JP2015148079A - Opening and closing body control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening and closing body control device capable of preventing erroneous detection of catching of a foreign matter in an opening and closing body just after starting of a motor for closing the opening and closing body.SOLUTION: A PW (power window) control device 1 includes a control section 2 for controlling a motor 9 for opening and closing window glass 7, a frequency detection section 2a for sequentially detecting a motor frequency showing a driving state of the motor 9 based on a pulse signal in accordance with the driving state of the motor 9 in closing of the window glass 7, a two-time differential value calculating section 2c for calculating a two-time differential value of the motor frequency, a stability determination section 2d for determining whether the motor frequency is stable or not based on the result of the comparison between the two-time differential value and a stability threshold set in advance, and a catching determination section 2f for determining the presence of catching of a foreign matter in a window 6 based on the motor frequency and a catch threshold set in advance when the motor frequency is determined to be stable.

Description

  The present invention relates to an apparatus for controlling opening / closing of an opening / closing body of a vehicle, and more particularly, to an opening / closing body control apparatus having a function of detecting a foreign object being caught when the opening / closing body is closed.

  As an opening / closing body control device mounted on a vehicle, for example, there is a power window control device. The power window control device opens and closes the window glass, which is an opening and closing body, by rotating the motor forward or backward and operating the power window opening and closing mechanism.

  In the power window control device, when a foreign object is caught in the window during the window closing operation, this is detected. Specifically, for example, in Patent Document 1, a motor cycle is calculated based on a pulse signal generated from a pulse generator according to the rotation of the motor, and based on a comparison result between the cycle and a predetermined threshold value, The presence or absence of pinching is determined.

  In addition to the motor cycle, there is also a method for detecting the presence or absence of pinching based on a physical quantity representing the driving state of the motor, such as the motor rotation speed, frequency, load, or current flowing through the motor, and a predetermined threshold. Various proposals have been made.

  Further, in Patent Document 1, the motor cycle is prevented from being erroneously determined to be pinched due to various factors such as an impact when the door is closed and an unstable operation immediately after the motor is started. For this reason, when the state where the period is larger than the determination value continues, the differential value of the period is calculated twice. In addition, as long as the differential value of the second time is a negative value, the pinching determination is not performed.

Japanese Patent No. 3832959

  For example, in a power window control device, the drive state of the motor may become unstable due to mechanical factors such as play of the power window opening / closing mechanism immediately after the start of the motor for closing the window. In particular, in a wire-type power window opening / closing mechanism, loosening of the wire is a main mechanical factor that makes the drive of the motor unstable. If the motor drive state becomes unstable, the motor rotation speed and the current flowing through the motor vibrate up and down, so that it is erroneously detected that a foreign object is caught in the window based on a physical quantity that represents the motor drive state. There is a fear.

  An object of the present invention is to provide an opening / closing body control device that can prevent erroneous detection of foreign matter caught in an opening / closing body immediately after the start of a motor for closing the opening / closing body.

  An opening / closing body control apparatus according to the present invention is an apparatus that controls driving of a motor that opens and closes an opening / closing body of a vehicle, and that sequentially detects a physical quantity representing a driving state of the motor when the opening / closing body is closed, As a result of comparing the twice differential value calculating means for calculating the twice differential value of the physical quantity detected by the detecting means, and the twice differential value calculated by the twice differential value calculating means and a preset stable threshold value. Based on the stability determination means for determining whether the physical quantity is stable based on the physical quantity and a preset pinching threshold when the stability determination means determines that the physical quantity is stable. And a pinch judging means for judging whether or not the foreign object is pinched.

  According to the above, whether or not the physical quantity is stabilized based on the comparison result between the second differential value of the physical quantity representing the driving state of the motor, that is, the difference value of the physical quantity difference value, and the stability threshold value when the opening / closing body is closed. Judging. At this time, for example, if the absolute value of the double differential value of the physical quantity is a positive value or a negative value, the physical quantity is determined to be stable. Then, when it is determined that the physical quantity is stable, the presence / absence of foreign matter sandwiched in the opening / closing body is determined based on the physical quantity and the sandwiching threshold value. In other words, until the physical quantity is stabilized, the presence or absence of pinching is not determined based on the physical quantity and the pinching threshold value, so that the motor drive state is unstable due to mechanical factors immediately after starting the motor for closing the opening / closing body. Even in this case, it is possible to prevent erroneous detection of foreign matter caught in the opening / closing body.

  In the present invention, the opening / closing body control device further includes a one-time differential value calculating means for calculating a one-time differential value of the physical quantity, and the pinching determining means is the one-time differential value calculated by the one-time differential value calculating means. Whether or not foreign matter is caught in the opening / closing body may be determined based on the result of comparing the pinching threshold and the pinching threshold.

  In the present invention, in the above opening / closing body control device, the stability determination means may determine that the physical quantity is stable when the double differential value is continuously equal to or less than the stability threshold value a plurality of times.

