JP6705061B2 - Opening/closing body control device and opening/closing body control method - Google Patents

Description

The present invention relates to an opening/closing body control device that operates an opening/closing body such as a window glass, a sunroof, and a door mirror of a vehicle with an electric motor.

BACKGROUND ART Conventionally, a drive control device for an electric motor (motor) that opens and closes a sunroof is known (see Patent Document 1). This device measures the operating time when the sunroof is sliding in the opening direction from the fully closed position. Then, by stopping the motor when the operating time reaches a predetermined maximum value, the movement of the sunroof can be stopped when the sunroof reaches the fully open position without depending on the limit switch. The same applies when the sunroof is sliding in the closing direction from the fully open position.

Japanese Utility Model Laid-Open No. 3-114421

However, the control as described above is not suitable when the position of the opening/closing body needs to be detected with high accuracy in units of several millimeters. This is because the detection error of the position of the opening/closing body (the difference between the actual position of the opening/closing body and the detected position) is large. When it is necessary to detect the position of the opening/closing body with high accuracy, for example, the opening/closing body has come into contact with a foreign object or has reached the fully closed position while executing the automatic closing function that automatically closes the opening/closing body. This is the case when distinguishing In this case, if the detection error of the position of the opening/closing body is large, the automatic closing function may malfunction. Specifically, the state in which the opening/closing body reaches the fully closed position may be erroneously recognized as being in contact with a foreign object, and the moving direction of the opening/closing body may be reversed to open the opening/closing body. Alternatively, the state in which the opening/closing body is in contact with the foreign matter may be erroneously recognized as the state in which it has reached the fully closed position, and the foreign matter may be caught by the opening/closing body.

In view of the above points, it is desired to provide an opening/closing body control device that can more reliably prevent malfunction of the automatic closing function.

An opening/closing body control device according to an embodiment of the present invention is an opening/closing body control device for controlling the movement of an opening/closing body mounted on a vehicle, the opening/closing control performing an automatic closing function for automatically closing the opening/closing body. A unit, a counting unit that counts the number of times the electric motor that drives the opening/closing body is activated, and a function limiting unit that limits the automatic closing function based on the number of activations.

With the above-described means, it is possible to provide the opening/closing body control device that can more reliably prevent the malfunction of the automatic closing function.

It is a schematic diagram showing an example of composition of a power window device. It is a functional block diagram which shows the structural example of the arithmetic unit in the power window apparatus of FIG. It is a flowchart of an automatic closing process. It is sectional drawing which shows the positional relationship of a window glass and an upper sash. It is sectional drawing which shows the positional relationship of a window glass and an upper sash. It is a flowchart of basic processing. It is a schematic diagram showing an example of composition of a rotation angle detector. It is a schematic diagram of a commutator. It is a figure which shows an example of the timing which a 1st pulse signal is produced|generated. It is a figure which shows another example of the timing which a 1st pulse signal is produced|generated. It is a figure which shows an example of the timing which a 2nd pulse signal is produced|generated. It is a flowchart of a rotation amount calculation process. It is a figure which shows each transition of a synthetic pulse signal and a hall pulse signal. It is a flowchart of an update process. It is a figure which shows an example of the rotation stable state of an electric motor. It is a figure which shows the time transition of the voltage between terminals of a motor, a current, and a 1st pulse signal at the time of a rotation stable state.

Hereinafter, a power window device which is an example of an opening/closing body control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a configuration example of a power window device.

The power window device controls the movement of the window glass 2 as an opening/closing body mounted on the door 1 of the vehicle. The power window device mainly has an arithmetic unit 6 that controls the window glass driving mechanism 4. In the example of FIG. 1, the arithmetic unit 6 is provided inside the door 1, but it may be provided at another position inside the vehicle.

The door 1 has a window 1a. The window 1a is opened and closed by moving the window glass 2 up and down. Specifically, the window glass 2 is lowered to open the window 1a, and the window glass 2 is raised to close the window 1a. Then, when the window glass 2 is raised to the fully closed position, the window 1a is in the fully closed state. At this time, the upper end portion 2t of the window glass 2 hits the upper sash 3 that constitutes the upper end portion of the door 1.

The window glass driving mechanism 4 is a mechanism for moving the window glass 2 up and down, and is housed in the door 1. The window glass drive mechanism 4 includes an electric motor 10 as a power source.

The electric motor 10 can rotate in the forward direction and the reverse direction, and rotates in one direction to raise the window glass 2 and in the other direction to lower the window glass 2. In the example of FIG. 1, the electric motor 10 is a DC commutator electric motor including a commutator. The arithmetic unit 6 can control the opening/closing of the window 1 a by the window glass 2 by controlling the rotation of the electric motor 10.

FIG. 2 is a functional block diagram showing a configuration example of the arithmetic unit 6. The arithmetic unit 6 mainly receives signals from the operation button 7, the voltage detection unit 10a, and the current detection unit 10b, executes various calculations, and can output a control command to each of the four switches SW1 to SW4. In the example of FIG. 2, the arithmetic unit 6 is a microcomputer including a CPU, a volatile memory, a non-volatile memory, and the like. The switches SW1 to SW4 are semiconductor relays. It may be composed of an electromagnetic relay.

The electric motor 10 is connected to a power source via four switches SW1 to SW4. Then, when the switch SW1 and the switch SW3 are in the closed state (conductive state), they are rotated forward to lower the window glass 2. Further, when the switch SW2 and the switch SW4 are in the closed state, they rotate in the reverse direction to raise the window glass 2. In the example of FIG. 2 connected to the power supply, the current flowing through the forward rotating electric motor 10 has a positive value, and the current flowing through the reverse rotating electric motor 10 has a negative value. During inertial rotation, the switches SW2 and SW3 are closed, and the current flowing through the forward rotating electric motor 10 has a negative value, and the current flowing through the reverse rotating electric motor 10 has a positive value. In the present embodiment, the electric motor 10 and the current detection unit 10b exist in the closed loop in order to detect the rotation even during inertial rotation. In the present embodiment, the electric resistance of the electric motor 10 is sufficiently large, so that the electric motor 10 rotates by inertia even if the two terminals of the electric motor 10 are short-circuited. On the other hand, when the electric resistance value is small, the electric motor 10 rapidly decelerates when the two terminals of the electric motor 10 are short-circuited. In order to suppress the deceleration of the electric motor 10 during inertial rotation, a closed loop passing through the resistor may be formed.

The voltage detector 10a detects the voltage V between the terminals of the electric motor 10. The current detector 10b detects the current Im flowing through the electric motor 10.

The operation button 7 is an example of an operation device for operating the window glass 2, and is provided, for example, on the surface of the door 1 on the passenger compartment side. In this embodiment, the operation buttons 7 include an automatic open button 7A, a manual open button 7B, an automatic close button 7C and a manual close button 7D.

The arithmetic device 6 has an opening/closing controller 60, a position detector 61, a contact determiner 62, a counter 63, and a function limiter 64 as functional elements for executing various calculations.

The opening/closing control unit 60 controls the movement of the window glass 2. In this embodiment, the opening/closing control unit 60 controls the movement of the window glass 2 in response to a signal from the operation button 7.

For example, the opening/closing control unit 60 executes an automatic opening function of automatically opening (lowering) the window glass 2 when a predetermined window opening condition is satisfied. For example, when the automatic opening button 7A is operated, it is determined that a predetermined window opening condition is satisfied, the switches SW1 and SW3 are closed, and the electric motor 10 is rotated in the forward direction to lower the window glass 2. Then, the forward rotation is continued until another button is operated or the window glass 2 reaches the fully opened position. The forward rotation may be stopped when the automatic opening button 7A is operated again.

Further, when the manual open button 7B is operated, the opening/closing control unit 60 executes a manual open function of opening (lowering) the window glass 2 only while the manual open button 7B is operated. For example, while the manual open button 7B is being pressed, the switches SW1 and SW3 are closed and the electric motor 10 is rotated in the forward direction to lower the window glass 2. Then, when a predetermined time elapses after the pressing of the manual open button 7B is stopped, the forward rotation is stopped.

Further, the opening/closing control unit 60 executes an automatic closing function of automatically closing (raising) the window glass 2 when a predetermined window closing condition is satisfied. For example, when the automatic close button 7C is operated, it is determined that a predetermined window closing condition is satisfied, the switches SW2 and SW4 are closed, and the electric motor 10 is rotated in the reverse direction to raise the window glass 2. Then, the reverse rotation is continued until another button is operated or the window glass 2 reaches the fully closed position. The reverse rotation may be stopped when the automatic close button 7C is operated again.

Further, when the manual close button 7D is operated, the opening/closing control unit 60 executes a manual close function of closing (raising) the window glass 2 only while the manual close button 7D is operated. For example, the switch SW2 and the switch SW4 are closed only while the manual close button 7D is pressed, and the electric motor 10 is reversely rotated to raise the window glass 2. Then, when a predetermined time elapses after the pressing of the manual close button 7D is stopped, the reverse rotation is stopped.

The position detector 61 detects the position of the window glass 2. In this embodiment, the position detector 61 calculates the rotation angle of the electric motor 10. Then, based on the rotation angle of the electric motor 10, the relative position of the upper end 2t of the window glass 2 with respect to the fully closed position is detected. Further, every time the position detection unit 61 determines that the window 1a is in the fully closed state, the position detection unit 61 updates the fully closed position as the reference position with the position of the upper end 2t detected at that time. That is, the current position of the upper end 2t is the fully closed position.

