JPH0512464Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention relates to a device for lifting and lowering automobile window glass.
In particular, the present invention relates to an automatic lifting and lowering device for automobile window glass, which is suitable for automatically lifting and lowering automobile window glass.

[Conventional technology]

As a conventional automobile window glass lifting device, for example, there is a device that automatically raises and lowers the window glass using a motor that rotates forward and backward in response to the operation of a manual operation switch. While the switch is turned on, the motor rotates and the window glass continues to rise, which can cause problems such as parts of the passenger's body, such as their head or hands, getting caught between the window frame and the window glass. be.

At present, various methods are being used to solve the problems mentioned above.
185626 is a method of detecting abnormalities such as objects being trapped by using the distortion of optical fibers attached to window frames, but it is necessary to attach expensive optical fibers to window frames to detect entrapment. be.

For example, in JP-A-60-185625, the energization data of the motor is stored in advance when the window glass is raised and lowered, and by comparing this standard data with the energization data during actual operation, abnormalities such as objects getting caught can be detected. This is a detection method that eliminates the effects of variations in motor load, including the dynamic resistance between the window frame and window glass attached to the actual vehicle, but it requires the motor to be raised and lowered in order to memorize the reference data. In addition, it was necessary to operate a manual memorization switch, and it was also necessary to install a limit switch in the fully open and fully closed positions, and furthermore, no consideration was given to ensuring that this reference data was data for normal operation.

[Problem that the invention attempts to solve]

As described above, in the conventional technology, devices with a safety function to prevent objects from becoming trapped have problems with installation due to sensors, restrictions on manufacturing doors including window frames and window glass, resulting in significant cost increases, and reliability problems. At present, it is difficult to put it into practical use due to the following problems.

Therefore, the purpose of the present invention is to provide an automatic lifting and lowering device for automobile window glass that is capable of highly reliable and reliable detection of an object being caught without using a sensor. It is a matter of tightening.

[Means for solving problems]

The above purpose is to provide a motor pulse counter that counts the motor pulses obtained from the pulsating current of the motor that rotates forward and backward according to the motor operation command to raise and lower the window glass, and a motor pulse counter that counts the motor pulses obtained from the pulsating current of the motor that rotates forward and backward in response to a motor operation command to raise and lower the window glass. ) and the average value (period Tm) of the previous motor rotation speed up to the previous time to calculate the current speed fluctuation rate (Tp/Tm) of the motor, and a means for calculating the motor operation command to stop the motor. At the point in time, based on the window glass position, moving direction, speed, and speed fluctuation rate data, a correction value is searched from a motor coasting correction data map created in advance, and the motor pulse counter is corrected by means of correcting the current window glass. This is accomplished by means of detecting the position of the motor and monitoring the motor pulse counter value and motor speed fluctuation rate.

[Effect]

In other words, the present invention shapes the motor's pulsating current into a pulse waveform and captures it as a motor pulse signal.When the motor operation command is canceled and the motor stops, the voltage applied to the motor disappears, and the motor rotation section is further By correcting the motor pulse counter using a correction value searched from a pre-created correction data map to compensate for the amount of coasting that is not counted until the rotation stops due to inertia, the window glass position detection accuracy is improved and the motor pulse By monitoring the count value, that is, the position of the window glass, and the motor speed variation rate, that is, the fluctuation of the window glass moving speed, it is possible to reliably detect an object being trapped without using a special sensor.

Further, in the correction data map, correction values are searched based on the position and movement direction of the window glass, motor rotational speed data, and speed fluctuation rate data, which eliminates the influence of motor variations and voltage.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an automatic lifting and lowering device for automobile window glass, which is an embodiment of the present invention.

Only one motor 1 is shown in this figure, which rotates in forward and reverse directions to raise and lower the window glass, but in reality there are multiple motors, as they are attached to each door window. Here, only one is shown.

The motor 1 inputs the information into the controller 3 when the vehicle occupant operates the UP switch when he wants to raise the window glass and the DOWN switch when he wants to lower it using the operation switch panel 2. This controller 3 is supplied with a constant voltage from a battery power source via a constant voltage circuit 4, and is connected to a motor pulse signal 6 at a constant time interval at the outlet of a motor pulsing circuit 5 that shapes the pulsating waveform of the motor 1 into pulses. By inputting the timer interrupt signal 7 and the above-mentioned switch signal, an output for controlling the motor to raise, lower, and stop the window glass is sent to the motor drive circuit 8 that drives the motor 1 using battery power. to control motor 1.

