing. The door slide unit 21 includes a door motor 22 and a slide mechanism 23.

  The slide mechanism 23 is, for example, a mechanism that includes a pulley that is rotated by the driving force of the door motor 22 and a belt that travels with the rotation of the pulley, and that slides the slide door 5 in the front-rear direction by the driving force of the door motor 22. . The slide mechanism 23 employs a so-called clutchless configuration in which no electromagnetic clutch is provided on the power transmission path.

  The door slide unit 21 further includes a door position sensor 24, a motor current sensor 25, and a motor rotation sensor 26.

  The door position sensor 24 is provided in association with, for example, a rotating body (such as a roller) that rotates as the slide door 5 moves, and outputs a pulse signal synchronized with the rotation of the rotating body as a detection signal. A detection signal of the door position sensor 24 is input to the slide door ECU 11. The slide door ECU 11 acquires the position of the slide door 5 based on the number of pulse signals input from the door position sensor 24.

  The motor current sensor 25 outputs a detection signal corresponding to the current supplied to the door motor 22. A detection signal of the motor current sensor 25 is input to the slide door ECU 11. The slide door ECU 11 acquires the current value flowing through the door motor 22 from the detection signal of the motor current sensor 25.

  The motor rotation sensor 26 is composed of, for example, a Hall IC. A rotary magnet (motor shaft) of the door motor 22 is attached with a circular magnet having alternately a portion magnetized in the N pole and a portion magnetized in the S pole in the rotation direction. It arrange | positions facing a magnetized surface. In the Hall IC, two Hall elements are provided at intervals in the rotation direction of the circular magnet. As a result, as shown in FIG. 3, the Hall ICs are out of phase with each other as the circular magnet rotates, and rise or fall according to changes in polarity at positions facing the Hall elements (for example, N poles). A phase and B phase pulse signals are output (rising in response to a change from S to S pole and falling in response to a change from S pole to N pole). The sliding door ECU 11 calculates the door speed from the pulse signal (detection signal of the motor rotation sensor 26) output from the Hall IC. The calculation of the door speed will be described later.

  In addition, an on / off signal of the door handle switch 31 is input to the slide door ECU 11. The door handle switch 31 is a momentary operation type switch, and outputs an ON signal while the door handle 7 is operated, and outputs an OFF signal when the operation is not performed.

  For example, when the door handle 7 is operated in the fully closed state of the slide door 5, the position and speed of the slide door 5 and the current flowing through the door motor 22 (hereinafter referred to as “motor current”) are operated by the slide door ECU 11. Based on the value or the like, the current supplied to the door motor 22 from the battery mounted on the vehicle 1 is controlled so that the sliding door 5 opens. When the door handle 7 is operated with the slide door 5 fully open, the slide door ECU 11 causes the slide door 5 to close based on the position and speed of the slide door 5 and the current value of the motor current. In addition, the current supplied to the door motor 22 from the battery mounted on the vehicle 1 is controlled.

  FIG. 4 is a graph showing changes in the speed and acceleration of the sliding door 5 and the current supplied to the door motor 22 during the opening / closing operation of the sliding door 5.

  When the sliding door 5 is opened / closed from the fully opened / fully closed position to the fully closed / fully opened position, the acceleration of the sliding door 5 increases in response to the rise of the motor current, and the speed of the sliding door 5 (hereinafter, “door speed”). Is raised (door position 0-P1).

  When the motor current rises to a certain level, the slide door 5 is accelerated at a certain acceleration (door position P1-P2).

  When the door speed approaches the predetermined speed, the motor current is lowered so that the door speed is kept constant (door position P2-P3).

  After the door speed reaches the predetermined speed, a substantially constant motor current is supplied to the door motor 22 so that the door speed is maintained at the predetermined speed while the slide door 5 is positioned in the section of the door position P3-P4. .

  When the slide door 5 reaches the door position P4, the motor current is reduced. Thereby, the door motor 22 decelerates and the door speed decreases. When the slide door 5 reaches the fully closed / fully open position P5, the supply of current to the door motor 22 is stopped.

  When a foreign object is caught between the slide door 5 and another member (for example, the hinge door 4 or the B pillar) during the opening / closing operation of the slide door 5, the door speed is rapidly reduced, and the acceleration of the slide door 5 is increased. The value falls within the area indicated by hatching 4. In response to the decrease in the acceleration of the sliding door 5, the motor current is increased so that the door speed is maintained at a predetermined speed. Therefore, the current value of the motor current is within the area indicated by hatching in FIG. Rise to value.