The contact determination unit 62 determines whether the window glass 2 is in contact with another object. In the present embodiment, the contact determination unit 62 determines whether the window glass 2 is in contact with another object during execution of the automatic closing function. For example, the torque is calculated based on the rotational angular velocity of the electric motor 10, the inter-terminal voltage V, and the current Im calculated by the position detection unit 61. Then, when the calculated torque is equal to or larger than the predetermined first threshold value, it is determined that the window glass 2 is in contact with another object.

The counting unit 63 counts the number of times the electric motor 10 is activated. In the present embodiment, the counting unit 63 counts up the number of times the electric motor 10 is started when the electric motor 10 is started, that is, when the rotation of the electric motor 10 is started. For example, each time the operation button 7 is operated, the number of activations is incremented by one. Further, the counting unit 63 resets the number of activations to zero every time the window glass 2 reaches the fully closed position.

The function restriction unit 64 restricts some of the functions of the opening/closing control unit 60. In this embodiment, the function limiting unit 64 limits the automatic closing function when a predetermined function limiting condition is satisfied. For example, the automatic closing function is limited based on the number of times the electric motor 10 is activated.

The automatic closing function is limited, for example, by prohibiting the execution of the automatic closing function, setting the final reaching position of the upper end 2t of the window glass 2 by the automatic closing function to a position lower than the fully closed position, and the automatic closing function. This includes limiting the moving distance (rising distance) of the window glass 2.

For example, when the number of activations of the electric motor 10 exceeds a predetermined threshold value, the function restriction unit 64 determines that a predetermined function restriction condition is satisfied, and prohibits execution of the automatic closing function. This is because as the number of activations increases, the detection error of the position of the window glass 2 increases and the possibility that the automatic closing function malfunctions increases.

In this regard, when the detection error increases or decreases in opposite directions when the electric motor 10 is started to raise the window glass 2 and when the electric motor 10 is started to lower the window glass 2, the counting unit 63 determines You may consider the difference. For example, the counting unit 63 increments the activation count by 1 when the automatic open button 7A or the manual open button 7B is pressed, and increments the activation count by 1 when the automatic close button 7C or the manual close button 7D is pressed. It may be subtracted.

Further, the function limiting unit 64 releases the limitation of the automatic closing function when the window glass 2 reaches the fully closed position. This is because the detection error of the position of the window glass 2 that causes the malfunction of the automatic closing function is reset to zero.

Here, with reference to FIG. 3, FIG. 4A and FIG. 4B, a process (hereinafter, referred to as “automatic close process”) executed by the arithmetic unit 6 when the automatic close button 7C is operated will be described. FIG. 3 is a flowchart of the automatic closing process. 4A and 4B are cross-sectional views showing the positional relationship between the upper end portion 2t of the window glass 2 and the upper sash 3, and are the cross-sectional views of the plane including the broken line L1 of FIG. Correspond.

First, the arithmetic device 6 determines whether or not the automatic closing function is effective (step ST1). The arithmetic device 6 determines that the automatic closing function is effective, for example, when the automatic closing function is not restricted by the function restriction unit 64. If the function limiting unit 64 does not prohibit the automatic closing function, it may be determined that the automatic closing function is valid. That is, even if the automatic closing function is restricted, it may be determined that the automatic closing function is valid if it is not prohibited.

When it is determined that the automatic closing function is invalid (NO in step ST1), the opening/closing control unit 60 ends the automatic closing process this time without starting the automatic closing function.

When it is determined that the automatic closing function is valid (YES in step ST1), the opening/closing control unit 60 starts the automatic closing function (step ST2). The opening/closing control unit 60 raises the window glass 2 by rotating the electric motor 10 in the reverse direction by closing the switches SW2 and SW4, for example.

Then, the contact determination unit 62 determines whether the window glass 2 is in contact with another object (step ST3). The contact determination unit 62 determines that the window glass 2 is in contact with another object when the torque generated by the electric motor 10 is equal to or higher than the first threshold value, for example.

When it is determined that the window glass 2 is not in contact with another object (NO in step ST3), the contact determination unit 62 is in step ST3 until it is determined that the window glass 2 is in contact with another object. Repeat the judgment.

When it is determined that the window glass 2 is in contact with another object (YES in step ST3), the position detection unit 61 determines whether the position of the upper end 2t of the window glass 2 is within the non-detection range. Is determined (step ST4).

The non-detection range means a range in which an object in contact with the window glass 2 is not detected as a foreign matter, that is, a range in which the object in contact with the window glass 2 is regarded as the upper sash 3. The “range” is represented by the distance from the fully closed position, for example.

In the present embodiment, as shown in FIG. 4A, the position detection unit 61 positions the upper end 2t of the window glass 2 when the distance D1 between the fully closed position and the upper end 2t of the window glass 2 is equal to or less than the threshold value Dt. Is within the non-detection range. Then, the contact determination unit 62 determines that the window glass 2 is in contact with another object, and the position detection unit 61 determines that the position of the upper end 2t of the window glass 2 is within the non-detection range. Then, the arithmetic device 6 determines that the window 1a is in the fully closed state.

On the other hand, as shown in FIG. 4B, when the distance D1 between the fully closed position and the upper end 2t of the window glass 2 is larger than the threshold value Dt, the position detection unit 61 determines that the position of the upper end 2t of the window glass 2 is not. It is determined that it is not within the detection range. Then, the contact determination unit 62 determines that the window glass 2 is in contact with another object, and the position detection unit 61 determines that the position of the upper end 2t of the window glass 2 is not within the non-detection range. Then, the computing device 6 determines that the window glass 2 is in contact with the foreign matter other than the upper sash 3.

When it is determined that the position of the upper end portion 2t of the window glass 2 is within the non-detection range (YES in step ST4), the opening/closing control unit 60 determines that the window 1a is in the fully closed state and stops the electric motor 10. (Step ST5). Even if the reverse rotation of the electric motor 10 is continued until the torque generated by the electric motor 10 reaches the second threshold value (>the first threshold value) and the reverse rotation of the electric motor 10 is stopped when the torque reaches the second threshold value. Good.

After that, the position detector 61 resets (initializes) the fully closed position (step ST6). The position detection unit 61 sets the current position of the upper end 2t of the window glass 2 as the fully closed position regardless of whether the current position of the upper end 2t of the window glass 2 matches the fully closed position. Set.

Then, the counting unit 63 resets the number of activations. This is because the detection error of the position of the window glass 2 is eliminated by resetting the fully closed position. Then, the function restriction unit 64 releases the restriction when the automatic closing function is restricted. This is because the detection error of the position of the window glass 2 has been eliminated, that is, there is no possibility that the automatic closing function malfunctions due to the detection error.

When it is determined that the position of the upper end portion 2t of the window glass 2 is not within the non-detection range (NO in step ST4), the opening/closing control unit 60 determines that the window glass 2 is in contact with a foreign substance other than the upper sash 3. Then, the rotation direction of the electric motor 10 is reversed (step ST7). In the present embodiment, the opening/closing control unit 60 causes the electric motor 10 that has been rotating in the reverse direction to rotate forward to lower the window glass 2. This is to prevent foreign matter from being caught.

After that, the opening/closing control unit 60 causes the electric motor 10 to rotate forward until the window glass 2 reaches the fully opened position, and stops the electric motor 10 when the window glass 2 reaches the fully opened position (step ST8). The opening/closing control unit 60 may stop the forward rotation of the electric motor 10 when the window glass 2 descends by a predetermined distance.

Next, with reference to FIG. 5, a basic process (hereinafter, referred to as “basic process”) executed by the arithmetic unit 6 while the power window device is operating will be described. FIG. 5 is a flowchart of basic processing. The arithmetic unit 6 repeatedly executes this basic process at a predetermined control cycle.

First, the arithmetic device 6 determines whether or not the operation button 7 has been operated (step ST11). In the present embodiment, the arithmetic unit 6 determines that the operation button 7 has been operated when any one of the automatic open button 7A, the manual open button 7B, the automatic close button 7C and the manual close button 7D is pressed.

When it is determined that the operation button 7 has been operated (YES in step ST11), the counting unit 63 counts up the number of times the electric motor 10 is activated (step ST12). In the present embodiment, the number of activations is incremented by 1 regardless of which of the automatic open button 7A, the manual open button 7B, the automatic close button 7C and the manual close button 7D is pressed.

After that, the function limiting unit 64 determines whether or not the number of activations exceeds the threshold value (step ST13). In the present embodiment, the function limiting unit 64 determines whether the number of activations has exceeded 10 times.

When it is determined that the number of activations has exceeded the threshold value (YES in step ST13), the function limiting unit 64 limits the automatic closing function (step ST14). In this embodiment, the function limiting unit 64 prohibits the execution of the automatic closing function.

When it is determined that the number of activations does not exceed the threshold value (NO in step ST13), the arithmetic device 6 executes step ST15 without limiting the automatic closing function. When it is determined that the operation button 7 has not been operated (NO in step ST11), the arithmetic device 6 executes step ST15 without counting up the number of activations and without limiting the automatic closing function.

In step ST15, the arithmetic unit 6 determines whether or not the window 1a is in the fully closed state. In this embodiment, when the position of the upper end 2t of the window glass 2 is within the non-detection range, it is determined that the window 1a is in the fully closed state. For example, when the position of the upper end 2t reaches the non-detection range by operating the manual close button 7D, it is determined that the window 1a is in the fully closed state.

When it is determined that the window 1a is in the fully closed state (YES in step ST15), the position detection unit 61 resets the fully closed position, the counting unit 63 resets the number of times of activation, and the function limiting unit 64 When the automatic closing function is restricted, the restriction is released (step ST16). In the present embodiment, the position detection unit 61 sets the current position of the upper end 2t of the window glass 2 as the fully closed position. The counting unit 63 resets the number of activations to zero. The function restriction unit 64 releases the prohibition when the execution of the automatic closing function is prohibited.