2 to 10 are diagrams for explaining the operating principle of the embodiment shown in FIG. 1. FIG.

Figures 2 and 3 are flowcharts of the control method (program) of the controller 3, Figure 4 is a graph of the motor rotation speed and speed fluctuation rate when normal operation is performed when the window glass is raised, and Figure 5 is a graph of the motor rotation speed and speed fluctuation rate when the window glass is raised. is a graph of the motor rotational speed and speed fluctuation rate when an object is caught in the window glass when it is raised, that is, when an abnormality occurs; FIG. 6 is a graph showing the position of the automobile window glass; The figures are time charts of timer interrupt signals and motor pulse signals, Figure 8 is a diagram showing a motor speed data table, Figure 9 is a diagram showing motor coasting, and Figure 10 is a diagram showing motor coasting. FIG. 3 is a diagram showing a coasting correction data map.

Now, the details of the operation when the motor rotates and the window glass moves up and down, and the control method of the controller 3 will be explained.

First, a method for counting motor pulses and a method for detecting the motor rotation speed for detecting the window glass position while the motor is in operation will be explained.

In the flowchart of the timer interrupt program of the controller 3 shown in FIG. 3, if the controller 3 is OK to accept the interrupt when the timer interrupt signal 7 that occurs at fixed time intervals shown in FIG. The interrupt program starts at step 200.

First, in step 200, the voltage level of the motor pulse signal 6 input to the controller 3 is set to 0.
→ We are monitoring whether it has changed to 1. If there is no change, the interrupt program ends (step 207), but if there is a change, the interrupt program ends (step 207).
Proceeding to step 201, it is determined whether the window glass is being raised (UP), but if the motor is stopped, interrupt reception is not accepted as will be explained later in the main flowchart of Figure 2, and the motor pulse is Since no signal is generated, the motor is always rotating while this interrupt program is in progress, so the window glass is either raised or lowered.

Therefore, if the window glass is in the UP operation, a pulse counter (not shown) built in the controller 3 is decremented in step 202, and if the window glass is in the DOWN operation, the pulse counter is incremented in step 203.

This means that the motor pulse counter is counted down when the motor is rising, and is counted up when the motor is falling, using a motor pulse signal obtained from the pulsating current of the motor.

Here, it is a known fact that the motor's pulsating current pulsates a certain number of times (the number of segments of the motor's rotor) when the motor rotates once, and the number of rotations of the motor is determined by the transmission connected to the window glass. The mechanism is proportional to a certain amount of upward movement or downward movement of the window glass.

Therefore, as shown in Figure 6, the number of motor pulses generated when the window glass moves down the full stroke from the fully closed position to the fully open position, or when the window glass moves up the full stroke from the fully open position to the fully closed position. The number of motor pulses generated is constant,
By knowing the number of motor pulses (2000 in Figure 6), if the fully closed position is set as the origin (motor pulse counter is set to 0), the position of the window glass can be detected from the contents of the motor pulse counter. becomes possible. That is, the window glass position is detected in steps 202 and 203 based on the motor pulse signal.

Next, proceeding to step 204, it is determined whether the motor is starting or not. If the motor has not started for a certain period of time, it is assumed that the motor is starting and the interrupt program ends (step 204). 207)
However, after a certain amount of time has elapsed, the step
Proceed to 205 to calculate the current motor rotation speed (actually motor pulse period Tp).

This is regarded as the current motor pulse period by calculating the time from the time when step 205 of the timer interrupt program was passed last time to the time when step 205 was passed this time. That is, from the timer interrupt signal after the motor pulse signal changes from 0 to 1, then from 0 to 1. In this motor speed data table, n pieces of motor speed data up to the previous time are arranged in old order, and step 206 is Each time it passes, the oldest speed data T _po is deleted, T _p → T _p1 , T _p1 → T _p2 ,
..., T _po-1 → T _po is updated.

After passing step 206, the interrupt program ends. (Step 207) As described above, in the interrupt program shown in FIG. 3, the current position of the window glass and the motor speed are detected by the motor pulse signal output from the motor pulse generation circuit 5.

Here, when the passenger leaves the window glass in a position other than the fully open or fully closed position, the voltage applied to the motor is reduced by canceling the motor operation command and eliminating the output of the controller 3 in FIG. It disappears and stops the motor, but after the motor operation command is canceled, the voltage applied to the motor disappears,
Furthermore, the motor coasts and rotates until the rotation due to the inertia of the motor rotation part stops.