  Further, in the present invention, in the opening / closing body control device, when the movement amount of the opening / closing body exceeds a predetermined value without being determined that the physical quantity is stable by the stability determination section, the pinching determination section The presence or absence of pinching may be determined.

  In the present invention, in the above opening / closing body control device, the detection means may sequentially detect the frequency of the pulse signal output from the output means for outputting the pulse signal corresponding to the driving state of the motor as a physical quantity. . Alternatively, the detection means may sequentially detect the current flowing through the motor as a physical quantity. Alternatively, the detection means may sequentially detect the ripple frequency included in the current flowing through the motor as a physical quantity.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the opening / closing body control apparatus which can prevent erroneously detecting the foreign object being caught in the opening / closing body immediately after the start of the motor for closing the opening / closing body.

It is the figure which showed the structure of the PW (power window) control system by 1st Embodiment of this invention. 2 is a flowchart showing a main operation of the PW control device of FIG. 1. It is the flowchart which showed the detail of the 2nd derivative value calculation process of FIG. It is the flowchart which showed the detail of the 1st differential value calculation process of FIG. It is the flowchart which showed the detail of the stability determination process of FIG. It is the flowchart which showed the detail of the pinching determination process of FIG. It is the figure which showed an example of the change of the motor frequency detected with the PW control apparatus of FIG. 1, each differential value, and each threshold value. It is the figure which showed an example of the change of a motor frequency and each differential value. It is the figure which showed the structure of the PW control system by 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

  First, the configuration of the first embodiment will be described with reference to FIG. Hereinafter, the “power window” is expressed as “PW”.

  A PW control system 100 according to the first embodiment is mounted on an automobile and includes a PW control device 1 and other components 6 to 10.

  The PW control device 1 drives the motor 9 to operate the PW opening / closing mechanism 8 to open / close the window glass 7 of the window 6 provided on the door of the vehicle. The PW control device 1 is an example of the “opening / closing body control device” of the present invention. The window 6 and the window glass 7 are examples of the “opening / closing body” of the present invention.

  The PW control device 1 includes a control unit 2, a PW operation unit 3, a drive unit 4, a pulse detection unit 5, and a rotary encoder 10. The rotary encoder 10 may be provided outside the PW control device 1.

  The control unit 2 includes a microcomputer and controls opening and closing of the window 6. The control unit 2 includes a frequency detection unit 2a, a storage unit 2b, a twice differential value calculation unit 2c, a stability determination unit 2d, a single differential value calculation unit 2e, and a pinch determination unit 2f.

  The PW operation unit 3 includes a switch for operating opening and closing of the window 6 and is provided in the vehicle. The PW operation unit 3 is operated by the user and outputs a signal corresponding to the operation. The control unit 2 detects the operation state of the PW operation unit 3 based on the signal output from the PW operation unit 3. In this example, a manual opening / closing operation and an automatic opening / closing operation can be performed by the PW operation unit 3.

  The drive unit 4 includes a circuit that drives the motor 9 in the normal rotation or reverse rotation. The rotary encoder 10 outputs a pulse signal corresponding to the rotational driving state of the motor 9. The pulse detection unit 5 includes a circuit that detects a pulse signal output from the rotary encoder 10. The rotary encoder 10 is an example of the “output unit” in the present invention.

  When the opening / closing operation is performed by the PW operation unit 3, the control unit 2 controls the drive unit 4 in accordance with the operation state to cause the motor 9 to rotate forward or backward. Thereby, the PW opening / closing mechanism 8 operates, the window glass 7 is lowered or raised, and the window 6 is opened / closed.

  At that time, the control unit 2 calculates the opening / closing movement amount of the window glass 7 and the rotation speed of the motor 9 based on the detection result of the pulse signal from the rotary encoder 10 by the pulse detection unit 5. And the control part 2 controls rotation of the motor 9 by the drive part 4 based on the calculation result.

  In addition, when the window glass 7 is closed, the frequency detection unit 2 a of the control unit 2 sequentially detects the frequency of the pulse signal detected by the pulse detection unit 5. This detected frequency is an example of a physical quantity representing the driving state of the motor 9, and is hereinafter referred to as “motor frequency”. The motor frequency detected by the frequency detection unit 2a is sequentially stored in the storage unit 2b. Other control data is also stored in the storage unit 2b. The frequency detection unit 2a is an example of the “detection unit” in the present invention.

  In addition, when the window glass 7 is closed, the twice differential value calculation unit 2c calculates a twice differential value of the motor frequency. For example, since the detected motor frequency is finite discrete data, the differential value is approximated using these data. In the present embodiment, the difference value of the motor frequency is approximated to the differential value, and the difference value of the difference value of the motor frequency is set to the differential value twice. The approximation method is not limited to this.