When it is determined that the window 1a is not in the fully closed state (NO in step ST15), the computing device 6 resets the fully closed position, resets the number of startups, and releases the restriction of the automatic closing function. No, the basic processing of this time is ended.

As described above, the power window device includes the opening/closing control unit 60 that executes the automatic closing function of automatically closing the window glass 2, the counting unit 63 that counts the number of times the electric motor 10 that drives the window glass 2 is activated, and the electric motor. The function limiting unit 64 limits the automatic closing function based on the number of activations of 10. Therefore, the automatic closing function can be limited when the detection error of the position of the window glass 2 may be large. For example, the automatic closing function can be limited when the number of activations of the electric motor 10 exceeds a predetermined threshold. The situation that the number of activations exceeds the threshold value occurs, for example, when the inching operation for slightly moving the window glass 2 is repeated. With this configuration, the power window device can prevent malfunction of the automatic closing function at low cost even if the power window device does not include a sensor (a limit switch, a hall sensor, etc.) for detecting that the window glass 2 has reached the fully closed position. It can be surely prevented. That is, even in the configuration described below in which the position of the window glass 2 is detected based on the ripple component of the current Im, the malfunction of the automatic closing function can be reliably prevented. Specifically, a situation occurs in which the state in which the window glass 2 reaches the fully closed position is erroneously recognized as a state in which a foreign object is in contact, and the movement direction of the window glass 2 is reversed to open the window glass 2. It can be prevented. Further, it is possible to prevent a situation in which the state in which the window glass 2 is in contact with the foreign matter is erroneously recognized as the state in which the window glass 2 has reached the fully closed position, and the foreign matter is pinched by the window glass 2.

The function limiting unit 64 may release the limitation of the automatic closing function when the window glass 2 reaches the fully closed position. With this configuration, even when the automatic closing function is temporarily restricted, the power window device releases the restriction and reuses the automatic closing function when the window glass 2 reaches the fully closed position. It can be possible.

The counting unit 63 may count up the number of times of starting the electric motor 10 when the electric motor 10 is started. For example, the number of activations may be counted up each time the operation button 7 is operated, or the number of activations may be counted up each time the rotation of the electric motor 10 is started regardless of the signal from the operation button 7. Good. With this configuration, the power window device can easily recognize the state in which the detection error of the position of the window glass 2 may be large.

The counting unit 63 desirably resets the number of startups of the electric motor 10 to zero when the window glass 2 reaches the fully closed position. This is because when the window glass 2 reaches the fully closed position, the fully closed position is reset and the detection error of the position of the window glass 2 is eliminated. With this configuration, the counting unit 63 can prevent the automatic closing function from being accidentally limited early.

The function limiting unit 64 may prohibit the execution of the automatic closing function when the number of times of starting the electric motor 10 exceeds a predetermined threshold value. The threshold for prohibiting the execution of the automatic closing function may be larger than the threshold for restricting the automatic closing function. With this configuration, the power window device can prohibit the execution of the automatic closing function when there is a high possibility that the detection error of the position of the window glass 2 becomes large. As a result, the malfunction of the automatic closing function can be more reliably prevented.

Next, the details of the position detector 61 will be described with reference to FIGS. The rotation angle detector 100 is an example of the position detection unit 61, detects the rotation angle of the electric motor 10, and detects the position of the window glass 2 based on the rotation angle. In the example of FIG. 6, the rotation angle detector 100 detects the rotation angle of the electric motor 10 based on the voltage V between the terminals of the electric motor 10 and the current Im flowing through the electric motor 10.

FIG. 7 is a schematic diagram of the commutator 20 in the electric motor 10. As shown in FIG. 7, the commutator 20 is composed of eight commutator pieces 20a separated from each other by a slit 20s. The angle θc between slits, which is the central angle of the arc of each commutator piece 20a, is about 45 degrees.

The rotation angle detector 100 mainly includes a voltage filter unit 30, a rotation angular velocity calculation unit 31, a rotation angle calculation unit 32, a current filter unit 33, a first signal generation unit 34, a second signal generation unit 35, and a rotation information calculation unit. 36, a resistance setting unit 37, and the like. Each element may be configured by an electric circuit or software.

The voltage filter unit 30 smoothes the waveform of the inter-terminal voltage V output by the voltage detection unit 10a. The voltage filter unit 30 smoothes the waveform of the inter-terminal voltage V so that the rotation angular velocity calculation unit 31 can accurately calculate the rotation angular velocity of the electric motor 10, for example. In the example of FIG. 6, the voltage filter unit 30 is a low-pass filter and outputs an inter-terminal voltage V′ in which a high frequency component of the waveform of the inter-terminal voltage V output by the voltage detection unit 10a is removed as noise.

The rotational angular velocity calculation unit 31 calculates the rotational angular velocity of the electric motor 10 based on the inter-terminal voltage V′ of the electric motor 10 and the current Im flowing through the electric motor 10. In the example of FIG. 6, the rotation angular velocity calculation unit 31 calculates the rotation angular velocity ω based on the equation (1).

Keは逆起電力定数であり、Ｒｍは電動機１０の内部抵抗に対応する値（設定抵抗値）であり、Ｌｍは電動機１０のインダクタンスであり、ｄＩｍ／ｄｔは電流Ｉｍの一回微分である。電流Ｉｍの一回微分は、例えば、前回の電流Ｉｍの値と今回の電流Ｉｍの値との差である。設定抵抗値Ｒｍは、例えば、回転角度検出器１００の起動時に抵抗設定部３７によって設定される。

Ke is a back electromotive force constant, Rm is a value (setting resistance value) corresponding to the internal resistance of the electric motor 10, Lm is the inductance of the electric motor 10, and dIm/dt is a one-time derivative of the current Im. The one-time differentiation of the current Im is, for example, the difference between the previous value of the current Im and the current value of the current Im. The set resistance value Rm is set by the resistance setting unit 37 when the rotation angle detector 100 is started, for example.

The rotation angular velocity calculation unit 31 calculates the rotation angular velocity ω of the electric motor 10 for each constant control cycle, and outputs the calculated rotation angular velocity ω to the rotation angle calculation unit 32.

The rotation angle calculation unit 32 calculates the rotation angle θ of the electric motor 10. The rotation angle calculation unit 32 calculates the rotation angle θ based on the equation (2).

回転角度算出部３２は、例えば、回転角速度算出部３１が一定の制御周期毎に出力する回転角速度ωを積算して回転角度θを算出し、算出した回転角度θに関する信号である回転角度信号を第２信号生成部３５に対して出力する。

The rotation angle calculation unit 32 calculates the rotation angle θ by integrating the rotation angular velocities ω output by the rotation angular velocity calculation unit 31 at constant control cycles, and outputs a rotation angle signal that is a signal related to the calculated rotation angle θ, for example. The signal is output to the second signal generator 35.

Further, the rotation angle calculation unit 32 resets the rotation angle θ to zero according to the synchronization command from the second signal generation unit 35.

The current filter unit 33 outputs a ripple component Ir that is a specific frequency component included in the current Im output by the current detection unit 10b. The current filter unit 33 is configured by, for example, a bandpass filter that passes the frequency of the ripple component Ir so that the first signal generation unit 34 can detect the ripple component Ir of the current Im. The current filter unit 33 including a bandpass filter removes frequency components other than the ripple component Ir in the waveform of the current Im output by the current detection unit 10b. The ripple component Ir used in this embodiment is generated due to contact/separation between the commutator piece 20a and the brush. Therefore, the angle at which the electric motor 10 rotates during one cycle of the ripple component Ir is equal to the inter-slit angle θc.

The first signal generation unit 34 generates a signal that the motor 10 is rotated by a certain angle from the waveform of the ripple component Ir. This signal is a signal corresponding to the cycle of the ripple component Ir. The constant angle may be an angle corresponding to one cycle of the ripple component Ir or an angle corresponding to a half cycle. In this embodiment, every time the electric motor 10 rotates by the inter-slit angle θc, a signal (first pulse signal Pa) estimated from the waveform of the ripple component Ir is generated. The first signal generation unit 34 generates, for example, the first pulse signal Pa based on the waveform of the ripple component Ir output from the current filter unit 33.

FIG. 8A is a diagram showing an example of the timing when the first signal generation unit 34 generates the first pulse signal Pa. The first signal generation unit 34 generates the first pulse signal Pa for each cycle of the ripple component Ir. For example, the first pulse signal Pa is generated every time the ripple component Ir exceeds the reference current value Ib. In the example of FIG. 8A, the first pulse signal Pa is generated at times t1, t2, t3,..., Tn. Cn, C2, C3,..., Cn, etc. indicate the cycle of the ripple component Ir, and θ1, θ2, θ3,..., θn, etc., are generated by the first signal generator 34 from the first pulse signal. Shows the rotation angle θ. The rotation angle θ is a value calculated by the rotation angle calculation unit 32. As described above, the first signal generation unit 34 typically generates the first pulse signal Pa each time the rotation angle θ increases by the inter-slit angle θc.

However, for example, when the current Im and its ripple component Ir become small in the inertia rotation period after the power of the electric motor 10 is turned off, the first signal generation unit 34 cannot detect the ripple component Ir and the first pulse signal Pa is not detected. May not be generated. Further, for example, when a rush current is generated immediately after the power of the electric motor 10 is turned on, the first signal generation unit 34 may erroneously generate the first pulse signal Pa according to the rush current. Such omission or erroneous generation of the first pulse signal Pa reduces the reliability of the information about the rotation of the electric motor 10 (hereinafter, referred to as “rotation information”) output by the rotation angle detector 100.