The motor pulse signal corresponding to this coasting time is not inputted to the controller 3 because the timer interrupt is NG after the motor work command is canceled, or is not generated due to disappearance of the motor applied voltage. The time until the interrupt signal is defined as the motor pulse cycle. (See FIG. 7) In this embodiment, the period of the timer interrupt signal 7 is 100 μsec in FIG. 7, and the accuracy of calculating the period Tp of the motor pulse signal 6 is Tp±100 μsec.

According to the experimental data, although it varies depending on the motor load including the sliding resistance between the window frame and the window glass, the type of motor, variations, etc., the cycle is approximately 1.2 msec at the maximum speed of the motor, and the calculated data Tp teeth
It is 1.1 msec to 1.3 msec, and the error is about 10% at most, but when an object gets caught, the motor speed slows down and the cycle increases, so the error becomes smaller and it has been confirmed through experiments that there is no problem.

Furthermore, in order to improve the motor speed detection accuracy, there is also a method of reducing the timer interrupt signal period or measuring the motor pulse period m times and considering the average value as the current motor speed.

Next, in step 206, the current motor speed data Tp is entered into a motor speed data table as shown in FIG. The motor pulse counter cannot count, and the detection accuracy of the window glass position decreases by the amount of coasting of the motor.

Therefore, it can be seen that it is necessary to predict the amount of coasting of the motor in advance and correct the motor pulse count.

The following description will focus on the flowchart of the main program of the controller 3 shown in FIG.

First, let us consider the above-mentioned conditions, ie, a method of correcting motor coasting. In order to cancel the motor operation command in the controller 3 in order to stop the window glass at an arbitrary position other than the fully open/closed position while it is in operation, it is judged as "NO" in step 100 and the interrupt reception is rejected. Therefore, the timer interrupt does not work from then on and the motor pulse signal cannot be input to the controller 3.

The next step 102 is immediately after the motor work command is canceled, and it is judged based on the contents of the motor pulse counter whether the position is other than the fully open or fully closed position. Once this is done, it will be determined as "NO" until the next motor operation command is issued.

Next, in step 103, it is determined whether the operation command is for raising or lowering, but this is because coasting during raising and lowering is affected by the motor load weight of the window glass, etc.

Steps 104 and 105 are both a search for a correction value, which is based on the motor rotational speed (Tp) and the motor speed fluctuation rate (Tp/Tm), which will be described later, from the motor coasting correction data map as shown in FIG. A correction value is searched based on the data. (In this case, there are two types of motor coasting correction data maps, one for ascending and one for descending, but they are omitted.) In other words, the coasting rotation of the motor can be predicted using these two data. Yes, in Figure 9,
When the motor speed is constant, the coasting rotation of the motor (equivalent to the area surrounded by the vertical and horizontal axes and the curve in the graph) is determined by the motor speed fluctuation rate without being affected by the motor applied voltage or variations in motor characteristics. )
is determined, and it has been found from a large amount of experimental data that even when the motor speed fluctuation rate is constant, the motor coasting rotation is determined by the motor speed.
(When the motor speed and speed fluctuation rate are constant just before the motor operation command is released, the measurement variation for the motor coasting rotation is within about 10% under any conditions.) Therefore, within the range of possible usage conditions, the motor speed The motor coasting correction data map shown in FIG. 10 was created by experimentally determining correction values (n×m) of motor pulse counters corresponding to motor coasting rotations using the motor speed fluctuation rate and motor speed fluctuation rate as parameters.

The method of searching for the correction value is to use the motor speed and speed fluctuation rate data calculated immediately before the motor operation command is canceled to select one of n motor speed standards n _o and m motor speed fluctuation rate standard values m _n . This is a method of searching for correction values in the data map by finding the reference value that is the closest to each. For example, for motor speed (Tp), n _o-1 is the closest value, and for motor speed fluctuation rate (Tp/Tm), If m ₂ is the nearest value,
As the correction value, Pn _-1,2 is selected.

In this way, the correction value is searched for in steps 104 and 105 depending on the direction of window glass movement, and then the next step is performed.
The motor pulse counter is actually corrected in steps 106 and 107. That is, if the motor pulse counter is in the upward direction, the motor pulses are counted down, so a correction value corresponding to coasting is subtracted, and if the motor pulse counter is in the downward direction, the correction value is added.

