JP7273011B2 - moving body moving device - Google Patents

Description

The present invention relates to a moving body moving device.

An example of a moving body moving device that moves a moving body by driving a driving unit is a rear door opening/closing device used for a tailgate of a vehicle.
In such a moving body moving apparatus, a control unit comprising a CPU or the like controls the rotation speed of a driving motor provided in a driving unit based on a predetermined target moving speed rule, while controlling the forward rotation direction or the rotation speed. The drive motor is rotationally driven in the reverse direction. Thereby, the movable body moves from the fully open position to the fully closed position or from the fully closed position to the fully open position.

By the way, an example of a device including a control method for detecting entrapment caused by an unexpected object interfering with the moving body during movement when moving the moving body from the fully open position toward the fully closed position is as follows. There is known a device for judging entrapment based on the period of pulses synchronized with the rotation of the drive in the drive unit (see "Patent Document 1").

For detection of such entrapment, a threshold corresponding to the position of the opening and closing member and the drive voltage is obtained from the table, and the detection control of the control method that detects entrapment when the actual drive voltage falls below the threshold is improved. In order to do so, a detection method is disclosed in which the average value of the period of the pulse signal is obtained in an updating manner, the corresponding threshold value is obtained from a preset table, and when the threshold value is exceeded, it is determined that an entrapment has occurred. .

JP-A-2000-248834

In this method of detecting entrapment, a threshold value for the opening/closing position of the opening/closing body and the average value of the pulse period is sequentially read with respect to the movement of the opening/closing body from the time when the opening/closing body is fully opened to the time when the opening/closing body is fully closed, and it is determined whether or not a foreign object has been caught. In addition, although the above description uses the determination based on the read pulse period, the read torque value (calculated from the read current value, the driving voltage value, the motor rotation speed, etc.) and the open/close position A method of determining whether or not a foreign object is caught is also conceivable by comparing the corresponding threshold values.
However, the opening/closing body not only opens and closes from the fully closed position or the fully opened position, but may not be able to fully open due to weather or space constraints. Irrespective of the operation, it is necessary to stop the opening/closing body at an intermediate position, and to perform work such as removing it from the opening or the like.
In such a case, the opening/closing body must start moving not from the fully open position but from an intermediate position between the fully closed position and the fully open position. In this case, the movement speed and torque value with respect to the absolute position of the opening and closing body are the case of driving from the fully closed (fully open) position to the fully open (fully closed) position, and the opening (closing) operation from the halfway position when stopped. In the case, the period from the stop state to the start of movement until reaching a predetermined speed is different.
In particular, when the method for judging entrapment, which will be described later, is the torque value, inrush current is generated in inverse proportion to the rotational speed of the motor. It becomes a large value until it reaches a predetermined speed.
Therefore, when the opening/closing body starts to move from a midway position, the determination based on the threshold value according to the absolute position of the opening/closing body results in an erroneous determination of pinching, so starting from the midway position is considered. Then, measures must be taken to degrade the pinch detection performance, such as alleviating the threshold values so as not to make erroneous judgments, or preventing the judgment itself from being made for a certain period of time from the start of the operation.

An object of the present invention is to solve an abnormality related to movement obstruction such as entrapment due to a torque value driving a motor even when a moving body that has stopped halfway between two points is moved toward one position. It is an object of the present invention to provide a moving body moving device capable of detecting

The problems to be solved by the present invention are as described above, and the means for solving these problems will now be described.

That is, the moving body moving apparatus of the present invention includes a moving body, a driving unit for moving the moving body, a sensor for detecting the position of the moving body, and a movement speed rule for determining the movement of the moving body as a predetermined movement. and a controller for controlling the driving of the driving unit based on the position of the moving body, wherein the controller applies a predetermined allowable load torque to the driving unit according to the position of the movable body. and the allowable load torque rule corrects the allowable load torque rule with a correction value according to the movement of the moving body based on the movement start position of the moving body.

As effects of the present invention, the following effects are obtained.
That is, according to the moving body moving apparatus of the present invention, the moving body that has stopped midway at any position between two points represented by the fully open position and the fully closed position is moved toward one of the positions such as the fully closed position. Even in the case of moving by holding, it is possible to easily detect an abnormality related to obstruction of movement such as pinching.

