JP6698195B2 - Opening/closing body control device - Google Patents

Description

  The present invention relates to an opening/closing body control device.

  BACKGROUND ART Conventionally, an automobile is provided with an opening/closing body control device that drives an opening/closing body such as a slide door or a back door by an electric motor. This opening/closing body control device controls the electric motor to rotate in both forward and reverse directions to automatically open/close the opening/closing body (see Patent Documents 1 and 2). Further, the opening/closing body control device, when the automatic opening/closing of the opening/closing body is switched to the manual opening/closing, stops the automatic opening/closing of the opening/closing body by stopping the rotational drive of the motor, and enables the opening/closing body to be opened/closed manually. .

Japanese Patent Publication No. 7-8159 Japanese Utility Model Publication No. 7-47585

  However, when the vehicle is stopped on a slope and the automatic opening/closing is switched to the manual opening/closing, the rotational driving of the motor is stopped. Therefore, the opening/closing body may unexpectedly fall in the inclination direction of the sloping ground by its own weight. In this case, the opening/closing body may move rapidly in the tilt direction, the opening/closing body may collide with the user's body, or the user's body may be caught between the opening/closing body and the vehicle body.

  The present invention has been made in view of such circumstances, and an object thereof is to provide an opening/closing body control device that suppresses an unexpected rapid movement of the opening/closing body.

  One aspect of the present invention is an opening/closing body control device that controls rotation of an electric motor that has a rotor that opens and closes an opening/closing body provided in a vehicle, and includes a plurality of switching elements that switch energization to the electric motor. And an inverter, and a control device that outputs a control signal to the switching element to control the switching element to either an ON state or an OFF state, and detects the rotational position of the rotor, and outputs a pulse signal. A rotation angle sensor for outputting and a counter for counting the number of pulses of the pulse signal are provided, and the control device is configured to change the count value by the counter while the switching element is in the off state, A first control in which the switching element corresponding to an energization pattern in which only one phase of each phase of the electric motor is energized is alternately turned on and off at a predetermined duty ratio, and the switching element is turned off. It is an opening/closing body control device that performs energization control by alternately repeating the second control.

  Further, one aspect of the present invention is the above-described opening/closing body control device, wherein the control device corresponds to an energization pattern in which only one phase of each phase of the electric motor is energized in a predetermined first period. A first control is performed in which a switching element is alternately turned on and off at a predetermined duty ratio, and second control is performed to turn the switching element off during a predetermined second period shorter than the first period. ..

  Further, one aspect of the present invention is the above-described opening/closing body control device, further including a first timer, wherein the control device has a count value by the counter other than a fully open position or a fully closed position of the opening/closing body. When the switching element is in the off state and the first timer starts counting, and the count value of the counter fluctuates before the first predetermined time elapses, the energization control is performed. To do.

  According to the present invention, it is possible to provide an opening/closing body control device that suppresses an unexpected rapid movement of the opening/closing body.

It is a side view which shows the one box type vehicle which has the opening/closing apparatus 10 for vehicles provided with the opening/closing body control apparatus 41 of this embodiment. It is a top view of the slide door 13 in an embodiment, and is an enlarged view showing details of a mounting portion of the slide door 13. It is a figure which shows an example of schematic structure in the control system of the vehicle opening/closing apparatus 10 in this embodiment. It is a figure which shows an example of a schematic structure of the opening/closing body control apparatus 41 in this embodiment. It is a figure which shows schematic structure of the manual opening/closing mode of the control apparatus 51 in this embodiment. It is a figure explaining the control signal in this embodiment. It is a figure explaining the processing flow of the operation|movement in the manual opening/closing mode of the control apparatus 51 in this embodiment. It is a figure which shows schematic structure of the manual opening/closing mode of 51 A of control apparatuses in the modification of this embodiment. It is a figure explaining the control signal in the modification of this embodiment.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Moreover, not all combinations of the features described in the embodiments are essential to the solving means of the invention. In the drawings, the same or similar parts may be denoted by the same reference numerals, and redundant description may be omitted.

The opening/closing body control device of the present embodiment controls the rotation of an electric motor that opens and closes an opening/closing body (for example, a sliding door or a tailgate) provided in a vehicle, and energizes the electric motor. When the movement of the opening/closing body is detected while the switch is open, the upper switching element and the lower switching element corresponding to the energization pattern in which only one phase of each phase of the electric motor is energized are controlled to the first state. Energization control is performed by alternately repeating the first control for controlling and the second control for controlling the upper switching element and the lower switching element to the second state. As a result, it is possible to suppress an unexpected rapid movement of the opening/closing body. In the present embodiment, the case where the opening/closing body provided in the vehicle is a slide door will be described, but the present invention is not limited to this.
Hereinafter, the opening/closing body control device of the present embodiment will be described in detail.