  The stability determining unit 2d compares the twice-differentiated value calculated by the twice-differentiated value calculating unit 2c with a preset stability threshold, and determines whether the motor frequency is stable based on the comparison result. Determine. The twice differential value calculating unit 2c is an example of the “double differential value calculating means” in the present invention. The stability determination unit 2d is an example of the “stability determination unit” in the present invention.

  Further, when the window glass 7 is closed, the one-time differential value calculation unit 2e calculates a single differential value of the motor frequency, that is, a difference value of the motor frequency. When the stability determination unit 2d determines that the motor frequency is stable, the pinching determination unit 2f determines whether or not foreign objects are pinched in the window 6 based on the motor frequency and a preset pinching threshold value. To do.

  Specifically, the pinch determination unit 2f compares the one-time differential value of the motor frequency calculated by the one-time differential value calculation unit 2e with the pinching threshold value, and based on the comparison result, the foreign object to the window 6 The presence or absence of pinching is determined. The one-time differential value calculation unit 2e is an example of the “one-time differential value calculation means” in the present invention. The pinching determination unit 2f is an example of the “pinching determination unit” in the present invention.

  Next, the operation of the PW control device 1 will be described with reference to FIGS. This operation is an operation when the window 6 is closed.

  FIG. 2 is a flowchart showing the main operation of the PW control device 1. When the user performs the closing operation with the PW operation unit 3, the control unit 2 detects that the window 6 has been closed (step S1), and drives the motor 9 with the driving unit 4 to thereby open the window glass. 7 is started (step S2).

  At this time, when the manual closing operation is performed by the PW operation unit 3, the window glass 7 is closed only while the manual closing operation is performed. In addition, when the automatic closing operation is performed by the PW operation unit 3, the closing operation is performed until the window glass 7 reaches the fully closed position even if the automatic closing operation is released thereafter. However, when a foreign object is caught in the window 6, the closing operation of the window glass 7 is stopped.

  When the closing operation of the window glass 7 is started, a pulse signal corresponding to the driving state of the motor 9 is output from the rotary encoder 10 and detected by the pulse detector 5. Then, the control part 2 detects a motor frequency by the frequency detection part 2a based on the pulse signal detected by the pulse detection part 5 (step S3).

  Specifically, after the frequency detector 2a calculates the frequency of each pulse signal detected by the pulse detector 5, it is corrected by a predetermined coefficient or function, and the corrected frequency F (n) is a filter for smoothing. To detect the first-order lag Fn (n) of the corrected frequency. Then, the corrected frequency F (n) and the first-order lag Fn (n) of the corrected frequency are set as the motor frequency. n is an arbitrary number. Thus, the corrected frequency F (n) and the corrected first-order lag Fn (n) are detected as fluctuations in the motor frequency when the driving state of the motor 9 is stabilized. This is because the accuracy of stability determination and pinching determination, which will be described later, is increased by keeping it small.

  Moreover, the control part 2 detects the moving amount P of the window glass 7 after starting the motor 9 based on the pulse signal detected by the pulse detection part 5 (step S4 of FIG. 2). Specifically, the control unit 2 counts the number of rising edges of the pulse signal and sets the counted value as the movement amount P of the window glass 7.

  The motor frequencies F (n) and Fn (n) detected as described above and the movement amount P of the window glass 7 are associated and stored in the storage unit 2b as needed.

  FIG. 7 is a diagram showing an example of changes in motor frequencies F (n) and Fn (n) with respect to the amount of movement P in the closing direction of the window glass 7, and differential values and threshold values described later.

  Immediately after starting the motor 9 for closing the window glass 7, the driving state of the motor 9 becomes unstable due to mechanical factors such as play of the PW opening / closing mechanism 8. For this reason, as shown in FIG. 7, immediately after the start of the motor 9, the corrected frequency F (n) and the first-order lag Fn (n) of the corrected frequency vibrate up and down, and then the vibration width gradually increases. It gets smaller. If no foreign matter is caught in the window 6, the corrected frequency F (n) and the first-order lag Fn (n) of the corrected frequency are stabilized at a substantially constant value. Further, when a foreign object is caught in the window 6, the corrected frequency F (n) and the first-order lag Fn (n) of the corrected frequency decrease monotonously (constantly).

  If it is determined whether or not foreign matter is caught in the window 6 based on the motor frequency in an unstable state immediately after the start of the motor 9 (frequency is oscillated up and down), it may be erroneously determined that there is pinching. There is. Therefore, it is confirmed whether or not the motor frequency is stable before determining the presence or absence of pinching. The details will be described below.

  FIG. 8 is a diagram illustrating an example of changes in the motor frequency and each differential value. For example, as shown in the column (a) of FIG. 8, in an unstable state in which the motor frequency (for example, the first-order lag Fn (n) of the corrected frequency) oscillates vertically, draws a sin (sine) curve. In the case of transition, the one-time differential value of the motor frequency transitions so as to draw a cos (cosine) curve. Then, the twice differential value of the motor frequency changes so as to draw a −sin (minus sign) curve.