1 is a diagram showing a schematic configuration of a vehicle equipped with a moving body moving device according to an embodiment of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view for explaining a vehicle equipped with a moving body moving device according to an embodiment of the present invention, and is a view of the rear part of the vehicle seen from the side; It is a figure for demonstrating the structure of a drive device. 1 is a diagram showing a control system of a moving body moving device according to an embodiment of the present invention; FIG. 3 is a block diagram mainly showing the configuration of an arithmetic processing unit; FIG. FIG. 4 is a graph showing changes in door speed and load torque when the back door is closed from the fully open position, and FIG. and (b) is a diagram showing the relationship between the door opening degree of the back door and the load torque of the driving device. FIG. 4 is a graph showing changes in door speed and load torque when the back door is closed from a position halfway between the fully open position and the fully closed position, where (a) is the door opening degree of the back door; and door speed, and (b) is a diagram showing the relationship between the door opening degree of the back door and the load torque of the driving device.

Next, a moving body moving device 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG.
In the following description, for the sake of convenience, the vertical direction, the front-rear direction, and the left-right direction of the vehicle 100 are defined by the directions of the arrows shown in FIGS. 1 and 2 .
Also, the direction of arrow A shown in FIG. describe.

[Overall Configuration of Mobile Device 1]
First, the overall configuration of the moving body moving device 1 will be described with reference to FIGS. 1, 2 and 4. FIG.
A moving body moving device 1 according to the present embodiment is a device that moves a moving body, which is an object, in a predetermined direction by a driving unit having a driving motor.
As an example of such a mobile body moving device 1, for example, in a vehicle body 101 of a vehicle 100 as shown in FIG. A back door opening/closing device for vertically moving (rotating) the back door 102 may be used.

The structure of the moving body moving device 1 is not limited to the back door opening/closing device in this embodiment. It can also be adopted as a sliding door opening and closing device.
In addition, the moving body moving device 1 can be used as a shutter, sliding door, or hinged door installed in a structure such as a store or a garage, or a folding canopy placed above an opening in front of the structure. It can also be adopted as an opening and closing device.
That is, the moving body moving device 1 according to the embodiment of the present invention is not limited to the back door opening/closing device for opening and closing the back door 102 as described above, but can move an article or structure, which is an object to be moved, up and down. It can be applied to various devices that move in a direction, left and right, or obliquely.

The moving body moving device 1 mainly includes a back door 102 which is an example of a moving body, a driving unit 2 for moving the back door 102 in the opening direction and the closing direction, and a rotation sensor 3 provided in the driving unit 2 (see FIG. 5). ), and a control unit 4 that controls driving of the driving unit 2 .

As shown in FIG. 2, the back door 102 is provided at the upper end portion of the vehicle body 101 of the vehicle 100 so as to be vertically movable (rotatable) via a hinge 103 or the like.
In addition, the drive unit 2 is configured so that a member on the tip side (specifically, an operation member 22A described later) can advance and retreat in the length direction, and is arranged on both left and right sides of the rear portion of the vehicle body 101 (Fig. 1).
The details of the configuration of the drive unit 2 will be described later.

The two driving units 2 are rotatably connected to the back door 102 on both left and right sides of the rear portion of the vehicle 100 .
Specifically, the driving section 2 is rotatably connected to the vehicle body 101 via a second connecting section 27 of a holding member 22B, which will be described later. In addition, the drive unit 2 is rotatably connected to the back door 102 via the first connecting portion 26 of the operating member 22A that advances and retreats relative to the holding member 22B.

The rotation sensor 3 is an example of a sensor that detects the position of the back door 102, and detects the opening/closing speed (door speed), moving direction (opening direction or closing direction), and position (door opening degree) of the back door 102. do. The rotation sensor 3 can transmit information about the door opening to the control unit 4 as a door opening detector.
The rotation sensor 3 includes, for example, a disc penetrating the drive shaft 21a (see FIG. 3) of the drive motor 21 provided in the drive unit 2, magnets arranged on the disc at different intervals in the circumferential direction, It is composed of a Hall element or the like arranged at a position facing the magnet.

Then, when the drive motor 21 is operated and the drive shaft 21a is rotated, the Hall element captures the magnet that moves along with the rotation of the drive shaft 21a, and pulses at a period corresponding to the number of revolutions of the drive shaft 21a. Output a signal.

A pulse signal output from the Hall element is sent to the controller 4 .
Then, the control unit 4 to which the pulse signal is input detects the rotation speed of the driving motor 21, that is, the opening/closing speed (door speed) of the back door 102, based on the period of the pulse signal.

