JP4785260B2 - Opening / closing object pinching determination control method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pinching determination control method for an opening / closing body.
[0002]
[Prior art]
As an opening / closing body for a vehicle such as an automobile, there is a window, a sunroof panel, or a sliding door that automatically opens and closes using an electric motor. In such an automatic opening / closing device, in particular, when the opening / closing body is closed, when it is detected that a foreign object or the like has been caught, the pinch prevention control such as reversal is performed.
[0003]
An example of a power window device configured to perform the pinching prevention control will be described below with reference to FIGS. In the present power window device, as schematically shown in FIG. 4, signals for opening and closing operations from an automatic operation switch 12 provided in a driver's seat or the like are input to the control unit 11, and the control unit 11 Controls forward / reverse drive of the motor 3 according to each operation signal. A window 8 connected to the motor 3 opens and closes, and a rotation sensor 9 for detecting the rotation of the motor 3 is provided. The rotation pulse signal is input to the control unit 11 to detect the behavior of the window 8. I have to.
[0004]
FIG. 5 is a diagram showing a change in the rotational speed of the motor 3 during the closing operation of the window 8 in the power window device. For example, when the motor 3 and the window 8 are connected via a wire, there is a substantially no-load state at the start of motor driving due to loosening of the wire, backlash in the case of gear coupling using a sector gear, etc. As a result, the angular speed (rotational speed) of the motor 3 can be greatly increased. As shown in the figure, it rises to a high angular velocity ωH that is higher than the substantially constant steady velocity ωS, and then the wire 8 is loosened and the load on the window 8 is applied to obtain the steady angular velocity ωS. Will continue.
[0005]
As the pinching determination, a threshold value ωd is set, and if the state where the angular velocity is equal to or lower than the threshold value ωd continues for a predetermined time, it is determined that pinching has occurred and is reversed, for example.
[0006]
[Problems to be solved by the invention]
As described above, since the motor angular velocity once increases due to loosening of the wire or gear coupling backlash after the start of motor driving and then decreases, in order to prevent erroneous determination that the decrease in angular velocity is pinching As shown in the figure, a predetermined range from the driving start position of the motor 3 is set as a pinching determination prohibition section, and pinching determination is not performed until the section passes, and the pinching determination is performed after the pinching determination prohibition section has passed. It was.
[0007]
However, when pinching occurs in the pinching determination prohibition section, the pinching determination is performed after the pinching determination prohibition section, and the pinching determination is delayed. In addition, in the pinching determination prohibition section, in order to prevent erroneous determination even if a difference in environmental conditions such as temperature and voltage occurs, the setting is relatively long, and the pinching determination prohibition section has elapsed. As shown by the imaginary line in the figure, there may be a case where the angular velocity is greatly reduced. In this case, there is a problem that the pinching load increases when the pinching determination is confirmed.
[0008]
[Means for Solving the Problems]
In order to solve such problems and enable pinching determination even at the start of motor driving, in the present invention, pinching of foreign matter or the like when the opening / closing body is driven by the motor and closed is the motor rotation speed. In the pinching determination control method for an opening / closing body that determines pinching when the motor rotation speed falls below the pinching determination threshold value for a predetermined time. The average speed obtained by averaging the motor rotation speed at the latest predetermined number of times when the closing operation is performed is learned as a steady speed, and the driving is determined by a predetermined rotation amount of the motor from the start of the closing operation of the opening / closing body when the motor rotation speed to start section has become the first no-load determination value or more obtained by adding a predetermined value to the steady-state speed, the pinching determination threshold a It was assumed to be a predetermined value as low, low threshold.
[0009]
According to this, even when the motor rotation speed decreases due to aging deterioration, the motor rotation speed is learned to be a steady speed, and the learned steady speed is always compared with the motor rotation speed during operation to determine the pinching determination. Since the threshold value is obtained, it is possible to perform accurate pinching determination according to aging degradation or the like.