As described above, it can be seen that the program in steps 102 to 107 is a method of correcting the motor coasting rotation by a highly reliable means since the motor coasting rotation cannot be detected, and is intended to improve the accuracy of window glass position detection.

Next, a description will be given of a method for detecting an object being caught using the window glass position and motor rotation speed detected by the above method.

When raising the window glass, when the operator operates the operation switch panel 2 shown in FIG. 1, a motor activation command is issued to the controller 3.
If ``YES'' is determined in step 100, interrupt reception is OK.
becomes. Therefore, while the motor operation command is being issued, the window glass position and motor speed are always detected by the timer interrupt program. Immediately after the motor is started, until a certain period of time has elapsed (during the initial operation in Figures 4 and 5), it is judged as ``YES'' in step 109, and the timer interrupt program only counts motor pulses, until the certain period of time has elapsed. Then, the determination is "NO" and the process proceeds to step 105. At the same time, the current motor speed Tp is calculated by the timer interrupt program every time a timer interrupt signal is generated.

Step 110 calculates the average value Tm of n motor speed data up to the previous time in the speed data table shown in Figure 8.
In other words, the previous motor speed is calculated as (Tm=T _po +T _po-1 +...+T _p2 +T _p1 /n).

Therefore, if the window glass is rising, the step
The process proceeds to steps 111 to 112, which is a determination as to whether the window glass position is outside the fully closed position range and a verification of the motor pulse count contents. This fully closed position range is
Even if the motor decelerates and the speed fluctuation rate increases,
The position of the window glass that can be considered to be the motor lock for fully closing the window glass, specifically, the value of the motor pulse counter is within a predetermined range (0 to 100 in this example). It is. (4th
(See Figures 6 to 6) Therefore, the process proceeds to step 113 until the window glass rises and is within the fully closed position range, and when it is within the fully closed position range, the process proceeds to step 114. This is both the ratio of the motor speed (Tp) to the previous motor speed (Tm),
That is, the motor speed fluctuation rate (Tp/Tm) is monitored.

The constant values α and β have a relationship of α < β, which means that if the motor speed fluctuation rate is less than α, normal upward movement is possible, if it is more than α, there is an object caught in the motor, and if it is more than β, the motor is locked when fully open or fully closed. In order to detect this, the detection method is determined depending on the position of the window glass in step 112. i.e. step 113
is the detection of a pinched object, step 114 or
115 and 117 are motor lock detections when fully open and fully closed.

Therefore, the detection accuracy of the window glass position in step 112, that is, the pulse motor counter, must be a value that accurately corresponds to the actual window glass position. It has important implications for safety systems.

If the window glass rises normally (see Figure 4), as long as there is a motor operation command and the window glass is outside the fully closed position range, the motor speed fluctuation rate will not exceed α, that is, steps 100 → 108 → 109 →110→
Repeat the loop 111 → 112 → 113 → 119 → 100, and when the window glass is within the fully closed position range, step
100→108→109→110→111→112→114→119→100
After this loop, when the motor speed fluctuation rate exceeds β, the process proceeds to step 120, the motor pulse counter is cleared to 0, and the motor is stopped in step 122.

If an object is caught when the window glass is rising (see Figure 5), the motor speed will drop when the window glass is outside the fully closed position range and the speed fluctuation rate will be greater than α (Figures 5 and 6). Detects that an object is caught in the window (point A position) and reverses the motor to lower the window glass. That is, it is determined "YES" in step 113 and steps 116 and 117 are repeated.

Therefore, the safety function is to avoid entrapment by forcibly operating the window motor in the downward direction with the highest priority when the window glass is fully open. This is because if the switch that raises the window glass is held down, the jamming becomes even stronger, and even if you release the switch, the motor just stops, so the jamming continues. This is because, if a jam is detected, it is necessary to give top priority to the reverse lowering operation to prevent the jam, regardless of the command input from the operation panel switch to the controller.

If the window glass has been lowered to the fully closed position, the motor lock determines "YES" in step 117, and the motor pulse counter is reset in step 121. This clears to 0 when fully closed at step 120.
It is reset when fully closed in step 121, but in addition to the above-mentioned motor coasting, the motor pulse signal may be disturbed due to power supply voltage fluctuations or inductive noise, causing the motor pulse counter to miscount. Therefore, in order to prevent the value of the motor pulse counter from deviating from the value corresponding to the actual window glass position, a certain value (1200 in the example) is reset in advance when the window is fully opened, and 0 when it is fully closed. By clearing this, the window glass position detection accuracy is further improved.