  The acceleration of the slide door 5 takes a positive value when the slide door 5 accelerates and takes a negative value when the slide door 5 decelerates. The decrease in the acceleration of the slide door 5 includes a case where the positive acceleration decreases and a case where the negative acceleration increases.

  Therefore, the current value of the motor current is higher than normal and the acceleration of the slide door 5 tends to decrease means that a foreign object has been caught between the slide door 5 and another member. On the contrary, the motor current is lower than normal and the acceleration of the sliding door 5 tends to increase. The user can operate the sliding door 5 by operating the door handle 7 from the intention of opening and closing the sliding door 5 quickly. It means that 5 was accelerated.

<Temporary retention processing>
FIG. 5 is a flowchart showing the flow of the temporary holding process.

  During the opening / closing operation of the sliding door 5, the sliding door ECU 11 executes a temporary holding process shown in FIG.

  In the temporary holding process, it is determined whether or not a factor for temporarily holding the state where the slide door 5 is stopped during the opening / closing operation (hereinafter referred to as “temporary holding factor”) has occurred (step S1).

  The temporary holding factors include, for example, the operation of the door handle 7 and the insertion of foreign matter between the slide door 5 and another member. That is, when the door handle 7 is operated during the opening / closing operation of the slide door 5, it is determined that a temporary holding factor has occurred. If it is determined that a foreign object has been caught between the slide door 5 and another member by the pinch determination during the opening / closing operation of the slide door 5, it is determined that a temporary holding factor has occurred.

  In the pinching determination, the acceleration of the slide door 5 is below the acceleration determination threshold value (the value at the upper end of the area indicated by hatching in FIG. 4), and the current value of the motor current is the current determination threshold value (hatched in FIG. 4). If the value exceeds the value at the lower end of the region shown, the sliding door ECU 11 determines that the foreign object has been caught between the sliding door 5 and the other member.

  Therefore, the acceleration of the slide door 5 is necessary for the pinching determination. The acceleration of the slide door 5 can be calculated by differentiating the door speed. The door speed is defined as follows, assuming that the diameter of the pulley included in the slide mechanism 23 is R, the number of poles of the Hall IC that is the motor rotation sensor 26 is N, and the period of the pulse signal output from the motor rotation sensor 26 is T. It can be calculated according to equation (1).

Door speed [mm / s] = π · R / (N / 2) / T (1)
Where π: Pi

The period of the A-phase pulse signal output from the motor rotation sensor 26 is the time from the rising edge of the A-phase pulse signal to the next rising edge and from the falling edge of the A-phase pulse signal to the next falling edge. Is the time. The period of the B-phase pulse signal output from the motor rotation sensor 26 is the time from the rising edge of the B-phase pulse signal to the next rising edge and the next falling edge from the falling edge of the B-phase pulse signal. Time to edge. In order to calculate the door speed, the period of the A-phase pulse signal and the period of the B-phase pulse signal are alternately acquired, and the latest acquired period is set as a period T used for calculating the door speed. For example, in the waveform example shown in FIG. 3, since the period of the A phase is the most recently acquired period, this period is the period T for calculating the door speed (= T _i + T _{i + 1} + T _{i + 2} + T _{i + 3} ). .

  If the temporary holding factor has not occurred (NO in step S1), it is determined whether or not the slide door 5 has reached the fully open position or the fully closed position (step S2).

  If the slide door 5 has not reached the fully open position or the fully closed position (NO in step S2), it is determined again whether or not a temporary holding factor has occurred (step S1). As a result, it is determined whether or not the temporary holding factor has occurred, or until the sliding door 5 reaches the fully open position or the fully closed position, and the slide door 5 is in the fully open position or the fully closed position. The determination of whether or not it has been reached is repeated.

  When the sliding door 5 reaches the fully open position or the fully closed position without generating a temporary holding factor (YES in step S2), the temporary holding process is ended.

  On the other hand, if a temporary holding factor occurs until the sliding door 5 reaches the fully open position or the fully closed position (YES in step S1), the slide door 5 is stopped and the slide door 5 is stopped. Is temporarily held (step S3), and the temporary holding process is terminated.