  On the other hand, as shown in the column (b) of FIG. 8, when the motor frequency changes in a stable state such that the motor frequency is substantially flat (constant), the first and second differential values of the motor frequency are It changes at almost zero.

  In addition, since a foreign object is caught in the window 6, as shown in the column (c) of FIG. 8, when the motor frequency changes so as to monotonously decrease (in this example, this case is also regarded as a stable state). The once differentiated value of the motor frequency once decreases and then changes at a substantially constant value. Then, the twice-differentiated value of the motor frequency once rises and then rises and changes at almost zero.

  That is, since the state where the twice differential value of the motor frequency is approximately zero continues, it is possible to detect that the motor frequency is stable (a state in which the motor frequency does not vibrate up and down).

  For this purpose, the control unit 2 performs a twice differential value calculation process by the double differential value calculation unit 2c (step S5 in FIG. 2).

  FIG. 3 is a flowchart showing details of the twice differential value calculation processing. The twice differential value calculation unit 2c confirms the current movement amount P of the window glass 7 detected in step S4 of FIG. 2 immediately before (step S21 of FIG. 3).

When the current movement amount P of the window glass 7 is equal to or less than a value obtained by doubling the predetermined stability determination difference interval N (step S21: P ≦ 2N, T1 interval in FIG. 7), a differential value twice. The calculation unit 2c sets the value obtained by adding 1 to the predetermined stability threshold Q as the second-order differential value d ² Fn (n) of the motor frequency Fn (n) (step S22, d ² Fn (n) = Q + 1). .

Here, the reason why the twice differential value d ² Fn (n) is set as described above is as follows. To perform a first differential calculation from the motor frequency at the movement amount P of the window glass 7 and the motor frequency at the movement amount P + N separated from the P by a predetermined stability determination difference interval N, Further, a motor frequency at a movement amount P + 2N that is 2N away from P is required. However, since the second derivative cannot be calculated when the movement amount P of the window glass 7 is 2N or less, the value twice the differential value d ² Fn (n) exceeds the stability threshold Q in the T1 section of FIG. (In this example, it is forcibly set to Q + 1).

On the other hand, when the moving amount P of the window glass 7 is equal to or greater than the value obtained by adding 1 to the value obtained by doubling the stability determination difference interval N (step S21 in FIG. 3: P ≧ 2N + 1, T2 section in FIG. 7), 2 The second differential value calculation unit 2c calculates a second differential value d ² Fn (n) of the motor frequency Fn (n) as follows.

First, a value obtained by subtracting the first-order delay Fn (n−N) of the previous corrected frequency from the first-order delay Fn (n) of the current corrected frequency is set as a current difference value dFn (n). Further, a value obtained by subtracting the first-order lag Fn (n−2N) of the frequency after the previous correction from the first-order lag Fn (n−N) of the previous corrected frequency is referred to as a previous difference value dFn (n−N). To do. Then, a value obtained by subtracting the previous difference value dFn (n−N) from the current difference value dFn (n) is set as a twice-differentiated value d ² Fn (n) of the motor frequency Fn (n) (step S23, ^{d 2 Fn (n) = Fn} (n) -2Fn (n-n) + Fn (n-2N)).
d ² Fn (n) = dFn (n) −dFn (n−N)
= (Fn (n) -Fn (n-N))-(Fn (n-N) -Fn (n-2N))
= Fn (n) -2Fn (n-N) + Fn (n-2N)

  Next, the control part 2 performs a once differential value calculation process by the once differential value calculation part 2e (step S6 of FIG. 2). This one-time differential value calculation process may be performed before the two-time differential value calculation process in step S5, or may be performed simultaneously with the two-time differential value calculation process.

  FIG. 4 is a flowchart showing details of the single differential value calculation process. First, the one-time differential value calculation unit 2e checks whether or not the pinch determination permission point Pb is set (step S31). The pinch determination permission point Pb is a value indicating the amount of movement of the window glass 7 when the pinch determination is permitted, and is set in step S11 of FIG. 2 described later.

  When the pinching determination permission point Pb has not yet been set (step S31 in FIG. 4: NO), the one-time differential value calculation unit 2e sets 0 as the one-time differential value dF (n) of the motor frequency F (n). (Step S33, dF (n) = 0).

  On the other hand, when the pinch determination permission point Pb is set in step S11 of FIG. 2 to be described later (step S31 of FIG. 4: YES), the one-time differential value calculation unit 2e performs the current movement amount P of the window glass 7. Is confirmed (step S32).

  When the current movement amount P of the window glass 7 is equal to or less than the value obtained by subtracting 1 from the pinching determination permission point Pb (step S32: P ≦ Pb−1, T5 section in FIG. 7), a differential value once. The calculation unit 2e sets 0 as a one-time differential value dF (n) of the motor frequency F (n) (step S33, dF (n) = 0).