When the motor is stopped, the immediately preceding motor speed data Tm is preset to a constant value (Tm ₁ ) in step 123. This data is required when the motor starts and passes the initial operation period, and when the process first proceeds from step 109 to step 110 to compare the motor speed fluctuation rate (Tp/Tm), the immediately preceding motor speed Tm is calculated in step 105. That is, in step 123, Tm ₁ is entered in the motor speed data table in FIG.
All of the following will be written.

On the other hand, when the window glass is normally lowered, the determination in step 111 in FIG.
If "NO", the process proceeds to step 124 and continues the descending operation.

The embodiments of the present invention have been described above with reference to the drawings.According to this embodiment, the method of correcting undetectable motor coasting rotation using reliable means and resetting when fully open and fully closed, The position of the window glass can be detected with high precision by counting motor pulses by shaping the motor pulsating current without installing any sensors on the window frame, window glass, or transmission mechanism including the motor body. By monitoring the position of the window glass and the motor speed fluctuation rate, this safety feature detects the possibility of an object being trapped early and reverses the motor to lower the window glass in an emergency when the object is still weakly trapped. We were able to achieve this.

In addition, improvements in window glass position detection accuracy have made it possible to make the fully closed position range considerably smaller, making it possible to detect entrapment even when the object is quite small.

Although this embodiment has been described with respect to a window glass attached to a door, the same can be applied to the automatic opening and closing of a window glass attached to the roof of an automobile, for example.

[Effect of idea]

As described above, according to the present invention, it was possible to detect the position of an automobile window glass with high precision without using any sensors on the window frame, window glass, or transmission mechanism including the motor body. ,
It is possible to reliably detect objects caught when the window glass is raised, and because it is sensorless, it is possible to avoid a significant increase in costs.It is an inexpensive automatic window glass lifting device that does not require any effort to be incorporated into the vehicle body. This has the effect of reliably preventing unexpected accidents caused by getting caught.

Therefore, it has become possible to easily put into practical use an automatic window glass lifting device having a safety function to prevent entrapment, which has been difficult to put into practical use due to constraints in cost, production, and installation.

[Brief explanation of the drawing]

Figure 1 is a block diagram of an automatic lifting device for automobile window glass, which is an embodiment of the present invention, and Figures 2 and 3 are
Figures 4 and 5 are flowcharts of the main program and timer interrupt program, Figures 4 and 5 are explanatory diagrams of the motor speed and speed fluctuation rate during normal operation when the window glass is raised and when an object is caught in the abnormal situation. The figure shows the position of car window glass,
Figure 7 is a time chart of the timer interrupt signal and motor pulse signal, Figure 8 is a diagram showing a motor speed data table, Figure 9 is a diagram showing motor coasting, and Figure 10 is a motor coasting correction data map. FIG. 1...Motor, 2...Operation switch panel, 3
... Controller, 5 ... Motor pulsing circuit,
6...Motor pulse signal, 7...Timer interrupt signal, 8...Motor drive circuit.

Claims (1)

[Claims for Utility Model Registration] 1. An automobile window glass raising and lowering device driven by a motor, comprising a motor pulsing means for generating pulses related to a rotation angle as the motor rotates, and a motor for detecting the position of the window glass. means for counting pulses; means for calculating the rotational speed and speed fluctuation rate of the motor based on the motor pulses; and means for calculating the motor pulses based on the rotational speed and speed fluctuation rate of the motor and the position and moving direction of the window glass. An automatic lifting/lowering device for automobile window glass, characterized in that it comprises count correction means for correcting the contents of the means for counting, and means for monitoring the contents of the means for counting motor pulses and the motor speed fluctuation rate. . 2. The automatic lifting and lowering device for automobile window glass according to item 1, wherein the motor pulse generator shapes the pulsating current of the motor into a pulse waveform to generate the motor pulse. 3 In paragraph 1, the count correction means:
Means for counting the motor pulses using a correction value searched from a data map prepared in advance based on the rotational speed and speed fluctuation rate of the motor, the position of the window glass, and the moving direction immediately before the command to operate the motor is canceled. An automatic lifting device for automobile window glass, characterized in that it corrects the contents of the window glass.