Therefore, in the rotation angle detector 100, the second signal generation unit 35 can generate a signal representing the rotation angle of the electric motor 10 with higher accuracy.

The second signal generation unit 35 generates a signal indicating that the electric motor 10 has rotated by a predetermined angle. The second signal generation unit 35, for example, based on the rotation angle signal output by the rotation angle calculation unit 32 and the first pulse signal Pa output by the first signal generation unit 34, the second pulse signal for each inter-slit angle θc. Generate Pb. The second pulse signal Pb is an example of information indicating that the electric motor 10 has rotated by a predetermined angle. Since the first pulse signal Pa is a signal estimated from only the waveform of the ripple component Ir, it may be erroneously output. On the other hand, since the second pulse signal Pb is a signal estimated from both the first pulse signal Pa and the rotation angle signal, the error can be set to a certain value or less.

FIG. 9 is a diagram showing an example of the timing when the second signal generation unit 35 generates the second pulse signal Pb. The first threshold θu and the second threshold θd are thresholds for accepting the first pulse signal Pa, and are set, for example, based on the maximum phase difference between the rotation angle θ and the actual rotation angle of the electric motor 10.

The second signal generator 35 outputs the second pulse based on the first pulse signal Pa first generated by the first signal generator 34 when the rotation angle θ is equal to or greater than the first threshold value θu and less than the inter-slit angle θc. The signal Pb is generated. The first threshold value θu may be a preset value or a dynamically set value. FIG. 9 shows a dot pattern of the acceptance range in which the rotation angle θ is the first threshold value θu or more and less than the inter-slit angle θc. In the example of FIG. 9, the rotation angles θ1, θ2, and θ5 when the first signal generation unit 34 generates the first pulse signals Pa1, Pa2, and Pa4 are greater than or equal to the first threshold θu and less than the inter-slit angle θc. That is, the remaining angles until the rotation angles θ1, θ2, and θ5 reach the inter-slit angle θc are less than the angle α. The angle α is set, for example, based on the maximum error between the rotation angle θ and the actual rotation angle of the electric motor 10. In this case, the second signal generation unit 35 considers that the first pulse signals Pa1, Pa2, Pa4 generated by the first signal generation unit 34 at times t1, t2, and t5 are not noise. Therefore, the second signal generation unit 35 generates the second pulse signals Pb1, Pb2, Pb4 at times t1, t2, t5. When the second pulse signal Pb is generated, the second signal generator 35 outputs a synchronization command to the rotation angle calculator 32. When the rotation angle θ is less than the inter-slit angle θc and is equal to or more than the first threshold value θu, if a noise having the same frequency component as the ripple component Ir occurs, an erroneous first pulse signal Pa is output and the second pulse signal Pa is output. The pulse signal Pb may be generated. However, at the next timing, the true ripple component Ir is detected, and the rotation angle detector 100 can detect the correct rotation angle. Therefore, the rotation angle detected by the rotation angle detector 100 returns to the correct rotation angle even if it is temporarily erroneously detected due to noise. Moreover, the range of the error is less than the angle α, which is a range that causes no practical problem.

The second signal generation unit 35 also generates the second pulse signal Pb when the magnitude of the rotation angle θ reaches a predetermined angle. The predetermined angle is, for example, the inter-slit angle θc. However, the rotation angle θ is an angle calculated by the rotation angle calculation unit 32 and includes an error. In the example of FIG. 9, the second pulse signals Pb3, Pb5, and Pb6 are generated when the absolute values of the rotation angles θ3, θ7, and θ9 reach the inter-slit angle θc at times t3, t7, and t9. When the second pulse signal Pb is generated, the second signal generator 35 outputs a synchronization command to the rotation angle calculator 32. The rotation angle calculation unit 32 resets the rotation angle θ to zero when receiving the synchronization command.

That is, for example, at time t2, the second signal generation unit 35 does not receive the first pulse signal Pa after generating the second pulse signal Pb2, and the absolute value of the rotation angle θ is the inter-slit angle. When θc is reached, the second pulse signal Pb3 is generated.

As described above, the second signal generation unit 35 determines that the absolute value of the rotation angle θ calculated by the rotation angle calculation unit 32 is the inter-slit angle even when the first pulse signal Pa is not generated for some reason. The second pulse signal Pb is generated only when θc is reached. Therefore, generation leakage of the first pulse signal Pa can be reliably prevented.

The second signal generation unit 35 does not generate the second pulse signal Pb when the rotation angle θ when the first signal generation unit 34 generates the first pulse signal Pa is less than the second threshold θd. The second threshold value θd may be a preset value or a dynamically set value. Such a situation typically occurs after the second pulse signal Pb is generated due to the magnitude of the rotation angle θ reaching a predetermined angle. FIG. 9 shows a dot pattern of a reception range that is an angle range in which the rotation angle θ is equal to or larger than zero and smaller than the second threshold value θd. In the example of FIG. 9, at the time t4 after the second pulse signal Pb3 is generated due to the absolute value of the rotation angle θ reaching the inter-slit angle θc at the time t3, the first signal generation unit 34 causes the first pulse to be generated. The signal Pa3 is generated. The rotation angle θ4 at this time is less than the second threshold value θd. That is, the rotation angle θ4 accumulated after being reset at the time t3 is still less than the angle β. In this case, the second signal generation unit 35 can determine that the first pulse signal Pa3 generated by the first signal generation unit 34 at time t4 can be integrated with the second pulse signal Pb3 generated at time t3. Specifically, this occurs when the rotation angle θ output by the rotation angle calculation unit 32 reaches the inter-slit angle θc before the actual rotation angle of the electric motor 10 reaches the inter-slit angle θc. That is, since the rotation angle θ calculated by the rotation angle calculation unit 32 reaches the inter-slit angle θc even though the actual rotation angle has not reached the inter-slit angle θc, the second pulse signal Pb3 is generated. Occurs when. The time when the first pulse signal Pa3 is generated immediately after the second pulse signal Pb3 is generated is the moment when the actual rotation angle reaches the inter-slit angle θc. Therefore, the second signal generator 35 outputs a synchronization command to the rotation angle calculator 32 at the time when the first pulse signal Pa3 is generated. In this case, the second signal generator 35 does not generate the second pulse signal Pb at time t4. The dashed arrow pointing to "x" in FIG. 9 indicates that the second pulse signal Pb was not generated based on the first pulse signal Pa3. The same applies to the dashed arrow pointing to "x" in other figures.

In addition, the first signal generation unit 34 may continuously generate the first pulse signal Pa in a short time. As described above, in FIG. 8A, the first signal generation unit 34 generates the first pulse signal Pa each time the ripple component Ir exceeds the reference current value Ib. Immediately before or immediately after the ripple component Ir exceeds the reference current value Ib, the first pulse signal Pa is erroneously generated even if minute noise is superimposed. In this case, the interval at which the first signal generation unit 34 generates the first pulse signal Pa is less than the angle β (second threshold θd). In the example of FIG. 9, the first signal generation unit 34 generates the first pulse signal Pa2 at time t2. The second signal generation unit 35 generates the second pulse signal Pb2 and outputs a synchronization command to the rotation angle calculation unit 32. The rotation angle calculation unit 32 resets the rotation angle θ. After that, the first signal generation unit 34 generates the first pulse signal Pa2′ at time t2′. The rotation angle θ at time t2′ is less than the second threshold θd. In this case, the second signal generator 35 does not generate the second pulse signal Pb and does not output the synchronization command. The dashed arrow pointing to "x" in FIG. 9 indicates that the second pulse signal Pb was not generated based on the first pulse signal Pa3. Immediately before or immediately after the ripple component Ir exceeds the reference current value Ib, when a small amount of noise is superimposed, which of a plurality of first pulse signals Pa continuously generated in a short time reaches the inter-slit angle θc. It cannot be determined whether it is the first pulse signal Pa indicating that it has been done. However, in this case, since the plurality of first pulse signals Pa are generated within a short period (less than the angle β), the rotation angle θ reaches the inter-slit angle θc at the time of the first first pulse signal Pa. Even if it is considered, there is no problem in practical use. Further, even if similar noise occurs every time the ripple component Ir exceeds the reference current value Ib, the error is suppressed to less than the angle β. That is, the error does not accumulate. For this reason, the error can be suppressed within a range that causes no practical problem.

In addition, the second signal generation unit 35, when the rotation angle θ when the first signal generation unit 34 generates the first pulse signal Pa is equal to or more than the second threshold θd and less than the first threshold θu, that is, the rotation angle. When θ is within the angle range R1, the second pulse signal Pb is not generated and the synchronization command is not output to the rotation angle calculation unit 32. In the example of FIG. 9, the rotation angle θ6 when the first signal generation unit 34 generates the first pulse signal Pa5 at time t6 is equal to or greater than the second threshold θd and less than the first threshold θu. That is, the remaining angle until the rotation angle θ6 reaches the inter-slit angle θc is larger than the angle α, and the rotation angle θ6 accumulated after being reset at the time t5 is the angle β or more. In this case, the second signal generation unit 35 can determine that the first pulse signal Pa5 is based on noise. Therefore, the second signal generation unit 35 does not generate the second pulse signal Pb at the time t6 and does not output the synchronization command to the rotation angle calculation unit 32. That is, the influence of the first pulse signal Pa5 due to noise can be eliminated.