  Further, when the current movement amount P of the window glass 7 is not less than the pinching determination permission point Pb and not more than a value obtained by adding a predetermined pinching determination difference interval M to the pinching determination permission point Pb (step S32: Pb ≦ P ≦ Pb + M, section T6 in FIG. 7), a value obtained by subtracting the corrected frequency F (Pb) at the time of the pinching determination permission point Pb from the current corrected frequency F (n) is the motor frequency F (n). One-time differential value dF (n) is set (step S34, dF (n) = F (n) −F (Pb)).

  Here, the reason for setting the differential value dF (n) once as described above is as follows. When performing a one-time differential operation from the corrected frequency in the movement amount P of the window glass 7 equal to or more than the pinching determination permission point Pb and the corrected frequency in the movement amount P + M away from the predetermined pinching determination difference interval M from P, When the movement amount P of the window glass 7 is Pa + M or less, the differential value cannot be calculated once. Therefore, in the section T6 in FIG. 7, the once-differentiated value dF (n) is forced to a value obtained by subtracting the corrected frequency F (Pb) at the pinching determination permission point Pb from the corrected frequency F (n) of this time. Is set.

  Further, when the current movement amount P of the window glass 7 is equal to or larger than a value obtained by adding the pinching determination difference interval M to the pinching determination permission point Pb and adding 1 to this (Step S32: P ≧ Pb + M + 1, (T7 section in FIG. 7), a value obtained by subtracting the previous corrected frequency F (n−M) from the current corrected frequency F (n) is set as a single differential value dF (n) of the motor frequency F (n). (Step S35, dF (n) = F (n) −F (n−M)).

  Next, the control unit 2 confirms whether or not the motor frequency is unstable (step S7 in FIG. 2). If the stability determination process in step S8 has not yet been executed, or if it is determined in the stability determination process in step S8 that the motor frequency is unstable, the control unit 2 determines that the motor frequency is unstable. (Step S7: YES), the stability determination process is executed by the stability determination unit 2d (Step S8).

FIG. 5 is a flowchart showing details of the stability determination process. First, the stability determination unit 2d confirms the current movement amount P of the window glass 7 (step S41). And when the movement amount P of the current window glass 7 is equal to or less than a predetermined activation mask value Pa (step S41: P ≦ Pa, T3 section in FIG. 7), the stability determination unit 2d, It is determined whether or not the absolute value of the twice-differentiated value d ² Fn (n) of the motor frequency Fn (n) is equal to or less than a predetermined stability threshold Q (step S42 in FIG. 5).

Here, the activation mask value Pa is a value indicating the amount of movement of the window glass 7 for forcibly permitting the determination of pinching. As a result of determining whether or not the motor frequency is stable based on the twice differential value d ² Fn (n) of the motor frequency Fn (n) in the stability determination process in step S8 of FIG. 2, the motor frequency Fn (n ) Is not stable, the pinching determination process in step S12 in FIG. 2 is not executed. In order to avoid this, the activation mask value Pa is set, and when the movement amount P of the window glass 7 exceeds the activation mask value Pa, the stability determination process is forcibly terminated and the process is shifted to the pinching determination.

  The stability threshold Q is set to a value close to zero. For example, the stability threshold Q may be determined in consideration of the variation of the twice differential value of the motor frequency obtained experimentally.

If the absolute value of the twice differentiated value d ² Fn (n) is not less than or equal to the stability threshold Q (step S42: NO), the stability determination unit 2d determines that the motor frequency is unstable (step S43). Then, the stability determination unit 2d initializes a condition satisfaction counter value C for counting the number of times that the stability determination condition is continuously satisfied to 0 (step S48). The initial value of the condition satisfaction counter value C is 0.

On the other hand, if the absolute value of the twice differential value d ² Fn (n) is equal to or smaller than the stability threshold Q (step S42: YES), the stability determination unit 2d adds 1 to the condition satisfaction counter value C (step S44). . Then, the stability determination unit 2d checks whether or not the condition satisfaction counter value C is equal to the predetermined value Ca (step S45). The predetermined value Ca is an integer of 2 or more, and for example, in FIG. 7, Ca = 3 is set.

  If the condition satisfaction counter value C is different from the predetermined value Ca (step S45: NO), the stability determination unit 2d determines that the motor frequency is unstable (step S43). On the other hand, if the condition satisfaction counter value C is equal to the predetermined value Ca (step S45: YES), the stability determination unit 2d determines that the motor frequency is stable (step S46). As described above, after determining whether the motor frequency is stable or unstable, the stability determining unit 2d initializes the condition satisfaction counter value C to 0 (step S48).

  Further, when the current movement amount P of the window glass 7 is equal to or larger than the value obtained by adding 1 to the activation mask value Pa (step S41: P ≧ Pa + 1, T4 section in FIG. 7), the stability determination unit 2d permits the pinching determination. An instruction is output (step S47 in FIG. 5). Then, the stability determination unit 2d initializes the condition satisfaction counter value C to 0 (step S48).