[0010]
Further, increase of the motors rotation speed can be assumed to be the case by loosening the wires or the like by equal to or greater than a predetermined value than the steady speed, the load is applied by lowering the threshold in that case In addition to preventing the erroneous determination that the reduction in rotational speed is due to pinching, the lower threshold value detects the speed drop when pinching occurs at the start of closing operation, and pinching determination at the start of closing operation It can be performed.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail based on specific examples shown in the accompanying drawings.
[0012]
FIG. 1 is a block diagram showing an example of a power window device to which the present invention is applied. In addition, the same code | symbol is attached | subjected about the part similar to FIG. 4 shown in the prior art example, and the detailed description is abbreviate | omitted. 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. A driving circuit 4 for controlling forward / reverse driving of the motor 3 according to the opening / closing control signal, a determination circuit 5 for outputting a pinching determination signal to the driving circuit 4, and an angular velocity calculation for outputting an angular velocity signal to the determination circuit 5. A circuit 6 is provided.
[0013]
Then, the motor 3 rotates forward and backward in response to a drive signal from the drive circuit 3, and the window 8 connected to the motor 3 via a wire, for example, opens and closes. A rotation sensor 9 for detecting the rotation of the motor 3 is provided, and a rotation pulse signal from the rotation sensor 9 is input to the determination circuit 5 and the angular velocity calculation circuit 6. The automatic control circuit 1a outputs a continuous open / close control signal when the open / close signal of the automatic operation switch 2a is input, and is operated when the open / close signal of the manual operation switch 2b is input. Only open / close control signal is output.
[0014]
Next, an example of pinching determination control by the power window device configured as described above will be described below with reference to the flowchart of FIG. First, in the first step ST1, an average speed ωave obtained by averaging past operation speeds is set as a steady speed ωa. In the next second step ST2, it is determined whether or not the current angular velocity ω is equal to or higher than the no-load determination value obtained by adding the predetermined value A to the steady speed ωa, and if it is equal to or higher than the no-load determination value (ωa + A). Advances to the third step ST3.
[0015]
When the angular velocity ω is equal to or greater than the no-load discrimination value (ωa + A), the angular velocity is increased due to loosening of the wire and the like, and the load on the window 8 is added in that case. Since the angular velocity greatly decreases at this time, in order to prevent the decrease from being determined to be sandwiched, in the third step ST3, a low threshold value that is lower than the normal threshold value ωd by a predetermined value B. The value (ωd−B) is set as the threshold value ωd. As a result, as shown in FIG. 3, even when the high angular velocity ωH increased at the start of the operation is lowered by the window load and becomes the low angular velocity ωL (<ωd), the low angular velocity ωL is obtained in advance by experimental values and design values. Thus, by setting the low threshold value (ωd−B) lower than the low angular velocity ωL, even if the angular velocity ω becomes the low angular velocity ωL, it is not erroneously determined that the object is caught.
[0016]
Note that the number of samples for averaging past operating speeds when obtaining the average speed ωave may be the latest arbitrary number of times of performing the closing operation. In this way, by always calculating the average speed ωave based on the latest operating speed, it is possible to cope with aging degradation and prevent erroneous determination due to the influence of increased friction due to aging degradation.
[0017]
If the angular velocity ω does not exceed the no-load discrimination value (ωa + A) in the second step ST2, or after proceeding to the third step ST3, it is discriminated whether or not it is a drive start section in the next fourth step ST4. . This drive start section is a section in which a low threshold (ωd−B) is set as a section affected by the slackness of the wire. For example, after the angular velocity ω becomes equal to or greater than the no-load discrimination value (ωa + A). A predetermined rotation amount may be set according to the number of rotation pulses of the motor 3. A guideline for this setting can also be obtained from experimental values and design values.
[0018]
If it is determined in the fourth step ST4 that it is not the drive start section, the process proceeds to a fifth step ST5. In this case, the threshold value ωd is set to the initial value ω (0) in order to perform normal pinching determination. Thus, it is possible to return the state of low threshold (.omega.d-B) set in the third step ST3 the normal threshold omega (0).