The second signal generation unit 35 does not generate the second pulse signal Pb when the rotation angle θ when the first signal generation unit 34 generates the first pulse signal Pa is less than the second threshold θd. However, when the rotation angle θ when the first signal generation unit 34 generates the first pulse signal Pa is less than the second threshold value θd, the second signal generation unit 35 issues a synchronization command to the rotation angle calculation unit 32. In some cases, the synchronization command is not output. If the first pulse signal Pa is generated when the rotation angle θ is less than the second threshold θd after the rotation angle θ reaches the inter-slit angle θc before the first pulse signal Pa is generated, The two-signal generator 35 sends a synchronization command to the rotation angle calculator 32. However, before the first pulse signal Pa is generated, after the rotation angle θ reaches the inter-slit angle θc, the plurality of first pulse signals Pa are generated when the rotation angle θ is less than the second threshold value θd. Then, the first pulse signal Pa after the second pulse is ignored. That is, the second signal generation unit 35 does not output the synchronization command. In addition, even if the first pulse signal Pa is generated when the rotation angle θ is less than the second threshold value θd after the first pulse signal Pa is generated before the rotation angle θ reaches the inter-slit angle θc, the second pulse signal Pa is generated. The signal generator 35 does not output the synchronization command. That is, when the plurality of first pulse signals Pa are generated while the first pulse signal Pa is less than the second threshold value θd (angle β), the second and subsequent first pulse signals Pa are ignored. That is, the second signal generation unit 35 does not output the synchronization command. In the example of FIG. 9, the rotation angle θ4′ when the first signal generation unit 34 generates the first pulse signal Pa3′ at time t4′ is less than the second threshold θd. However, the first pulse signal Pa3′ is the second first pulse signal Pa after the most recent second pulse signal Pb3 is generated. Therefore, when the second signal generation unit 35 receives the first pulse signal Pa3′, the second signal generation unit 35 does not generate the second pulse signal Pb and does not output the synchronization command to the rotation angle calculation unit 32.

With the above configuration, the rotation angle detector 100 can suppress the detection error of the rotation angle θ of the electric motor 10 within a range that causes no practical problem. In particular, the rotation angle detector 100 does not accumulate errors. Therefore, the error can be suppressed within a certain range regardless of the rotation speed of the electric motor 10. The inventor has found that the following premise holds, and invented the rotation angle detector 100 described above. (1) The erroneous detection of the ripple component Ir due to minute noise is limited to immediately before or immediately after the ripple component Ir exceeds the reference current value Ib. In this case, the erroneous first pulse signal Pa is generated only for a short time before and after the correctly generated first pulse signal Pa (from before the angle α to after the angle β). (2) The large noise is due to the inrush current immediately after the power is turned on, and is generated at intervals sufficiently longer than the inter-slit angle θc. (3) The error of the rotation angle θ calculated by the rotation angle calculation unit 32 from the inter-terminal voltage V′ and the current Im is sufficiently smaller than the inter-slit angle θc.

With the above configuration, the second signal generation unit 35 reduces the current Im and its ripple component Ir in the inertia rotation period after the power of the electric motor 10 is turned off, and the first signal generation unit 34 changes the waveform of the ripple component Ir into a waveform. Even if the first pulse signal Pa cannot be generated based on the above, the second pulse signal Pb can be generated.

In addition, in the second signal generation unit 35, for example, an inrush current is generated immediately after the power of the electric motor 10 is turned on, and the first signal generation unit 34 erroneously generates the first pulse signal Pa according to the inrush current. Even in the case, the second pulse signal Pb corresponding to the first pulse signal Pa is not generated. That is, the influence of the first pulse signal Pa can be eliminated.

Further, the second signal generation unit 35 outputs the first pulse signal Pa to the first pulse signal Pa even if the first signal generation unit 34 erroneously generates the first pulse signal Pa due to noise or the like. The corresponding second pulse signal Pb is not generated, and the synchronization command is not output to the rotation angle calculation unit 32.

Therefore, the rotation angle detector 100 calculates the rotation information of the electric motor 10 based on the second pulse signal Pb that is generated based on both the first pulse signal Pa and the rotation angle signal, so that the rotation information of the electric motor 10 can be obtained. The reliability can be improved.

In addition, the second signal generation unit 35 outputs a direction signal indicating the rotation direction of the electric motor 10. For example, the second signal generation unit 35 outputs a positive value as the rotation angle θ when the rotation direction is the forward rotation direction, and outputs a negative value as the rotation angle θ when the rotation direction is the reverse rotation direction. To do. The rotation angle θ has a positive value when the current flowing through the electric motor 10 has a positive value, and has a negative value when the current flowing through the electric motor 10 has a negative value. However, during inertial rotation, the rotation angle θ has a positive value when the current flowing through the electric motor 10 has a negative value, and has a negative value when the current flowing through the electric motor 10 has a positive value.

The rotation information calculation unit 36 calculates rotation information of the electric motor 10. The rotation information of the electric motor 10 includes, for example, the rotation amount (rotation angle) from the reference rotation position, the number of rotations from the reference rotation position, the relative position of the upper end 2t of the window glass 2 with respect to the reference position (fully closed position), and the window 1a. It may be a value converted into the opening amount of the. It may also include statistical values such as an average value, a maximum value, a minimum value, and a median value of the rotational angular velocity ω in a certain period. In the example of FIG. 6, the rotation information calculation unit 36 calculates the rotation information of the electric motor 10 based on the output of the second signal generation unit 35. For example, the rotation amount after the rotation of the electric motor 10 is started is calculated by multiplying the number of the second pulse signals Pb generated after the rotation of the electric motor 10 by the inter-slit angle θc. At that time, the rotation information calculation unit 36 determines whether to increment or decrement the number of the second pulse signals Pb based on the direction signal output by the second signal generation unit 35 together with the second pulse signal Pb. Alternatively, the rotation information calculation unit 36 separately counts the number of second pulse signals Pb received together with the direction signal representing the forward rotation direction and the number of second pulse signals Pb received together with the direction signal representing the reverse rotation direction. However, the rotation amount of the electric motor 10 may be calculated based on the difference between them.

The resistance setting unit 37 sets a resistance value corresponding to the resistance characteristic of the electric motor 10. The resistance setting unit 37 sets a value stored in advance in the non-volatile storage medium as the set resistance value Rm in Expression (1) when the rotation angle detector 100 is activated, for example. The set resistance value Rm may be dynamically updated.

Next, with reference to FIG. 10, a flow of a process in which the rotation angle detector 100 calculates the rotation amount of the electric motor 10 (hereinafter, referred to as “rotation amount calculation process”) will be described. FIG. 10 is a flowchart of the rotation amount calculation process. The rotation angle detector 100 executes this rotation amount calculation process while the electric motor 10 is being driven.

First, the rotation angle detector 100 acquires the inter-terminal voltage V and the current Im (step ST21). In the example of FIG. 6, the rotation angle detector 100 acquires the inter-terminal voltage V output by the voltage detection unit 10a and the current Im output by the current detection unit 10b for each predetermined control cycle.

After that, the rotation angle detector 100 calculates the rotation angular velocity ω and the rotation angle θ (step ST22). In the example of FIG. 6, the rotation angular velocity calculation unit 31 of the rotation angle detector 100 substitutes the inter-terminal voltage V′ and the current Im into the equation (1) to calculate the rotation angular velocity ω for each predetermined control cycle. Then, the rotation angle calculation unit 32 of the rotation angle detector 100 integrates the rotation angular velocities ω calculated for each control cycle to calculate the rotation angle θ.

Then, the rotation angle detector 100 determines whether or not the rotation angle θ is less than a predetermined angle (step ST23). In the example of FIG. 6, the second signal generator 35 of the rotation angle detector 100 determines whether the rotation angle θ is less than the inter-slit angle θc.

When it is determined that the rotation angle θ is equal to or greater than the inter-slit angle θc (NO in step ST23), the second signal generation unit 35 determines that the first pulse signal Pa is not generated at the timing up to the inter-slit angle θc. .. In this case, the second signal generation unit 35 sets the flag F to "False" to indicate that the first pulse signal Pa is not generated (step ST23A). The flag F is a flag for indicating whether or not the first pulse signal Pa is generated. The initial value of the flag F is “False” indicating that the first pulse signal Pa is not generated. The flag F being "True" indicates that the first pulse signal Pa has already been generated. Then, the second pulse signal Pb is generated (step ST29), and the rotation angle θ is reset to zero (step ST30). This is a case where the rotation angle θ reaches the inter-slit angle θc before the first pulse signal Pa is generated. In the example of FIG. 9, the rotation angle θ is the rotation angles θ3, θ7 at times t3, t7, and t9. , Θ9 is reached.

On the other hand, when it is determined that the rotation angle θ is less than the inter-slit angle θc (YES in step ST23), the second signal generator 35 determines whether the first pulse signal Pa is generated (step ST24). .. In the example of FIG. 6, it is determined whether the first signal generator 34 has generated the first pulse signal Pa.

When the second signal generation unit 35 determines that the first pulse signal Pa is not yet generated at the stage where the rotation angle θ is less than the inter-slit angle θc (YES in step ST23) (NO in step ST24), the rotation angle detection is performed. The container 100 calculates the rotation amount (step ST27). Then, the rotation information calculation unit 36 calculates the rotation amount of the electric motor 10 based on the output of the second signal generation unit 35. In this case, the calculated rotation amount does not change. This corresponds to the case where the rotation angle θ is the rotation angle θ0 at the time t0 in the example of FIG. 9.

After that, the rotation angle detector 100 determines whether the rotation angular velocity ω has become zero (step ST28). When the rotation angle detector 100 determines that the rotation angular velocity ω is not zero (NO in step ST28), the process is returned to step ST1 and when the rotation angular velocity ω is determined to be zero (step ST28). YES), the rotation amount calculation process is terminated.

When it is determined that the first pulse signal Pa is generated (YES in step ST24), the second signal generation unit 35 determines whether the rotation angle θ is less than the first threshold value θu (step ST25). This is because the first pulse signal Pa generated at the timing less than the first threshold value θu is highly probable due to noise.