Further, the control unit 4 detects the rotation direction of the drive motor 21, that is, the moving direction (opening direction or closing direction) of the back door 102, based on the timing of appearance of the pulse signal input from the hall element. .

Further, the control unit 4 detects the position (door opening) of the back door 102 by accumulating pulse signals starting from the time when the back door 102 reaches the reference position (fully open position P1 or fully closed position P2). It is designed to
Here, the “fully open position P1” means a position in which the back door 102 is completely opened and is in the “open position”. Further, the “fully closed position P2” means a position where the back door 102 is completely closed and is in a “closed position”.

Note that the configuration of the rotation sensor 3 is not limited to that of the present embodiment, and may be composed of, for example, a resolver, a rotary encoder, or the like.
Also, the rotation sensor 3 may be configured by a proximity sensor, an overcurrent displacement sensor, a photoelectric sensor, a laser sensor, or the like.
Furthermore, the opening/closing speed (door speed) and moving direction (opening direction or closing direction) of the back door 102 are detected via a voltage detection circuit unit 42 (see FIG. 4) of the control unit 4, which will be described later. It may be determined based on the voltage or current supplied to the drive motor 21 .

The control unit 4 is composed of, for example, an ECU (Electronic Control Unit) that controls each part of the vehicle 100 (see FIG. 1), and controls and monitors each part of the mobile device 1 .
As shown in FIG. 4, the control unit 4 includes an arithmetic processing unit 41, a plurality of voltage detection circuit units 42 connecting the arithmetic processing unit 41 and each driving unit 2, and the like.

In this embodiment, since two drive units 2 are provided, one drive unit 2 is appropriately described as drive unit 2X, and the other drive unit 2 is described as drive unit 2Y.
Further, for convenience, when referring to a specific component in association with the drive unit 2X, the reference numeral of the component is given the symbol "X", and when referring to the component in association with the drive unit 2Y, The reference numeral for that component is suffixed with the symbol "Y".

The arithmetic processing unit 41 is configured by a CPU (Central Processing Unit) and has a control signal arithmetic unit 41C (see FIG. 5) including a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
Then, the arithmetic processing unit 41 reads a program corresponding to the processing content from the ROM, expands it in the RAM, and executes various controls in cooperation with the expanded program.
The details of the configuration of the arithmetic processing unit 41 will be described later.

Each voltage detection circuit section 42 is configured by an electric circuit including resistors R1 to R5.
The control unit 4 detects the voltage signal in the driving motor 21X of the driving unit 2X via the voltage detection circuit unit 42X, and detects the voltage signal in the driving motor 21Y of the driving unit 2Y via the voltage detection circuit unit 42Y. By detecting , the load torque of these drive units 2X and 2Y is monitored.

Since the torque values exerted by the drive units 2X and 2Y are proportional to the current values supplied to the drive units 2X and 2Y, the control unit 4 detects the current signal in the drive motor 21X of the drive unit 2X. Further, by detecting the current signal in the drive motor 21Y of the drive section 2Y, the load torque of these drive sections 2X and 2Y may be monitored.

In the moving body moving device 1 configured as described above, for example, when the operation member 22A of the drive unit 2 advances in response to a control signal from the control unit 4, the back door 102 is moved downward by the operation member 22A. is pushed up from and moves in the opening direction.
Further, when the operating member 22A of the drive unit 2 retreats in response to the control signal from the control unit 4, the back door 102 moves in the closing direction according to the operation of the operating member 22A.

In this embodiment, the two drive units 2X and 2Y are driven in the same direction in synchronization (specifically, the operating members 22AX and 22AY advance or retreat in the same direction). However, it is not limited to this.
That is, with respect to the vehicle body 101, the movement of the back door 102 in the opening direction (movement in the direction in which the opening 101a is opened) and the movement in the closing direction (movement in the direction in which the opening 101a is closed). movement), for example, a configuration in which these drive units 2X and 2Y are synchronized and driven in different directions (specifically, a configuration in which the operating members 22AX and 22AY advance or retreat in different directions). Alternatively, the driving units 2X and 2Y may be driven by different amounts of driving (specifically, the moving amounts of the operating members 22AX and 22AY are different from each other).