[0019]
When it is determined in the fourth step ST4 that it is a drive start section, or after proceeding to the fifth step ST5, in the next sixth step ST6, the angular velocity ω is equal to or less than the threshold value ωd so as to detect pinching. It is determined whether or not. If the angular velocity ω is equal to or lower than the threshold value ωd (pinch detection), the process proceeds to the seventh step ST7. If the angular velocity ω exceeds the threshold value ωd, the routine is terminated as normal operation. In the next cycle, the process starts from the first step ST1.
[0020]
In the seventh step ST7, it is determined whether or not the time T that is below the threshold value ωd is equal to or longer than the determination time Td for the pinching determination. If the determination time Td or more has not elapsed, the process returns to the sixth step ST6, and the process is restarted from the sixth step ST6. If the determination time Td or more has elapsed, the pinching detection state (the angular velocity ω is less than or equal to the threshold ωd). State) has continued for a predetermined time, so that it is determined that pinching has occurred, and the process proceeds to the eighth step ST8. In the eighth step ST8, for example, the motor 3 is reversely rotated (driven in the opening direction) as the sandwiching process, and this routine is terminated.
[0021]
By controlling in this way, it is possible to prevent erroneous determination that the angular velocity decrease due to the window load being applied from the substantially no-load state due to the slack of the wire in the driving start section is sandwiched, and that In the driving start section, the threshold value ωd is set to the low threshold value (ωd−B), so that when the angular velocity ω becomes equal to or lower than the low threshold value (ωd−B) when the trapping occurs, As a result, pinching is detected, and pinching determination similar to normal can be performed when pinching is detected when the state exceeds the determination time Td. Therefore, there is no need to provide a pinching determination prohibition section after the start of driving as described in the conventional example, pinching determination can be performed from the start of driving, and the pinching load increases due to the provision of the pinching determination prohibition section. There is nothing.
[0022]
【The invention's effect】
As described above, according to the present invention, even when the motor rotation speed is reduced due to aging, the motor rotation speed is learned to be a steady speed, and the learned steady speed is always compared with the motor rotation speed during operation. Thus, the pinch determination threshold value can be obtained, so that pinch determination can be performed accurately according to aging degradation or the like. In particular, it can be assumed that the increase in the motor rotational speed has become a predetermined value or more than the steady speed due to the slack of the wire or the like. In this case, the load is applied by lowering the threshold value. In addition to preventing erroneous determination that the reduction in rotational speed is pinching, and preventing erroneous determination that the speed reduction is pinching by setting a low threshold value, pinching is caused by the low threshold value. Since it is possible to detect pinching by detecting a decrease in speed when it occurs, there is no determination delay when a pinching determination prohibition section is provided at the start of the closing operation, and the pinching load is prevented from increasing. can do.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an example of a power window device to which the present invention is applied.
FIG. 2 is a control flow diagram according to the present invention.
FIG. 3 is a time chart showing a control procedure according to the present invention.
FIG. 4 is a block diagram showing an example of a conventional power window device.
FIG. 5 is a time chart showing a conventional control procedure.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Control part 2a Auto operation switch, 2b Manual operation switch 3 Motor 4 Drive circuit 5 Judgment circuit 6 Angular velocity calculation circuit 8 Window 9 Rotation sensor 11 Control part 12 Auto operation switch

Claims (1)

When the opening / closing body is driven by a motor to close the object, the motor rotation speed is compared with the threshold value for the pinching determination, and the motor rotation speed is set to the pinching determination threshold value for a predetermined time. In the pinching determination control method of the opening and closing body that determines pinching when it falls below ,
Learning an average speed obtained by averaging the motor rotation speed in the latest predetermined number of times that the closing operation of the opening / closing body is performed as a steady speed,
The motor rotation speed is equal to or greater than a no-load determination value obtained by adding a first predetermined value to the steady speed in a drive start section determined by a predetermined rotation amount of the motor from the start of the closing operation of the opening / closing body. case, pinching determination method of controlling opening and closing member, characterized in that a low threshold of the pinching determination threshold was lowered by a second predetermined value.

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