When determining that the rotation angle θ is equal to or larger than the first threshold value θu (NO in step ST25), the second signal generation unit 35 sets the flag F to “True” to indicate whether the first pulse signal Pa is generated. "(Step ST25A). Then, the second signal generation unit 35 generates the second pulse signal Pb (step ST29) and resets the rotation angle θ to zero (step ST30). This is because when the first pulse signal Pa is generated when the rotation angle θ is equal to or larger than the first threshold value θu, the actual rotation angle at the time when the first pulse signal Pa is generated is close to the inter-slit angle θc. This corresponds to the case where the first pulse signals Pa1, Pa2, Pa4 are generated at times t1, t2, and t5 in the example of FIG.

When it is determined that the rotation angle θ is less than the first threshold value θu (YES in step ST25), the second signal generation unit 35 cannot determine at this moment that the first pulse signal Pa is not based on noise. The rotation angle θ may include some errors. Further, the generation timing of the first pulse signal Pa may be slightly shifted due to the influence of noise or the like. Therefore, the time when the rotation angle θ reaches the inter-slit angle θc and the time when the first pulse signal Pa is generated may shift. Therefore, it is not known which of the timing when the rotation angle θ reaches the inter-slit angle θc and the timing when the first pulse signal Pa is generated. Therefore, the second signal generation unit 35 determines whether or not the rotation angle θ is less than the second threshold value θd for the first pulse signal Pa that is received first after the most recent second pulse signal Pb is generated. (Step ST26).

When it is determined that the rotation angle θ related to the first pulse signal Pa is less than the second threshold value θd (YES in step ST26), the second signal generation unit 35 checks the flag F (step ST26A). The flag F is a flag for determining that the first pulse signal Pa is continuously generated. When the flag F is "True", the first pulse signal Pa is the second pulse signal Pa and the second pulse signals which are successively generated. When the flag F is "True" (YES in step ST26A), the rotation angle detector 100 calculates the rotation amount (step ST27). This corresponds to the case where the first pulse signals Pa2′ and Pa3′ are generated at the times t2′ and t4′ in the example of FIG. When the flag F is "False" (NO in step ST26A), the second signal generation unit 35 sets the flag F to "True" (step ST26B). Then, the second signal generation unit 35 resets the rotation angle θ to zero (step ST30). This is because when the rotation angle θ is less than the second threshold value θd, the actual rotation angle when the first pulse signal Pa is generated is close to the inter-slit angle θc. That is, when it is less than the second threshold value θd, it can be determined that the first pulse signal Pa corresponds to the second pulse signal Pb generated immediately before. This corresponds to the case where the first pulse signals Pa3 and Pa6 are generated at the times t4 and t8 in the example of FIG. That is, it can be determined that the first pulse signals Pa3 and Pa6 correspond to the second pulse signals Pb3 and Pb5.

When it is determined that the rotation angle θ related to the first pulse signal Pa is equal to or larger than the second threshold value θd (NO in step ST26), that is, when the rotation angle θ is within the angle range R1, the second signal generation unit 35 determines , It is determined that the first pulse signal Pa is based on noise. In this case, the second signal generation unit 35 does not generate the second pulse signal Pb and does not reset the rotation angle θ. Then, the rotation information calculation unit 36 calculates the rotation amount of the electric motor 10 based on the output of the second signal generation unit 35. This corresponds to the case where the first pulse signal Pa5 is generated at time t6 in the example of FIG. That is, the second signal generation unit 35 determines that the first pulse signal Pa5 is based on noise.

Then, the rotation angle detector 100 calculates the rotation amount of the electric motor 10 (step ST27). In the example of FIG. 6, the rotation information calculation unit 36 of the rotation angle detector 100 multiplies the number of second pulse signals Pb generated after the rotation of the electric motor 10 by the inter-slit angle θc, so that the electric motor 10 is rotated. The amount of rotation after the start of rotation is calculated.

Next, with reference to FIG. 11, an experimental result regarding the reliability of the rotation amount of the electric motor 10 calculated by the rotation angle detector 100 will be described. FIG. 11 is a diagram showing respective transitions of the combined pulse signal and the hall pulse signal.

The combined pulse signal is a signal obtained by combining a plurality of pulses of the second pulse signal Pb into one pulse. In the example of FIG. 11, the inter-slit angle θc is 90 degrees. The first pulse signal Pa and the second pulse signal Pb are basically generated each time the rotating shaft of the electric motor 10 rotates 90 degrees. The combined pulse signal is generated by combining the two pulses of the second pulse signal Pb into one pulse. That is, the rotation angle detector 100 is configured to generate one combined pulse signal each time the rotation shaft of the electric motor 10 rotates 180 degrees.

The hall pulse signal is a pulse signal output by the hall sensor. The Hall sensor detects the magnetic flux generated by the magnet attached to the rotating shaft of the electric motor 10 for comparison between the second pulse signal Pb and the Hall pulse signal. In the example of FIG. 11, the rotation angle detector 100 is configured to generate one Hall pulse signal each time the rotation shaft of the electric motor 10 rotates 180 degrees.

The dashed arrow pointing to "x" in FIG. 11 indicates that the second pulse signal Pb was not generated based on the first pulse signal Pa. That is, it means that the first pulse signal Pa is ignored as noise. Further, the eight solid arrows in FIG. 11 indicate that the second pulse signal Pb is added when the first pulse signal Pa is not generated.

In the example of FIG. 11, it has been confirmed that the numbers of the combined pulse signal and the hall pulse signal generated in the period from when the forward rotation of the electric motor 10 is started to when the forward rotation is stopped are equal. That is, it was confirmed that the rotation amount of the electric motor 10 calculated based on the second pulse signal Pb was equal to the rotation amount of the electric motor 10 detected by the hall sensor.

Next, with reference to FIG. 12, a process in which the resistance setting unit 37 updates the resistance value corresponding to the resistance characteristic of the electric motor 10 (hereinafter, referred to as “update process”) will be described. FIG. 12 is a flowchart of the update process. The resistance setting unit 37 repeatedly executes this updating process at a predetermined control cycle.

First, the resistance setting unit 37 determines whether or not the rotation of the electric motor 10 is stable and is in a stable rotation state (step ST31). In the stable rotation state, for example, the fluctuation range of the inter-terminal voltage V of the electric motor 10 in a predetermined period is less than a predetermined value, the fluctuation range of the current Im flowing through the electric motor 10 in the predetermined period is less than the predetermined value, and This includes a state in which the fluctuation range of the cycle of the first pulse signal Pa in the predetermined period is less than the predetermined value.

FIG. 13 shows an example of a stable rotation state of the electric motor 10 used for raising and lowering the window glass 2. Specifically, it shows a temporal transition of the inter-terminal voltage V, the current Im, and the first pulse signal Pa when an inching operation for lowering the window glass 2 is performed. The inching operation for lowering the window glass 2 is, for example, a short-time pressing operation of the manual close button 7D. FIG. 13 shows how the switches SW1 and SW3 (see FIG. 6) are closed and the inter-terminal voltage V and the current Im increase when the manual close button 7D is pressed at time t1. Also, at time t4, the state in which the switch SW1 is opened and the switch SW2 (see FIG. 6) is closed and then the inter-terminal voltage V and the current Im are changed according to the inertia rotation of the electric motor 10 is shown. Then, at time t5, the electric motor 10 is stopped and the inter-terminal voltage V and the current Im reach zero. Time t2 represents the start time of the first stable rotation state, and time t3 represents the end time of the first stable rotation state. FIG. 14 shows temporal transitions of the inter-terminal voltage V, the current Im, and the first pulse signal Pa in the initial stable rotation state.

As shown in FIG. 14, each time the resistance setting unit 37 detects the predetermined number of first pulse signals Pa, the resistance setting unit 37 calculates the average value of each of the inter-terminal voltage V and the current Im during the period. Other statistical values such as median value, mode value, maximum value and minimum value may be used. In the example of FIG. 14, each time the eight first pulse signals Pa are detected, the respective average values of the inter-terminal voltage V and the current Im in the period T are calculated. The periods T1, T2, T3,..., Tn represent the periods required to detect the eight first pulse signals Pa. The average inter-terminal voltages V1, V2, V3,..., Vn represent the average value of the inter-terminal voltage V in the periods T1, T2, T3,. The average current Im1, Im2, Im3,..., Imn represents the average value of the current Im in the periods T1, T2, T3,.

The resistance setting unit 37 determines that the electric motor 10 is in a stable rotation state, for example, when the following conditions are satisfied.

ΔＴは期間閾値を表し、ΔＩｍは電流閾値を表し、ΔＶは電圧閾値を表す。ｉは１〜ｎの整数を表す。具体的には、抵抗設定部３７は、期間Ｔ１〜Ｔｎのそれぞれの期間Ｔ１に対する差の絶対値が期間閾値ΔＴより小さく、平均電流Ｉｍ１〜Ｉｍｎのそれぞれの平均電流Ｉｍ１に対する差の絶対値が電流閾値ΔＩｍより小さく、且つ、平均端子間電圧Ｖ１〜Ｖｎのそれぞれの平均端子間電圧Ｖ１に対する差の絶対値が電圧閾値ΔＶより小さい場合に電動機１０が回転安定状態にあると判定する。すなわち、第１パルス信号Ｐａの生成間隔、電流Ｉｍ及び端子間電圧Ｖが何れも安定しているときに電動機１０が回転安定状態にあると判定する。

ΔT represents a period threshold, ΔIm represents a current threshold, and ΔV represents a voltage threshold. i represents an integer of 1 to n. Specifically, in the resistance setting unit 37, the absolute value of the difference between the periods T1 to Tn with respect to each period T1 is smaller than the period threshold ΔT, and the absolute value of the difference between the average currents Im1 to Imn with respect to each average current Im1 is the current. When the absolute value of the difference between the average inter-terminal voltages V1 to Vn with respect to each of the average inter-terminal voltages V1 is smaller than the threshold ΔIm and smaller than the voltage threshold ΔV, it is determined that the electric motor 10 is in the stable rotation state. That is, when the generation interval of the first pulse signal Pa, the current Im, and the terminal voltage V are all stable, it is determined that the electric motor 10 is in the stable rotation state.