  In the temporary holding control, for example, the motor current is controlled so that the door speed matches zero by PID (Proportional-Integral-Derivative) control. Specifically, the target value of the door speed is set to 0, and a deviation between the target value of 0 and the current door speed Vc is obtained. The control instruction value is set. Based on the control instruction value, the current supplied to the door motor 12 is controlled by PWM (Pulse Width Modulation) control.

As described above, the door speed can be calculated according to the above equation (1). In the temporary holding control, the door speed calculated according to the equation (1) may or may not be used. That is, the time interval T _{i + 3} between the last edge of the A-phase pulse signal and the last edge of the B-phase pulse signal in the period T used for calculating the door speed according to the equation (1) is acquired. When the time interval T _{i + 3} is less than a predetermined time (for example, 140 msec), the door speed calculated according to the equation (1) is set as the temporary holding control door speed, and the time interval T _{i + 3} is the predetermined time. In the above case, the door speed for temporary holding control is set to 0 instead of the door speed calculated according to the equation (1).

<Effect>
As described above, the motor current is controlled (temporary holding control) so that the door speed becomes zero in order to maintain the state where the slide door 5 is stopped in the middle of opening and closing. The door speed can be calculated from the pulse signal output from the motor rotation sensor 26 (Hall IC) according to the above equation (1). As the door speed decreases, the interval between the edges (rising edge, falling edge) of the pulse signal becomes longer, and accordingly, the calculation period of the door speed becomes longer. When the door speed calculated according to the equation (1) is always used for the temporary holding control, if the door speed calculation period is long, the calculation is performed first even though the slide door 5 is actually stopped. A situation occurs in which the door speed is used for temporary holding control.

Therefore, when the time interval T _{i + 3} of the edge of the pulse signal output from the motor rotation sensor 26 is less than the predetermined time, the door speed for temporary holding control is set to the door speed calculated according to the equation (1), and the edge When the time interval T _{i + 3} is equal to or longer than the predetermined time, the door speed for temporary holding control is set to zero. Thereby, although the sliding door 5 has actually stopped, it can suppress that the electric current according to the door speed which is not 0 is supplied to the door motor 22. FIG. As a result, the sliding door 5 can be prevented from vibrating without stopping.

In the configuration in which the door speed used for calculating the acceleration of the slide door 5 is always 0 when the time interval T _{i + 3} of the edge of the pulse signal output from the motor rotation sensor 26 is equal to or longer than a predetermined time, the slide Even when the door 5 is gently stopped, the door speed is rapidly reduced from a non-zero value to zero, so that the acceleration of the slide door 5 calculated from the door speed becomes a large value. Therefore, in the pinching determination, there is a possibility that it is erroneously determined that a foreign object has been pinched between the slide door 5 and another member even though the slide door 5 has stopped gently instead of being pinched.

  Even when the interval between the edges of the pulse signal is equal to or longer than the predetermined time, the door speed calculated according to the equation (1) is directly used for calculating the acceleration of the slide door 5 in the pinching determination. Therefore, the acceleration of the slide door 5 can be calculated with high accuracy, and it is possible to suppress erroneous determination that pinching has occurred when the slide door 5 stops instead of being pinched.

<Modification>
As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented with another form.

  For example, in the above-described embodiment, the slide door ECU 11 is configured as a single ECU, but the functions of the slide door ECU 11 and the functions of other ECUs may be incorporated into one ECU.

  In addition, various design changes can be made to the above-described configuration within the scope of the matters described in the claims.

5: Slide door 11: Slide door ECU (electric slide door control device, speed calculation means, control means, control moving speed setting means)
22: Door motor 26: Motor rotation sensor (pulse output means)

Claims (1)

A control device for an electric sliding door capable of opening and closing the sliding door by a driving force of a motor,
Pulse output means for outputting a pulse signal corresponding to the movement of the sliding door;
Speed calculating means for calculating the moving speed of the sliding door from the pulse signal output by the pulse output means;
Control means for controlling the current supplied to the motor so that the moving speed of the sliding door becomes 0 in order to keep the sliding door stopped in the middle of opening and closing;
When the edge interval of the pulse signal output by the pulse output means is less than a predetermined time, the movement speed used for the control by the control means is the movement speed calculated by the speed calculation means, and the edge interval is And a control moving speed setting means for setting the moving speed used for motor current control by the control means to 0 when the time is longer than a predetermined time.

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