  If it is determined by the above-described stability determination process that the motor frequency is unstable (step S9: NO in FIG. 2) and the pinch determination permission instruction is not output (step S10: NO), the control unit 2 However, the pinch determination is not permitted, and the processes after step S3 are repeatedly executed.

  On the other hand, when it is determined that the motor frequency has been stabilized by the above stability determination process (step S9: YES), or when a pinch determination permission instruction is output (step S10: YES), the control unit 2 Allow pinching determination. Then, the control unit 2 sets a value obtained by adding 1 to the current movement amount P of the window glass 7 as the pinch determination permission point Pb (step S11), and executes the pinch determination process by the pinch determination unit 2f ( Step S12).

  FIG. 6 is a flowchart showing details of the pinching determination process. The pinch determination unit 2f has a negative differential value dF (n) of the motor frequency F (n) as a pinch determination condition (dF (n) <0) and a single differential value dF (n). Is determined to be equal to or greater than a predetermined sandwiching threshold R (| dF (n) | ≧ R) (step S51).

  When foreign matter is caught in the window 6, the motor frequency F (n) decreases, so the difference (dF (n) = F (n) −F (n−M) of the motor frequency F (n) is negative. On the contrary, when the motor frequency F (n) increases, the difference in the motor frequency F (n) becomes a positive value, and therefore, the decreasing tendency of the motor frequency F (n) due to the pinching is detected. For this reason, it is added to the pinching determination condition that the one-time differential value dF (n) of the motor frequency F (n) is a negative value.

  If the first differential value dF (n) of the motor frequency F (n) is 0 or a positive value or the absolute value of the single differential value dF (n) is less than the sandwiching threshold value R in step S51. (Step S51: NO), the pinch determination unit 2f determines that no foreign object is pinched in the window 6 (Step S53).

  On the other hand, when a foreign object is caught in the window 6, as shown in FIG. 7, the motor frequencies F (n) and Fn (n) monotonously decrease, and the once differentiated value dF of the motor frequency F (n). (N) goes up. When the once-differentiated value dF (n) is a negative value and the absolute value of the once-differentiated value dF (n) is greater than or equal to the sandwiching threshold value R (step S51 in FIG. 6: YES), the sandwiching determination unit 2f Determines that there is a foreign object caught in the window 6 (step S52).

  If it is determined that there is no pinching by the pinching determination process (step S13: NO in FIG. 2), the control unit 2 determines whether or not the closing operation condition is not satisfied (step S14).

  At this time, for example, when the manual closing operation of the PW operation unit 3 performed in step S1 is continued until step S14, or after the PW operation unit 3 is automatically closed in step S1, the process proceeds to step S14. If no other state has been operated, the closing operation by the PW operation unit 3 is valid in step S14. In addition to this, when it is detected from the amount of movement of the window glass 7 that the window glass 7 has not reached the fully closed position, the control unit 2 determines that it does not deviate from the closing operation condition (step S14: NO). And the control part 2 continues the closing operation of the window glass 7, and repeatedly performs the process after step S3.

  In that case, after executing Steps S3 to S6, the control unit 2 determines that the motor frequency is not unstable in Step S7 (Step S7: NO), and then executes the pinching determination process in Step S12.

  On the other hand, for example, when the manual closing operation of the PW operation unit 3 performed in step S1 is canceled in step S14, or after the PW operation unit 3 is automatically closed in step S1, the process reaches step S14. If it has been operated to another state by the time, the closing operation by the PW operation unit 3 is disabled in step S14. For this reason, the control part 2 determines with having remove | deviated from closing operation conditions (step S14: YES). Moreover, for example, also when the window glass 7 has reached the fully closed position, the control unit 2 determines that it has deviated from the closing operation condition (step S14: YES). And the control part 2 stops the drive of the motor 9, and stops the closing operation of the window glass 7 (step S15).

  Further, when it is determined by the pinching determination process in FIG. 6 that there is pinching (step S13 in FIG. 2: YES), the control unit 2 stops driving the motor 9 and stops the closing operation of the window glass 7. Then, the motor 9 is reversed and the opening operation of the window glass 7 is executed by a predetermined amount (step S16). As another example, the closing operation of the window glass 7 may be stopped.

According to the first embodiment, when the window glass 7 is closed, the second-order differential value d ² Fn (n) of the motor frequency (first-order lag of the corrected frequency) Fn (n) representing the driving state of the motor 9, That is, based on the comparison result between the difference value of the motor frequency Fn (n) and the stability threshold Q, it is determined whether or not the motor frequency Fn (n) is stable. At this time, even if the twice differential value d ² Fn (n) is a positive value or a negative value, if the absolute value is equal to or less than the stability threshold Q, the motor frequency Fn (n) is Judged to be stable. When it is determined that the motor frequency Fn (n) is stable, it is determined whether foreign objects are caught in the window 6 based on the motor frequency (corrected frequency) F (n) and the sandwiching threshold value R. ing.