In addition, in the present embodiment, two driving units 2 are provided, but the present invention is not limited to this.
For example, it is possible to replace one of the drive sections 2 with a support section, a damper mechanism, or the like, which has a configuration in which the drive motor 21 as a power source is omitted from the configuration of the drive section 2 .
In other words, it is sufficient that at least one driving unit 2 is provided in the moving body moving device 1 .

[Configuration of Drive Unit 2]
Next, details of the configuration of the drive unit 2 will be described with reference to FIG.
The drive unit 2 is composed of an extendable rod-shaped actuator, and includes a drive main body portion arranged on one side in the axial direction, and an advancing/retracting portion arranged on the other side in the axial direction and provided so as to be retractable from the drive main body portion. Consists of
Further, the drive unit 2 is rotatably connected to the vehicle body 101 at one end of the drive main body, and rotatably connected to the back door 102 at the other end of the forward/retreat portion.

The drive unit 2 converts rotational motion of a drive motor or the like into linear motion in the axial direction, and is configured to extend and contract by moving the forward/backward movement portion with respect to the main drive unit.
In the drive unit 2 having such a configuration, the back door 102 (see FIG. 1) is moved to the fully open position P1 (see FIG. (see ).
In addition, the back door 102 is moved toward the fully closed position P2 (see FIG. 2) by retracting the advance/retreat portion toward one side in the axial direction with respect to the drive body portion.

The structure, shape, arrangement position, and the like of the drive unit 2 are not particularly limited to those of the present embodiment, as long as the drive unit 2 can open and close the back door 102 .

The drive unit 2 includes, for example, a drive motor 21 as a power source, an operating member 22A that operates in a forward and backward direction (a direction parallel to the direction of arrow A in FIG. 3) by driving the drive motor 21, and a housing 22 with the operating member 22A. , an urging member 23 that urges the operating member 22A against the holding member 22B, a spindle 24 that rotates when driven by the drive motor 21, and the like.
In addition, the operating member 22A has a spindle nut 25 to be screwed with the spindle 24, and the like.
Here, in the present embodiment, the drive motor 21, the holding member 22B, the biasing member 23, the spindle 24, etc. correspond to the drive body portion, and the operating member 22A, the spindle nut 25, etc. correspond to the advancing/retracting portion.

In the following description, the direction in which the operating member 22A is separated from the holding member 22B (the direction of the arrow A) is appropriately referred to as the "advancing direction side", and the operating member 22A is positioned relative to the holding member 22B. The direction side (the side opposite to the arrow A) that is physically close to the direction of movement will be referred to as the "backward direction side" as appropriate.

The actuating member 22A is a bottomed cylindrical member having an open end face on one side in the axial direction, and the closed end face 22A1 is provided with a first connecting portion 26, for example, a ball joint.
The operating member 22A is rotatably connected to a mounting member (not shown) provided on the back door 102 via the first connecting portion 26 .

Note that the configuration of the first connecting portion 26 is not limited to the configuration in which it is directly connected to the back door 102 as shown in the present embodiment. It may be configured to be connected to the back door 102 via.

The holding member 22B is a bottomed cylindrical member with an open end surface on the other side in the axial direction, and its inner diameter is set larger than the outer diameter of the operating member 22A.
Further, the closed end surface 22B1 of the holding member 22B is provided with a second connecting portion 27, which is, for example, a ball joint, similarly to the above-described first connecting portion 26. Through the second connecting portion 27, the holding member 22B is rotatably connected to a mounting member (not shown) provided at the rear portion of the vehicle body 101 (see FIG. 1).

The configuration of the second connecting portion 27 is not limited to the configuration in which it is directly connected to the rear portion of the vehicle body 101 as shown in this embodiment. It may be configured to be connected to the rear portion of the vehicle body 101 via a mechanism.

Both the operating member 22A and the holding member 22B are coaxially arranged, and inside the holding member 22B, the operating member 22A is configured to be axially movable relative to the holding member 22B.

Here, the internal space of the holding member 22B is divided into a closed end surface side space portion 22B3 located on the closed end surface 22B1 side and an open surface side space portion provided on the open surface side by a partition wall portion 22B2 provided parallel to the closed end surface 22B1. 22B4 and is isolated.
The inner space 22A2 of the operating member 22A communicates with the open surface side space 22B4 of the holding member 22B by inserting one end of the operating member 22A into the holding member 22B. It has become.

Thus, the space 29 defined with respect to the outside of the housing 22 by the operating member 22A and the holding member 22B includes a first space 29A consisting of a closed end face side space 22B3, an open face side space 22B4 and a first space 29A. It is configured by a second space portion 29B made up of the inner space portion 22A2.