The illustration by the broken line in FIG. 14 indicates that the absolute value of the difference between the periods T2, T3, and Tn with respect to the period T1 is smaller than the period threshold ΔT. The dot pattern area in FIG. 14 represents the range of T1±ΔT. The illustration by the one-dot chain line in FIG. 14 indicates that the absolute value of the difference between the average inter-terminal voltages V2, V3, and Vn with respect to the average inter-terminal voltage V1 is smaller than the voltage threshold ΔV. The two-dot chain line diagram in FIG. 14 indicates that the absolute value of the difference between the average currents Im2, Im3, and Imn with respect to the average current Im1 is smaller than the current threshold value ΔIm.

In the example of FIG. 14, the resistance setting unit 37 can determine at time t3 that the electric motor 10 was in the stable rotation state during the period from time t2 to time t3. That is, it can be determined that the electric motor 10 is in the stable rotation state at the present moment.

Referring again to FIG. When it is determined that the electric motor 10 is in the stable rotation state (YES in step ST31), the resistance setting unit 37 calculates the rotational angular velocity ω′ based on the cycle of the first pulse signal Pa (step ST32). The resistance setting unit 37 calculates the rotational angular velocity ω′ based on the following equation (3), for example.

ｎは期間Ｔの数を表し、Ｍは期間Ｔにおける第１パルス信号Ｐａの数を表す。例えば、ｎを１０とし、Ｍを８とし、スリット間角度θｃを４５度とすると、回転角速度ω'は、電動機１０が１０回転する間の平均回転角速度［rad/s］を表す。このように、抵抗設定部３７は、第１パルス信号Ｐａの周期（上述の例では８０周期）に基づいて回転角速度ω'を算出できる。

n represents the number of periods T, and M represents the number of first pulse signals Pa in the period T. For example, when n is 10, M is 8, and the inter-slit angle θc is 45 degrees, the rotational angular velocity ω′ represents the average rotational angular velocity [rad/s] during 10 rotations of the electric motor 10. In this way, the resistance setting unit 37 can calculate the rotational angular velocity ω′ based on the cycle of the first pulse signal Pa (80 cycles in the above example).

After that, the resistance setting unit 37 calculates the estimated resistance value R'm based on the rotational angular velocity ω'(step ST33). The resistance setting unit 37 calculates the estimated resistance value R′m based on the following equation (4), for example.

式（４）は電動機の基本理論式であり、Keは逆起電力定数を表し、Ke×ω'は逆起電力推定値を表す。すなわち、平均端子間電圧Ｖ１〜Ｖｎの平均値から逆起電力推定値を差し引いた値を平均電流Ｉｍ１〜Ｉｍｎの平均値で除した値が推定抵抗値Ｒ'ｍとして導き出される。平均値は、中央値、最頻値、最大値、最小値等の他の統計値であってもよい。

Formula (4) is a basic theoretical formula of the electric motor, Ke represents a back electromotive force constant, and Ke×ω′ represents a back electromotive force estimated value. That is, a value obtained by subtracting the back electromotive force estimated value from the average value of the average inter-terminal voltages V1 to Vn divided by the average value of the average currents Im1 to Imn is derived as the estimated resistance value R'm. The average value may be another statistical value such as a median value, a mode value, a maximum value, or a minimum value.

Then, the resistance setting unit 37 determines whether the estimated resistance value R'm is within the normal range (step ST34). The resistance setting unit 37 refers to, for example, the upper limit and the lower limit of the normal range registered in advance in the nonvolatile storage medium, and determines whether the estimated resistance value R'm is within the normal range. At least one of the upper limit and the lower limit of the normal range may be dynamically changed according to the outside air temperature, the temperature of the electric motor 10, and the like.

When it is determined that the estimated resistance value R'm is within the normal range (YES in step ST34), the resistance setting unit 37 updates the set resistance value Rm using the estimated resistance value R'm (step ST35). In the example of FIG. 12, the resistance setting unit 37 updates the set resistance value Rm using the estimated resistance value R'm in the same cycle as the cycle of calculating the estimated resistance value R'm. However, the resistance setting unit 37 may update the set resistance value Rm at a cycle different from the cycle at which the estimated resistance value R'm is calculated. For example, the set resistance value Rm may be updated in a cycle shorter than the cycle of calculating the estimated resistance value R'm.

Specifically, the resistance setting unit 37 may update the set resistance value Rm with, for example, the resistance value R″m derived by the following equation (5).

Kmは１．０以下の正の実数定数を表す。すなわち、Kmの値が１．０に近いほど、設定抵抗値Ｒｍは推定抵抗値Ｒ'ｍに近い抵抗値Ｒ"ｍで更新される。典型的には、Kmは１．０未満である。設定抵抗値Ｒｍの急変、振動等を防止するためである。Kmは、不揮発性記憶媒体に予め登録されている固定値又は可変値であってもよく、動的に算出され且つ設定される値であってもよい。例えば、インチング操作（比較的短い押圧操作）が行われたときのKmは、通常操作（比較的長い押圧操作）が行われたときのKmよりも大きくなるように設定されてもよい。インチング操作が行われたときは、通常操作が行われたときに比べ、設定抵抗値Ｒｍを更新する処理を繰り返し実行するために利用できる時間が短いためである。

Km represents a positive real number constant of 1.0 or less. That is, as the value of Km is closer to 1.0, the set resistance value Rm is updated with the resistance value R″m that is closer to the estimated resistance value R′m. Typically, Km is less than 1.0. This is to prevent a sudden change in the set resistance value Rm, vibration, etc. Km may be a fixed value or a variable value registered in advance in the non-volatile storage medium, and is a value that is dynamically calculated and set. For example, Km when inching operation (relatively short pressing operation) is set to be larger than Km when normal operation (relatively long pressing operation) is performed. This is because the time available for repeatedly executing the process of updating the set resistance value Rm is shorter when the inching operation is performed than when the normal operation is performed.

Further, as is clear from the equation (5), the resistance setting unit 37 determines that the difference between the updated set resistance value Rm (resistance value R″m) and the estimated resistance value R′m is the set resistance value before the update. The set resistance value Rm is updated so as to be smaller than the difference between Rm and the estimated resistance value R'm.. The set resistance value Rm is gradually approached to the estimated resistance value R'm while preventing a sudden change in the set resistance value Rm. For example, when the estimated resistance value R'm repeatedly derived by using the equation (4) hardly changes, the resistance setting unit 37 gradually changes the set resistance value Rm to the estimated resistance value R'm. In particular, when the set resistance value Rm is updated in a cycle shorter than the cycle for calculating the estimated resistance value R'm, the resistance setting unit 37 does not calculate the new estimated resistance value R'm. In addition, the set resistance value Rm can be gradually brought close to the estimated resistance value R'm, because the resistance value R"m approaches the estimated resistance value R'm every time it is derived.

When it is determined that the electric motor 10 is not in the stable rotation state (NO in step ST31) or when the estimated resistance value R'm is not within the normal range (NO in step ST34), the resistance setting unit 37 is This update process is terminated without updating the set resistance value Rm. In this case, the rotation angular velocity calculation unit 31 calculates the rotation angular velocity ω based on the equation (1) using the current set resistance value Rm.

In this way, the resistance setting unit 37 calculates the rotational angular velocity ω′ of the electric motor 10 from the cycle of the first pulse signal Pa when the electric motor 10 is in the stable rotation state. Then, the estimated resistance value R'm is derived based on the calculated rotational angular velocity ω', and the set resistance value Rm in the equation (1) can be updated using the estimated resistance value R'm. Therefore, the set resistance value Rm can be appropriately updated according to the change in the resistance characteristic of the electric motor 10 caused by the temperature change, the secular change, or the like of the electric motor 10. The secular change includes, for example, wear of the commutator piece 20a, wear of the brush, and the like. As a result, in the rotation angle detector 100, for example, the current Im and its ripple component Ir become small during the inertial rotation period after the power supply of the electric motor 10 is turned off, and the first signal generation unit 34 makes the first component based on the waveform of the ripple component Ir. Even when the 1-pulse signal Pa cannot be generated, the information regarding the rotation of the electric motor 10 can be acquired with higher reliability. Specifically, the second pulse signal Pb is more accurately generated based on the rotation angular velocity ω and the rotation angle θ which are calculated in real time by using an appropriate set resistance value Rm regardless of the first pulse signal Pa. As a result, information about the rotation of the electric motor 10 can be acquired with higher reliability. For example, regarding the electric motor 10 used for raising and lowering the window glass 2, even if the inertial rotation period of the electric motor 10 when the inching operation for raising and lowering the window glass 2 is performed, the information regarding the rotation of the electric motor 10 is more useful. It can be obtained with high reliability.