  That is, until the motor frequencies Fn (n) and F (n) are stabilized, the presence / absence of pinching is not determined based on the motor frequency F (n) and the pinching threshold value R, so that the window glass 7 is closed. Even if the driving state of the motor 9 becomes unstable due to mechanical factors immediately after the motor 9 is started, it is possible to prevent erroneous detection of foreign matter caught in the window 6.

  Further, in the first embodiment, the presence / absence of foreign matter being caught in the window 6 is determined based on the comparison result between the once differentiated value dF (n) of the motor frequency F (n) and the sandwiching threshold value R. Yes. That is, since the presence / absence of pinching is determined based on the comparison result between the difference value of the motor frequency F (n) and the pinching threshold value R, pinching detection accuracy can be improved.

Furthermore, in the first embodiment, when the absolute value of the twice-differentiated value d ² Fn (n) of the motor frequency Fn (n) becomes equal to or less than the stable threshold Q for a plurality of times, the motor frequency Fn (n ) Is determined to be stable. For this reason, even if the motor frequency Fn (n) vibrates up and down at short intervals, it is possible to increase the accuracy of determination as to whether or not the motor frequency Fn (n) is stable.

  Next, the configuration of the second embodiment will be described with reference to FIG.

  A PW control system 100 ′ according to the second embodiment is mounted on an automobile and includes a PW control device 1 ′ and other components 6 to 9.

  In the PW control device 1 of the first embodiment described above, the motor frequency is detected as a physical quantity representing the driving state of the motor 9, but in the PW control device 1 ′ of the second embodiment, the motor 9 is replaced with the motor frequency. The flowing current is detected. The PW control device 1 ′ is an example of the “opening / closing body control device” of the present invention.

  The PW control device 1 ′ includes a control unit 2, a PW operation unit 3, and a drive unit 4. The control unit 2 includes a storage unit 2b ', a two-time differential value calculation unit 2c', a stability determination unit 2d ', a single differential value calculation unit 2e', and a pinch determination unit 2f '. The drive unit 4 is provided with a current detection unit 4a.

  The current detection unit 4 a includes a circuit for detecting a current flowing through the motor 9. The current value detected by the current detection unit 4a is an example of a physical quantity representing the driving state of the motor 9, and is hereinafter referred to as “motor current”.

  During the closing operation of the window glass 7, the current detection unit 4 a sequentially detects the motor current and outputs it to the control unit 2. The control unit 2 sequentially stores the motor current output from the current detection unit 4a in the storage unit 2b '. The current detection unit 4a is an example of the “detection unit” in the present invention.

  In addition, when the window glass 7 is closed, the twice differential value calculation unit 2c 'calculates the differential value of the motor current, that is, the difference value of the difference value of the motor current. The stability determination unit 2d ′ compares the twice differential value calculated by the twice differential value calculation unit 2c ′ with a preset stability threshold, and whether the motor current is stable based on the comparison result. Determine whether or not. The double differential value calculation unit 2c 'is an example of the "double differential value calculation means" in the present invention. The stability determination unit 2d 'is an example of the "stability determination unit" in the present invention.

  Further, when the window glass 7 is closed, the once differential value calculation unit 2e 'calculates a single differential value of the motor current, that is, a difference value of the motor current. When it is determined that the motor current is stable by the stability determination unit 2d ′, the pinch determination unit 2f ′ has a once-differential value calculated by the one-time differential value calculation unit 2e ′ and a preset pinching threshold value. And the presence / absence of foreign matter caught in the window 6 is determined based on the comparison result. The one-time differential value calculation unit 2e 'is an example of the "one-time differential value calculation means" in the present invention. The pinching determination unit 2f ′ is an example of the “pinching determination unit” in the present invention.

  The motor current detected by the PW control device 1 ′ of the second embodiment exhibits a behavior opposite to the motor frequency detected by the PW control device 1 of the first embodiment.

  That is, when the load applied to the motor 9 is reduced, the motor frequency is increased while the motor frequency is decreased. Further, when the load applied to the motor 9 is increased, the motor frequency is decreased while the motor frequency is decreased. When a foreign object is caught in the window 6, the load applied to the motor 9 increases, so that the motor frequency monotonously decreases while the motor current monotonously increases.

  The operation of the PW control device 1 ′ when closing the window glass 7 is substantially the same as the operation of the PW control device 1. That is, in each process of FIGS. 2 to 6, “motor frequency” may be replaced with “motor current”.

  According to the second embodiment, when the window glass 7 is closed, whether or not the motor current is stabilized based on the comparison result between the twice differential value of the motor current representing the driving state of the motor 9 and the stability threshold value. Determine. When it is determined that the motor current is stable, the presence / absence of foreign object pinching in the window 6 is determined based on the motor current and the pinching threshold value. That is, until the motor current is stabilized, the presence / absence of pinching is not determined based on the motor current and the pinching threshold value. Therefore, immediately after the start of the motor 9 for closing the window 6, the driving of the motor 9 due to mechanical factors is performed. Even if the state becomes unstable, it is possible to prevent erroneous detection of foreign matter caught in the window 6.