  FIG. 1 is a side view showing a one-box type vehicle 11 having a vehicle opening/closing device 10 including an opening/closing body control device 41 of the present embodiment. FIG. 2 is a top view of the slide door 13 in the present embodiment, and is an enlarged view showing details of a mounting portion of the slide door 13.

As shown in FIGS. 1 and 2, a vehicle 11 includes a slide door 13, guide rails 14, 16, 17 and a vehicle opening/closing device 10.
As shown in FIG. 1, a vehicle 11 is a one-box type passenger vehicle, and a side surface of a vehicle body 12 thereof is provided with a slide door 13 which is an opening/closing body. The slide door 13 is guided by a guide rail (guide member) 14 fixed to a side portion of the vehicle body 12 and can be opened and closed between a fully closed position shown by a solid line and a fully opened position shown by a chain line in FIG. Is. Therefore, the sliding door 13 is used by opening it to a desired opening degree when the passengers get on and off or the luggage is loaded and unloaded. Further, the slide door 13 is provided with a handle 45 as an open/close switch for instructing the opening/closing operation of the slide door 13.

  As shown in FIG. 2, an arm 61 protruding to the rear side of the vehicle 11 is fixed to the slide door 13, and a roller assembly 60 is swingably attached to the tip of this arm 61. The roller assembly 60 is incorporated in the guide rail 14 fixed to the side portion of the vehicle 11, and is movable along the guide rail 14 in the front-rear direction of the vehicle 11. Further, a stopper rubber 62 is provided at the vehicle rear end of the guide rail 14, and the roller assembly 60 comes into contact with the stopper rubber 62 and its movement is restricted. With such a structure, the slide door 13 is movable in the vehicle front-rear direction along the side surface of the vehicle 11 between the fully open position shown by the solid line and the fully closed position shown by the alternate long and short dash line, that is, it can be opened and closed. The slide door 13 moves in the front-rear direction of the vehicle 11 as the roller assembly 60 is guided by the guide rails 14.

The guide rail 14 includes a curved portion 14a and a straight portion 14b, and a reversing pulley 18 and a reversing pulley 19 are arranged near the front end and the rear end of the guide rail 14, respectively. The curved portion 14a is formed on the vehicle front side of the guide rail 14. The curved portion 14a has a shape that curves toward the vehicle interior. The slide door 13 is closed while being pulled inside the vehicle body 12 so as to be flush with the side surface of the vehicle body 12 by the roller assembly 60 being guided by the curved portion 14a. The straight portion 14b is formed at a position rearward of the vehicle with respect to the curved portion 14a. The straight portion 14b has a shape parallel to the side portion of the vehicle body 12.
The roller assembly 60 is provided on the upper and lower portions (upper portion/lower portion) of the front end portion of the slide door 13 in addition to the portion shown in FIG. Guide rails 16 and 17 are provided at the upper and lower portions of the opening of the vehicle body 12 corresponding to the roller assemblies 60 provided at the upper and lower portions (upper portion/lower portion) of the front end portion of the slide door 13. Therefore, the slide door 13 is supported by the vehicle body 12 at a total of three places.
The reversing pulleys 18 and 19 are provided at both ends of the guide rail 14, respectively.

The vehicle opening/closing device 10 is a device that opens and closes the slide door 13.
The vehicle opening/closing device 10 includes a drive unit 15 and a cable 23 (cable 23a, cable 23b).
The drive unit 15 is arranged inside the vehicle body 12 adjacent to a substantially central portion of the guide rail 14 in the vehicle front-rear direction.
The cable 23a and the cable 23b are connected to the roller assembly 60 from the vehicle rear side and the vehicle front side, respectively. In the drive unit 15, the slide door 13 is opened or closed by pulling one of the cables 23a and 23b.

The slide door 13 is provided with a full-open lock mechanism 70 as an open state holding mechanism for holding the slide door 13 in a predetermined open position, that is, a fully open position.
The full-open lock mechanism 70 includes a hook arm 71 swingably attached to the slide door 13 in an upright state and an inclined state, and a rod-shaped striker 72 fixed to the vehicle rear side. When the slide door 13 is opened to the fully open position, the striker 72 engages with the engagement groove provided at the tip of the hook arm 71. Further, the vehicle opening/closing device 10 may include a door closer device 90 that closes the slide door 13 to the fully closed position. The door closer device 90 is provided in the slide door 13, and when the slide door 13 reaches the vicinity of the fully closed position, it engages with a striker (not shown) provided in the vehicle, and closes the slide door 13 to the fully closed position. Here, the position where the slide door 13 is held at the fully open position by the engagement of the striker 72 with the engaging groove provided at the tip of the hook arm 71 is the fully open latch position, and the door closer device 90 is engaged with the striker (not shown). The combined position is called the fully closed latch position.