As described above, the rotation angle detector 100 that acquires the rotation information of the electric motor 10 including the commutator 20 detects the rotation angle detector 100 that sets the resistance value corresponding to the resistance characteristic of the electric motor 10 and the voltage detection unit 10a. The rotation information calculation unit 36 that calculates information about the rotation of the electric motor 10 based on the detected voltage value, the detected current value detected by the current detection unit 10b, and the set resistance value Rm set by the resistance setting unit 37. Then, the resistance setting unit 37 derives the estimated resistance value R'm in real time based on the detected voltage value and the detected current value detected in the stable rotation state where the rotation of the electric motor 10 is stable, and the estimated resistance value is calculated. R'm is used to update the set resistance value Rm in real time. Therefore, even if there is no rotation sensor such as a hall sensor, the rotation information of the electric motor 10 can be acquired with high reliability. This means that the parts necessary for using the rotation sensor such as the sensor interface circuit and the harness can be omitted. Therefore, weight reduction, cost reduction, size reduction, and the like can be realized.

For example, when the estimated resistance value R'm is within a predetermined range, the resistance setting unit 37 updates the set resistance value Rm using the estimated resistance value R'm, and the estimated resistance value R'm is outside the predetermined range. If it is, the set resistance value Rm is not updated. Therefore, it is possible to prevent the set resistance value Rm from being updated by the abnormal estimated resistance value R'm.

In the stable rotation state, for example, the fluctuation range of the inter-terminal voltage V in the predetermined period is less than the predetermined value, the fluctuation range of the current Im in the predetermined period is less than the predetermined value, and the first pulse signal in the predetermined period is set. The fluctuation range of the cycle of Pa is less than the predetermined value. The stable rotation state may be another state determined by using at least one of the voltage V between terminals, the current Im, and the cycle of the first pulse signal Pa. For example, the standard deviation of the voltage V between the terminals in the predetermined period is less than the predetermined value, the standard deviation of the current Im in the predetermined period is less than the predetermined value, and the standard of the cycle of the first pulse signal Pa in the predetermined period. The deviation may be less than the predetermined value. Alternatively, the integrated value of the inter-terminal voltage V during the predetermined period may be within a predetermined range, and the integrated value of the current Im during the predetermined period may be within a predetermined range. With this configuration, the resistance setting unit 37 can appropriately derive the estimated resistance value R'm.

Further, the resistance setting unit 37 desirably has a difference between the updated resistance value Rm and the estimated resistance value R'm smaller than the difference between the pre-updated resistance value Rm and the estimated resistance value R'm. Thus, the set resistance value Rm is configured to be updated. This is to prevent the set resistance value Rm from changing suddenly and to gradually bring the set resistance value Rm closer to the estimated resistance value R'm.

Further, the rotation angle detector 100 uses the first pulse signal Pa generated based on the ripple component Ir of the current Im and the rotation angle θ calculated based on the inter-terminal voltage V and the current Im to perform the second rotation. The pulse signal Pb is generated. That is, the second pulse signal Pb is generated using the first pulse signal Pa and the rotation angle θ that are two parameters derived by different methods. Therefore, even if one of the parameters is not properly derived, the other parameter can compensate for the problem. As a result, the rotation information of the electric motor 10 can be acquired with higher reliability.

The rotation angle calculation unit 32 is configured to integrate the rotation angular velocity ω of the electric motor 10 calculated based on the inter-terminal voltage V and the current Im, for example, to calculate the rotation angle θ. Therefore, the rotation angle calculation unit 32 can stably and continuously calculate the rotation angle θ over the entire period including the period immediately after the start of the electric motor 10 and the inertial rotation period. Then, the second signal generation unit 35 is configured to immediately generate the second pulse signal Pb when the rotation angle θ reaches a predetermined angle, for example. Therefore, the second signal generation unit 35 indicates that the second signal generation unit 35 has rotated by the predetermined angle based on the rotation angle θ that is stably and continuously calculated even when the generation leakage of the first pulse signal Pa occurs. The second pulse signal Pb can be generated in real time. Therefore, the rotation angle detector 100 can calculate the rotation information of the electric motor 10 without delay.

The second signal generation unit 35 is configured to output a command to reset the rotation angle θ to zero to the rotation angle calculation unit 32 when the rotation angle θ reaches a predetermined angle, for example. Therefore, in the rotation angle detector 100, the maximum value of the rotation angle θ calculated by the rotation angle calculation unit 32 is limited to a predetermined angle, so that the memory size required for storing the rotation angle θ can be reduced.

The predetermined angle is, for example, the central angle of the arc of the commutator piece 20a, that is, the inter-slit angle θc. Therefore, the rotation angle detector 100 can set the maximum value of the cumulative error of the rotation angle θ calculated by the rotation angle calculation unit 32 as the inter-slit angle θc.

The acceptance range is, for example, the maximum error range of the rotation angle θ that occurs each time the electric motor 10 rotates by the inter-slit angle θc. That is, when the rotational angular velocity calculation unit 31 calculates the rotational angular velocity ω larger than it actually is, the first pulse signal Pa based on the actual rotational angle is generated (the maximum value of the rotational angle θ (including an error)). Is the second threshold θd. When the rotation angular velocity calculation unit 31 calculates the rotation angular velocity ω smaller than the actual rotation angle, the first pulse signal Pa based on the actual rotation angle is generated (the minimum value of the rotation angle θ (including an error)). Is the first threshold θu. Therefore, in the rotation angle detector 100, the error of the rotation angle θ calculated by the rotation angle calculation unit 32 is not accumulated. That is, no matter how many revolutions the electric motor 10 makes, the error can be in the range of -α to +β.

The second signal generation unit 35 is configured to generate the second pulse signal Pb when the rotation angle θ is equal to or larger than the first threshold value θu when receiving the first pulse signal Pa, for example. The first threshold value θu is set in advance as a value smaller than a predetermined angle (angle between slits θc), for example. With this configuration, the second signal generation unit 35 regards the first pulse signal Pa generated when the rotation angle θ is equal to or larger than the first threshold value θu as not based on noise. Then, even if the first pulse signal Pa is not generated, the second pulse signal Pb is generated when the rotation angle θ reaches a predetermined angle (inter-slit angle θc). Therefore, the influence on the calculation result of the rotation information due to the omission of the generation of the first pulse signal Pa can be reliably eliminated.

The second signal generation unit 35 is configured not to generate the second pulse signal Pb if the rotation angle θ is less than the first threshold θu when receiving the first pulse signal Pa, for example. With this configuration, the second signal generation unit 35 can determine that the first pulse signal Pa generated when the rotation angle θ is less than the first threshold value θu is based on noise. Then, it is possible to prevent the second pulse signal Pb corresponding to the first pulse signal Pa generated based on noise from being generated. Therefore, the influence of the first pulse signal Pa generated based on noise on the calculation result of the rotation information can be reliably eliminated.

In addition, for example, when the second signal generation unit 35 receives the first pulse signal Pa and the rotation angle θ is smaller than the second threshold value θd, the rotation angle calculation unit 32 issues a command to reset the rotation angle θ to zero. Configured to output to. The second threshold value θd is set in advance, for example, as a value in which the phase is delayed by β from a predetermined angle (angle between slits θc). With this configuration, when the second signal generation unit 35 receives the first pulse signal Pa immediately after generating the second pulse signal Pb prior to occurrence of generation failure of the first pulse signal Pa, the first pulse signal Pa is generated. Consider Pa not based on noise. Then, the first pulse signal Pa can be associated with the second pulse signal Pb generated immediately before. Therefore, it is possible to reliably eliminate the influence of the deviation of the generation timing of the first pulse signal Pa on the calculation result of the rotation information.

The preferred embodiments of the present invention have been described above in detail. However, the invention is not limited to the embodiments described above. Various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention.

For example, the opening/closing body control device may be a device that operates an opening/closing body other than the window glass 2 such as a sunroof, a door mirror, and a sliding door of a vehicle by an electric motor.

This application claims priority based on Japanese Patent Application No. 2017-093675 filed on May 10, 2017, and the entire contents of these Japanese patent applications are incorporated herein by reference.

1... Door 1a... Window 2... Window glass 2t... Upper end part 3... Upper sash 4... Window glass drive mechanism 6... Arithmetic device 7... Operation button 7A ..Automatic open button 7B...Manual open button 7C...Automatic close button 7D...Manual close button 10...Electric motor 10a...Voltage detector 10b...Current detector 20...Rectification Element 20a... Commutator element 20s... Slit 30... Voltage filter section 31... Rotational angular velocity calculation section 32... Rotation angle calculation section 33... Current filter section 34... First signal Generation unit 35... Second signal generation unit 36... Rotation information calculation unit 37... Resistance setting unit 60... Opening/closing control unit 61... Position detection unit 62... Contact determination unit 63... -Counting unit 64...Function limiting unit 100...Rotation angle detector SW1-SW4...Switch

Claims (5)

An opening/closing body control device for controlling the movement of an opening/closing body mounted on a vehicle,
An opening and closing control unit that executes an automatic closing function of automatically closing the opening and closing body,
A counting unit that counts the number of times the electric motor that drives the opening and closing body is activated,
A function limiting unit that limits the automatic closing function based on the number of times of activation,
Opening/closing body control device. The function restriction unit releases the restriction of the automatic closing function when the opening/closing body reaches the fully closed position,
The opening/closing body control device according to claim 1. The counting unit resets the number of startups to zero when the opening/closing body reaches a fully closed position,
The opening/closing body control device according to claim 1. The function restriction unit prohibits execution of the automatic closing function when the number of activations exceeds a predetermined threshold value,
The opening/closing body control device according to any one of claims 1 to 3. An opening/closing body control method for controlling the movement of an opening/closing body mounted on a vehicle, comprising:
Performing an automatic closing function of automatically closing the opening and closing body,
Counting the number of times of starting the electric motor for driving the opening and closing body,
Limiting the automatic closing function based on the number of activations.
Opening and closing body control method.

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