  The present invention can employ various embodiments other than those described above. For example, in the above embodiment, as shown in FIG. 2, after the motor frequency is detected, the second and first differential values of the motor frequency are calculated, and then the stability determination process and the pinch determination process are performed. Although an example is shown, the present invention is not limited to this. In addition to this, for example, after the motor frequency is detected and before the stability determination process is performed, only the second derivative value may be calculated without calculating the first derivative value of the motor frequency. Then, after it is determined that the motor frequency is stable in the stability determination process, the differential value of the motor frequency may be calculated only once instead of calculating the differential value of the motor frequency before performing the pinching determination process.

  Moreover, although the example which detected the motor frequency or the motor current was shown as a physical quantity showing the drive state of the motor 9 in the above embodiment, this invention is not limited only to this. In addition to this, other physical quantities such as the number of rotations of the motor, the load, or the frequency of ripples included in the current flowing through the motor may be detected. As for the ripple frequency, for example, the fluctuation of the ripple is extracted by passing a signal output from a current detection unit that detects a current flowing through the motor through a band-pass filter having a predetermined frequency characteristic. The ripple frequency can be detected by comparing the fluctuation of the ripple with a predetermined threshold. After detecting the physical quantity indicating the driving state of the motor, it is only necessary to detect the pinching after detecting that the physical quantity is stable based on the physical quantity and a predetermined threshold.

  Moreover, although the above embodiment showed the example which determined the presence or absence of pinching based on the comparison result of the 1st derivative value of a motor frequency or a motor current, and a pinching threshold value, this invention is limited only to this. It is not a thing. In addition to this, for example, after calculating other calculation values such as a correction value of a physical quantity representing a driving state of the motor 9 or a second derivative value, based on a comparison result between the calculation value and the sandwiching threshold value, The presence or absence of pinching may be determined. Further, the stability determination process and the sandwiching determination process may be performed based on different physical quantities.

  Furthermore, in the above embodiment, although the example which applied this invention to the PW (power window) control apparatus 1 and 1 'of the motor vehicle was given, it is not restricted to this. The present invention can also be applied to other opening / closing body control devices that control the opening / closing operation of the opening / closing body of the vehicle, such as an electric opening / closing roof.

DESCRIPTION OF SYMBOLS 1, 1 'PW (power window) control apparatus 2a Frequency detection part 2c, 2c' Two-time differential value calculation part 2d, 2d 'Stability determination part 2e, 2e' One-time differential value calculation part 2f, 2f 'Entrapment determination part 4a Current detection unit 6 Window 7 Window glass 9 Motor 10 Rotary encoder Q Stability threshold R Clamping threshold

Claims (7)

In an opening / closing body control device for controlling driving of a motor for opening / closing an opening / closing body of a vehicle,
Detecting means for sequentially detecting a physical quantity representing a driving state of the motor during the closing operation of the opening and closing body;
A double differential value calculating means for calculating a double differential value of the physical quantity detected by the detecting means;
Stability determination means for determining whether or not the physical quantity is stable based on a result of comparing the twice differential value calculated by the twice differential value calculating means and a preset stability threshold;
Pinching determination means for determining whether foreign matter is caught in the opening / closing body based on the physical quantity and a preset pinching threshold when the stability determination means determines that the physical quantity is stable; An opening / closing body control device comprising: In the opening-closing body control apparatus of Claim 1,
A single differential value calculating means for calculating a single differential value of the physical quantity;
The pinching determination means determines whether or not foreign matter is pinched in the opening / closing body based on a result of comparing the single differential value calculated by the single differential value calculation means and the pinching threshold value. An opening / closing body control device. In the opening-closing body control apparatus of Claim 1 or Claim 2,
The open / closed body control device, wherein the stability determining means determines that the physical quantity is stable when the twice-differentiated value is continuously equal to or less than the stability threshold value a plurality of times. In the opening-closing body control apparatus in any one of Claim 1 thru | or 3,
When the movement amount of the opening and closing body exceeds a predetermined value without determining that the physical quantity is stable by the stability determination means,
The opening / closing body control device, wherein the pinching determination means determines whether or not a foreign object is caught in the opening / closing body. In the opening-closing-body control apparatus in any one of Claim 1 thru | or 4,
The opening / closing body control apparatus, wherein the detection means sequentially detects the frequency of the pulse signal output from the output means for outputting a pulse signal corresponding to the driving state of the motor as the physical quantity. In the opening-closing-body control apparatus in any one of Claim 1 thru | or 4,
The opening / closing body control device, wherein the detecting means sequentially detects a current flowing through the motor as the physical quantity. In the opening-closing-body control apparatus in any one of Claim 1 thru | or 4,
The opening / closing body control apparatus, wherein the detecting means sequentially detects a frequency of a ripple included in a current flowing through the motor as the physical quantity.

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