FIG. 3 is a diagram showing an example of a schematic configuration in a control system of the vehicle opening/closing device 10 according to the present embodiment.
The vehicle opening/closing device 10 includes a drive unit 15, a rotation angle sensor 48, a changeover switch 46, and an opening/closing body control device 41.
The electric motor 21 is a drive source that drives the slide door 13 to open and close. For example, the electric motor 21 is a motor such as a three-phase (U-phase, V-phase, and W-phase) brushless motor capable of rotating in both forward and reverse directions. The electric motor 21 is rotationally driven based on a signal supplied from the opening/closing body control device 41. That is, the electric motor 21 operates when the applied voltage Vu, the applied voltage Vv, and the applied voltage Vw are supplied from the opening/closing body control device 41 to each of the three phases according to the energization pattern. The rotation direction of the electric motor 21 is switched between normal rotation and reverse rotation depending on whether the applied voltage supplied is positive or negative.

  The rotor 47 (permanent magnet) is fixed to the rotary shaft 21 a of the electric motor 21. In the vicinity of the rotation path of the rotor 47, three Hall ICs 48u, Hall ICs 48v, and Hall ICs 48w as rotation angle sensors 48 for detecting the rotation position of the rotor 47 are located at positions of 120 degrees with respect to the rotation axis 21a. It is provided in. These three Hall ICs 48u, Hall ICs 48v, and Hall ICs 48w control the opening and closing of the pulse signals Su, the pulse signals Sv, and the pulse signals Sw that are 120 degrees out of phase with each other when the rotating shaft 21a of the electric motor 21 rotates. Output to the device 41.

  A drive gear 24 is fixed to the rotary shaft 21a of the electric motor 21. A large diameter spur gear 25 is meshed with the drive gear 24. A driven gear 28 fixed to an output shaft 27 is meshed with a small diameter spur gear 26 that rotates integrally with the large diameter spur gear 25. As a result, the rotation of the electric motor 21 is reduced at a predetermined reduction ratio and transmitted to the output shaft 27.

  A cylindrical drum 31 having a spiral guide groove (not shown) is formed on the outer peripheral surface of the output shaft 27. The cable 23 guided by the drive unit 15 is wound around the drum 31 multiple times along the guide groove. When the electric motor 21 operates, the drum 31 is rotated by being driven by the electric motor 21, whereby the cable 23 operates and the slide door 13 opens and closes. That is, by rotating the drum 31 in the counterclockwise direction in FIG. 3 by the electric motor 21, the cable 23 on the vehicle rear side is wound around the drum 31, and the slide door 13 is opened while being pulled by the cable 23. Move in the direction. On the contrary, by rotating the drum 31 in the clockwise direction in FIG. 3 by the electric motor 21, the cable 23 on the front side of the vehicle is wound around the drum 31 and the slide door 13 is pulled by the cable 23 and closed in the closing direction. Move to. In this way, the slide door 13 is connected to the electric motor 21 via the cable 23, the drum 31, the output shaft 27, etc., and is opened and closed by the electric motor 21.

  Tensioners 32 are provided between the drum 31 and the two reversing pulleys 18 and 19, respectively. The tensioner 32 removes the slack in the cable 23 between the drum 31 and the sliding door 13 to maintain the cable tension within a certain range. The tensioner 32 has a fixed pulley 32a and a movable pulley 32b, respectively. The movable pulley 32b is urged in the rotational direction by a spring member 32c with the fixed pulley 32a as an axis, and the cable 23 is connected to the pulleys 32a and 32b. It is hung in between. Therefore, when the cable 23 is loosened, it is urged by the movable pulley 32b to increase the moving path of the cable 23, whereby the tension of the cable 23 is maintained.

  The drive unit 15 is of a clutchless type in which a clutch mechanism is not provided between the electric motor 21 and the output shaft 27. That is, the power can be always transmitted from the electric motor 21 to the output shaft 27, that is, the slide door 13.

  In the automatic opening/closing mode in which the slide door 13 is automatically opened/closed, the electric motor 21 in the drive unit 15 is driven by being energized by the opening/closing body control device 41. In the automatic opening/closing mode, the opening/closing body control device 41 controls the operation of the electric motor 21 so as to open/close the slide door 13 at a preset target speed. On the other hand, the electric motor 21 is not driven by the opening/closing body control device 41 in the manual opening/closing mode in which the slide door 13 is manually opened/closed. That is, the electric motor 21 is not energized. This allows the user to manually operate the slide door 13. However, when the electric motor 21 is not energized, the torque is not applied to the electric motor 21, so that the slide door 13 may unexpectedly drop in the inclination direction of the sloping ground due to its own weight. Therefore, when the opening/closing body control device 41 detects the drop of the slide door 13 in the manual opening/closing mode, it intermittently energizes the electric motor 21. Thus, the opening/closing body control device 41 can notify the user that an abnormality has occurred by suppressing the falling speed of the slide door 13 and vibrating the falling slide door 13. The specific operation in the manual opening/closing mode will be described later.

  The sliding door 13 is provided with a handle 45 that functions as an open/close switch on the inside and outside of the vehicle compartment. The handle 45 is connected to the opening/closing body control device 41. When the handle 45 is operated by an occupant or the like, the handle 45 outputs an opening/closing command signal to the opening/closing body control device 41 according to the operation. That is, when the handle 45 is operated to the open side by an operator such as an occupant, the handle 45 outputs a command signal instructing the opening operation of the slide door 13 to the opening/closing body control device 41. The handle 45 outputs a command signal for instructing to close the slide door 13 to the opening/closing body control device 41 when it is operated to be closed by an operator such as an occupant. When the opening/closing body control device 41 acquires the opening/closing command signal supplied from the handle 45, the opening/closing body control device 41 controls the electric motor 21 to rotate normally or reversely based on the opening/closing command signal. Accordingly, the opening/closing body control device 41 can operate the slide door 13 in the opening direction or the closing direction. That is, the operator can operate the handle 45 to automatically open and close the slide door 13.

  The changeover switch 46 is a switch for switching between automatic opening and closing of the slide door 13 and manual opening and closing. For example, the changeover switch 46 is provided in the driver's seat of the vehicle 11. The changeover switch 46 outputs an automatic opening/closing signal to the opening/closing body control device 41 when switched to automatic opening/closing by the user. As a result, the opening/closing body control device 41 shifts to the automatic opening/closing mode, and the sliding door 13 can be automatically opened/closed. On the other hand, the changeover switch 46 outputs a manual opening/closing signal to the opening/closing body control device 41 when switched to manual opening/closing by the user. As a result, the opening/closing body control device 41 shifts to the manual opening/closing mode, and the sliding door 13 can be manually opened/closed.

  FIG. 4 is a diagram showing an example of a schematic configuration of the opening/closing body control device 41 in the present embodiment. The opening/closing body control device 41 includes an inverter circuit 42 and a control device 51.

  The inverter circuit 42 includes six switching elements 42a to 42f connected in a three-phase bridge form, and diodes 43a to 43f connected in antiparallel between the collectors and emitters of the switching elements 42a to 42f. Each of the switching elements 42a to 42f is, for example, a FET (Field Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor). The gates of the six bridge-connected switching elements 42a to 42f are connected to the control device 51.

  The collectors or emitters of the switching elements 42a to 42f are connected to, for example, delta-connected stator windings 21u, 21v, and 21w via the input terminals 22u, 22v, and 22w of the electric motor 21. As a result, the six switching elements 42a to 42f perform switching operation according to the drive signals (gate signals) G1 to G6 input from the control device 51, and the power supply voltage of the DC power supply 44 applied to the inverter circuit 42 is changed to Three-phase (U phase, V phase, W phase) applied voltages Vu, Vv, Vw are supplied to the stator windings U, V, W.

The control device 51 outputs a PWM (pulse width modulation) signal to the inverter circuit 42 to instruct the electric motor 21 to rotate normally or reversely based on the command signal supplied from the handle 45. Further, when the control device 51 detects a drop (movement) of the slide door 13 while the electric motor 21 is not energized, the control device 51 energizes only one phase of each phase of the electric motor 21. A first control for controlling the upper switching element and the lower switching element corresponding to the pattern to a first state, and a second control for controlling the upper switching element and the lower switching element to a second state. A drive signal that alternately repeats is output to the inverter circuit 42. Accordingly, the control device 51 intermittently energizes the electric motor 21 to suppress the falling speed of the slide door 13 and vibrate the falling slide door 13, so that the user is notified that an abnormality has occurred. can do. The period during which the electric motor 21 is not energized is, for example, when the opening/closing body control device 41 is in the manual opening/closing mode. In the present embodiment, a case where the opening/closing body control device 41 is in the manual opening/closing mode while the electric motor 21 is not energized will be described. It should be noted that the control device 51 stops the energization of the electric motor 21 by stopping the output of the PWM signal to the inverter circuit 42 when the automatic opening/closing mode is switched to the manual opening/closing mode. Then, for example, when the control device 51 detects the movement of the slide door 13 within the first predetermined time T _th1 after the power supply to the electric motor 21 is stopped, it is determined that the slide door 13 is falling. , The electric motor 21 is intermittently energized.

The manual opening/closing mode of the control device 51 in this embodiment will be described below. FIG. 5 is a diagram showing a schematic configuration of a manual opening/closing mode of the control device 51 in the present embodiment.
The control device 51 includes a mode switching unit 52, a first timer 53, a control unit 54, a counter 55, a drive control unit 56, and a second timer 57.

When the automatic opening/closing signal is supplied from the changeover switch 46, the mode switching unit 52 outputs an automatic opening/closing mode signal for shifting to the automatic opening/closing mode to the control unit 54. On the other hand, when the manual opening/closing signal is supplied from the changeover switch 46, the mode switching unit 52 outputs the manual opening/closing mode signal for shifting to the manual opening/closing mode to the control unit 54, and the first predetermined time T by the first timer 53. Start timing of _th1 . As described above, when the changeover switch 46 switches the automatic opening/closing of the slide door 13 to the manual opening/closing, the first timer 53 starts measuring the first predetermined time T _th1 . Further, when the manual opening/closing signal is supplied from the changeover switch 46, the control device 51 stops the supply of the PWM signal supplied to the inverter circuit 42, thereby stopping the power supply to the electric motor 21. The first predetermined time T _th1 is a threshold for determining _whether the slide door 13 has fallen, and is set in advance. In the present embodiment, an example of detecting the fall of the slide door 13 when the changeover switch 46 is switched is described, but the present invention is not limited to this. That is, the fall of the slide door 13 may be detected even when the changeover switch 46 is not switched. For example, the fall of the slide door 13 may be detected when the motor energization is stopped in a state where the latch is not fitted.

  The counter 55 counts the number of pulses of the pulse signal supplied from the rotation angle sensor 48 when the electric motor 21 is rotated by the movement of the slide door 13 (or when a pulse signal appears). For example, the counter 55 increments the count value N each time a pulse signal is acquired with reference to when the slide door 13 reaches a predetermined position (for example, the fully closed position). Therefore, the control device 51 detects the position of the slide door 13 based on the count value N.

The control unit 54 includes a first determination unit 541 and a second determination unit 542.
When the manual switching mode signal is supplied from the mode switching unit 52, the first determination unit 541 determines whether or not the slide door 13 has moved by the time the first timer 53 _measures the first predetermined time T _th1. judge. Whether or not the slide door 13 has moved is determined by whether or not the count value N has changed. For example, when the count value when the manual switching mode signal is supplied from the mode switching unit 52 is N ₁ , the first determination unit 541 causes the first timer 53 to start counting the first predetermined time T _th1. If the count value N exceeds the count value N ₁ +ΔN or the count value N falls below the counter value N ₁ −ΔN from the end to the end, it is determined that the slide door 13 has moved. For example, ΔN may be 1 or an integer of 2 or more. When it is determined that the slide door 13 has moved in the manual opening/closing mode, the first determination unit 541 outputs a drop signal indicating that the slide door 13 is falling to the drive control unit 56.

The second determination unit 542 determines that the slide door 13 has reached the fully open latched position when the count value N exceeds the threshold value N _th (first threshold value). The threshold value N _th is the count value N when the slide door 13 reaches the fully open latch position. When the second determination unit 542 determines that the slide door 13 has reached the full-open latch position, the drive control unit 56 sends a full-open latch position signal indicating that the slide door 13 has reached the full-open latch position to the drive control unit 56. Supply to. When the latch sensor 91 detects that the door closer device 90 is engaged with a striker (not shown), the second determination unit 542 determines that the slide door 13 has reached the fully closed latch position. When the second determination unit 542 determines that the slide door 13 has reached the fully closed latch position, it drives the drive control unit 56 with a fully closed latch position signal indicating that the slide door 13 has reached the fully closed latch position. It is supplied to the control unit 56.

  When the drop signal is supplied from the first determination unit 541, the drive control unit 56 causes the upper switching element and the lower switching element corresponding to the energization pattern in which only one phase of each phase of the electric motor 21 is energized. A control signal that alternately repeats the first control for controlling the first state and the second control for controlling the upper switching element and the lower switching element in the second state is output to the inverter circuit 42. FIG. 6 is a diagram illustrating control signals in the present embodiment. As shown in FIG. 6, in the present embodiment, the drive control unit 56 causes the switching element 42a in the upper stage (upper arm) corresponding to the energization pattern for energizing one phase of the U phase among the U phase, the V phase, and the W phase. The case where the lower switching element 42e is controlled to the first state and the second state will be described.

As shown in FIG. 6, the first state refers to the states of the switching element 42a and the switching element 42e during the first period t ₁ , and in the present embodiment, the switching element 42a is turned on. This is the state in which the switching element 42e alternately repeats the ON state and the OFF state at the first DUTY ratio. In the first state, the braking force is generated in the electric motor 21 when both the switching element 42a and the switching element 42e are in the ON state during the first period t ₁ , so that the speed of the slide door 13 increases. It reduces and suppresses the falling speed of the slide door 13. The second state, the switching element 42a during the second period t _2, there is shown a state of the switching element 42e, an ON state and an OFF state switching element 42e is in the second DUTY ratio It is in a state of repeating alternately. In the present embodiment, in the second state, the switching element 42a and the switching element 42e are off. That is, the second DUTY ratio is 0 (zero). In the second state, during the second period t _2, since the case where the switching element 42a and the switching element 42e are both turned on is not present, the braking force is not generated in the electric motor 21. Therefore, the speed of the slide door 13 is not suppressed, and the falling speed of the slide door 13 increases due to the weight of the slide door 13. As described above, the drive control unit 56 controls the switching element 42a and the switching element 42e to the first state to generate the braking force in the electric motor 21, and the switching element 42a and the switching element 42e. To a second state in which the predetermined braking force is not generated in the electric motor 21 at a cycle t (first period t ₁ +second period t ₂ ). The door 13 can be vibrated to notify the user that an abnormality has occurred. The first period t1 is set to be longer than the second period t _2. That is, of the first control and the second control, the control period of the one having a larger control force for the electric motor 21 (that is, the first control) is set to be longer. As a result, the drive control unit 56 can further suppress the falling speed of the slide door 13 and also vibrate the falling slide door 13 more greatly.

When the drive controller 56 starts the intermittent energization of the electric motor 21, the drive controller 56 causes the second timer 57 to start measuring the second predetermined time T _th2 . In this way, the second timer 57 starts counting the second predetermined time T _th2 when the drive controller 56 starts the intermittent energization of the electric motor 21. The drive control unit 56 ends the intermittent energization of the electric motor 21 when the interruption condition is satisfied between the time when the second timer 57 starts measuring the second predetermined time T _{th2 and} the time when the second timer 57 ends. The interruption condition is a condition for stopping the manual opening/closing of the slide door 13, and for example, when the manual opening/closing mode is switched by the changeover switch 46 or when the operation input of the handle 45 is performed, the sliding door 13 is dropped. Stoppage, failure, etc.

In addition, the drive control unit 56 connects and _disconnects the electric motor 21 when the slide door 13 reaches the latch position between the time when the second timer 57 starts to _measure the second predetermined time T _{th2 and} the time when it ends. Turn off the power. In other words, the drive control unit 56 determines whether the fully open latch position signal or the fully closed latch position signal is supplied between the time when the second timer 57 starts to _measure the second predetermined time T _{th2 and} the time when it ends. , The intermittent energization of the electric motor 21 is terminated.

The drive control unit 56 ends the intermittent energization of the electric motor 21 when the second timer 57 finishes measuring the second predetermined time T _th2 .

  The operation of the control device 51 in the manual opening/closing mode in this embodiment will be described below with reference to FIG. 7. FIG. 7 is a diagram illustrating a processing flow of an operation in the manual opening/closing mode of the control device 51 in the present embodiment.

The first determination unit 541 determines when the sliding door 13 is in a state other than the fully open latch position and the fully close latch position, when the electric motor 21 is de-energized, for example, when the automatic open/close mode is changed to the manual open/close mode. Then, it is determined whether or not the first predetermined time T _th1 has elapsed since the power supply to the electric motor 21 was turned off (step S101). For example, the first determination unit 541 determines whether or not the first timer 53 has finished counting the first predetermined time T _th1 . The first determination unit 541 determines whether or not the slide door 13 has dropped by determining whether or not the count value N has changed when the first timer 53 has not finished counting the first predetermined time T _th1. It is determined (step S102). When the count value N fluctuates when the first timer 53 has not finished counting the first predetermined time T _th1 , the first determination unit 541 determines that the slide door 13 has dropped, and the drop signal Is output to the drive control unit 56. The first determination unit 541 determines that the slide door 13 has not dropped when the count value N has not changed when the first timer 53 has not finished counting the first predetermined time T _th1. Then, the process of step S101 is executed.

  When the drop signal is supplied from the first determination unit 541, the drive control unit 56 corresponds to the energization pattern in which only one phase of each phase of the electric motor 21 is energized, and the switching element 42a in the upper stage and the switching element 42e in the lower stage corresponding to the energization pattern. A control signal is output to the inverter circuit 42, which alternately repeats a first control for controlling and the first state and a second control for controlling the upper switching element 42a and the lower switching element 42e in the second state. To do. As a result, the drive control unit 56 starts the intermittent energization of the electric motor 21 (step S103).

When the drive controller 56 starts the intermittent energization of the electric motor 21, the drive controller 56 causes the second timer 57 to start measuring the second predetermined time T _th2 . Then, the drive control unit 56 determines whether or not the interruption condition is satisfied while the second timer 57 _measures the second predetermined time T _th2 (step S104). The drive control unit 56 stops the intermittent energization of the electric motor 21 when the interruption condition is satisfied (step S107).

When the interruption condition is not satisfied, the drive control unit 56 determines whether the slide door 13 has reached the latch position (step S105). The drive controller 56 stops the intermittent energization of the electric motor 21 when the slide door 13 reaches the latch position (step S107). When the slide door 13 has not reached the latched position, the drive control unit 56 determines whether or not the second timer 57 has finished counting the second predetermined time T _th2 (step S106). When the second timer 57 has finished counting the second predetermined time T _th2 , the drive control unit 56 stops the intermittent energization of the electric motor 21 (step S107). If the second timer 57 has not finished counting the second predetermined time T _th2 , the drive control unit 56 executes the process of step S104 (step S104).

  As described above, when the opening/closing body control device 41 in the present embodiment detects the movement of the slide door 13 while the electric motor 21 is not energized, one of the phases of the electric motor 21 is detected. First control for controlling the upper switching element 42a and the lower switching element 42e corresponding to the energization pattern for energizing only the phase to the first state, and the upper control switching element 42a and the lower switching element 42e for the second control The second control for controlling the above state is alternately repeated. As a result, the opening/closing body control device 41 can suppress a sudden rapid movement of the slide door 13 by causing the electric motor 21 to generate a predetermined braking force and reducing the speed of the slide door 13. Further, the opening/closing body control device 41 can vibrate the falling slide door 13 to notify the user that an abnormality has occurred.

  In the present embodiment, the control device 51 alternately repeats the first control in which the switching element 42a and the switching element 42e are energized at the first DUTY ratio, and the second control in which the switching element 42e is not energized. However, the sudden movement of the slide door 13 is suppressed, but the present invention is not limited to this. For example, the control device 51 controls the slide door 13 to energize the second control with a second DUTY ratio smaller than the first DUTY ratio (where 0<second DUTY ratio<first DUTY ratio). You may suppress the sudden rapid movement of. Hereinafter, as a modified example of the control device 51, a second control in which the current is supplied at a second DUTY ratio smaller than the first DUTY ratio will be described.

FIG. 8 is a diagram showing a schematic configuration of a manual opening/closing mode of the control device 51A in the modification of the present embodiment. The control device 51A is an example of a configuration that the opening/closing body control device 41 of the present embodiment may have in place of the control device 51, and includes a mode switching unit 52, a first timer 53, a control unit 54, a counter 55, and a drive control unit 56A. And a second timer 57.
When the drive controller 56A receives the drop signal from the first determiner 541, the drive controller 56A energizes the switching element 42a and the switching element 42e at the first duty ratio to control the first state. , A second control in which the switching element 42a and the switching element 42e are energized at a second DUTY ratio smaller than the first DUTY ratio and a second control for controlling to the second state is alternately repeated to the inverter circuit 42. Output. FIG. 9 is a diagram illustrating control signals in the modification of the present embodiment.

As shown in FIG. 9, the first state in the modified example of the present embodiment refers to the states of the switching element 42a and the switching element 42e during the first period t ₁ , and is the present embodiment. Then, the switching element 42a is in the ON state, and the switching element 42e is in the state in which the ON state and the OFF state are alternately repeated at the first DUTY ratio. In the first state, the braking force is generated in the electric motor 21 when both the switching element 42a and the switching element 42e are in the ON state during the first period t ₁ , so that the speed of the slide door 13 increases. It reduces and suppresses the falling speed of the slide door 13. The second state in a modification of this embodiment, a switching element 42a during the second period t _2, there is shown a state of the switching element 42e, from the switching element 42e is first DUTY ratio Is a state in which the on-state and the off-state are alternately repeated at the second duty ratio which is smaller than the above. In the second state, during the time t _2, when the switching element 42a and the switching element 42e are both turned on, the braking force to the electric motor 21 is generated, the speed of the slide door 13 is decreased , The falling speed of the slide door 13 is suppressed. As a result, the control device 51A in the modification of the present embodiment can reduce the speed of the slide door 13 and suppress the falling speed of the slide door 13. The switching element 42a is always on during the first period t ₁ and the time t ₂ . Here, since the second DUTY ratio has a smaller value than the first DUTY ratio, the braking force of the electric motor 21 in the second control is smaller than the control force of the electric motor 21 in the first control. Therefore, in the second control, the speed of the slide door 13 is not suppressed as compared with the first control, and the falling speed of the slide door 13 becomes faster than that in the first control due to the weight of the slide door 13. As a result, the control device 51A in the modified example of the present embodiment can vibrate the falling slide door 13 to notify the user that an abnormality has occurred. That is, when the control device 51A in the modification of the present embodiment detects the movement of the slide door 13, the control device 51A increases the braking force of the electric motor 21 without stopping the slide door 13, The sliding door 13 that is falling can be vibrated to notify the user that an abnormality has occurred.

Further, in the above-described embodiment, the case where the braking force of the electric motor 21 in the second control is smaller than the control force of the electric motor 21 in the first control has been described, but the present invention is not limited to this. For example, the braking force of the electric motor 21 in the second control may be larger than the control force of the electric motor 21 in the first control.
Further, the above-described embodiment and the modified example of the embodiment can be appropriately combined or modified for use.

  The control device 51 in the above-described embodiment may be realized by a computer. In that case, the program for realizing this function may be recorded in a computer-readable recording medium, and the program recorded in this recording medium may be read by a computer system and executed. The “computer system” mentioned here includes an OS and hardware such as peripheral devices. Further, the “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, the "computer-readable recording medium" means to hold a program dynamically for a short time like a communication line when transmitting the program through a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system that serves as a server or a client in that case may hold a program for a certain period of time. Further, the program may be for realizing some of the functions described above, or may be one that can realize the functions described above in combination with a program already recorded in the computer system, It may be realized using a programmable logic device such as FPGA (Field Programmable Gate Array).

  Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and includes a design and the like within a range not departing from the gist of the present invention.

10 Vehicle Opening/Closing Device 11 Vehicle 13 Sliding Doors 14, 16, 17 Guide Rail 15 Drive Unit 41 Opening/Closing Body Control Device 46 Changeover Switch 48 Rotation Angle Sensor 51 Control Device 52 Mode Switching Unit 53 First Timer 54 Control Unit 55 Counter 56 Drive Control unit 57 Second timer

Claims (3)

An opening/closing body control device for controlling rotation of an electric motor having a rotor for opening/closing an opening/closing body provided in a vehicle,
An inverter having a plurality of switching elements for switching the power supply to the electric motor,
By outputting a control signal to the switching element, a control device for controlling the switching element in any one of an on state and an off state,
A rotation angle sensor that detects the rotation position of the rotor and outputs a pulse signal,
A counter for counting the number of pulses of the pulse signal,
Equipped with
The control device is
When the count value of the counter fluctuates while the switching element is in the off state, the switching element corresponding to the energization pattern in which only one phase of each phase of the electric motor is energized is driven with a predetermined duty ratio. An opening/closing body control device that performs energization control that alternately repeats a first control in which an on state and an off state are alternately repeated and a second control in which the switching element is in an off state. The control device is
Performing a first control in which the switching element corresponding to an energization pattern in which only one phase of each phase of the electric motor is energized in a predetermined first period is alternately repeated between an on state and an off state at a predetermined duty ratio, The opening/closing body control device according to claim 1, wherein the opening/closing body control device performs the second control for turning off the switching element in a predetermined second period shorter than the first period. The opening/closing body control device according to claim 1 or 2,
Furthermore, it has a first timer,
The control device is
When the count value of the counter is in a state other than the fully open position or the fully closed position of the opening/closing body and the switching element is in the off state, the first timer starts counting time until a first predetermined time elapses. An opening/closing body control device that performs the energization control when the count value of the counter changes.

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