In the first space 29A of the housing 22, the drive motor 21 is arranged with the drive shaft 21a directed toward the operating member 22A (advancing direction side).
Further, in the second space 29B of the housing 22, a hollow cylindrical rotation restricting member 28 for restricting the rotational movement of the operating member 22A is provided together with the biasing member 23, the spindle 24, the spindle nut 25, etc., as will be described later. is arranged coaxially with the holding member 22B.

The rotation restricting member 28 is arranged radially outside the operating member 22A and coaxially with the operating member 22A in the open surface side space 22B4 of the holding member 22B.
In addition, the rotation restricting member 28 is fixed to the partition wall portion 22B2 of the holding member 22B at the end on the backward direction side.

A side surface of the rotation restricting member 28 is formed with a slit 28a extending in the axial direction.
On the other hand, on the outer peripheral surface of the operation member 22A, a convex portion 22A3 that can be fitted into the slit 28a is formed at the end portion on the backward direction side.

The actuating member 22A is axially slidable with respect to the rotation restricting member 28 while the projection 22A3 is fitted in the slit 28a of the rotation restricting member 28. As shown in FIG.
As a result, the operating member 22A is configured to reliably move relative to the holding member 22B in the axial direction while being restricted from moving in the axial direction.

The biasing member 23 is composed of an elastic member such as a coil spring, and its outer diameter is set to be smaller than the inner diameter of the operating member 22A, while its inner diameter is set to be larger than the outer diameter of the spindle 24 and the spindle nut 25. It is set sufficiently large compared to the diameter.

The biasing member 23 is arranged coaxially with the operating member 22A (or the holding member 22B) in the second space 29B.
In addition, the biasing member 23 abuts on the partition wall portion 22B2 of the holding member 22B at one end (the end in the backward direction in this embodiment), and the other end (the end in the backward direction in this embodiment). , the end on the advance direction side) is arranged in contact with the closed end face 22A1 of the operating member 22A.
As a result, the operating member 22A is always urged by the urging member 23 so as to move in the advancing direction in the axial direction with respect to the holding member 22B.

The biasing member 23 has one end fixed to the partition wall 22B2 of the holding member 22B and the other end fixed to the closing end surface 22A1 of the operating member 22A so as to generate a predetermined biasing force in the axial direction. good too.

The spindle 24 is made of a round bar-shaped member, and is provided with a convex male screw portion 24a formed spirally in the axial direction on its outer peripheral surface.

The spindle 24 is arranged coaxially with the drive shaft 21a of the drive motor 21 and radially inside the biasing member 23 in the second space 29B.
Further, the spindle 24 is rotatably supported in the axial direction at the end 24b on the backward direction side via the first bearing member 11 fixed to the partition wall 22B2, and at the end 24c on the forward direction side. , the inner peripheral surface of a spindle nut 25, which will be described later, is rotatably supported in the axial direction via a second bearing member 12 which is slidable in the axial direction.

The spindle 24 is connected to the drive shaft 21a of the drive motor 21 via a commercially available shaft coupling 13 at the tip of the end portion 24b.
As a result, when power is supplied based on a control signal from the control unit 4 (see FIG. 4) to be described later and the drive motor 21 is driven, the spindle 24 is rotated in the axial direction.

The spindle nut 25 is a hollow cylindrical member, and is arranged coaxially with the spindle 24 and radially inside the biasing member 23 in the inner space 22A2 of the operating member 22A.
Further, on the inner peripheral surface of the spindle nut 25, a female threaded portion 25a formed in a helical shape in the axial direction is provided at the end portion on the backward direction side.

The spindle nut 25 has one end (the end in the backward direction) screwed with the male threaded portion 24a of the spindle 24 via the female threaded portion 25a, and the other end (the end in the advance direction). end) with the closed end face 22A1 of the actuating member 22A.
Accordingly, when the spindle 24 is rotated in the axial direction by driving the drive motor 21, the spindle nut 25 is rotated relative to the spindle 24 and moves in the axial direction of the spindle 24 together with the operating member 22A.

Specifically, when the spindle 24 is rotated to a predetermined side in the axial direction, the spindle nut 25 moves in the advancing direction side in the axial direction of the spindle 24 together with the operating member 22A.
Further, when the spindle 24 is rotated in the direction opposite to the predetermined side in the axial direction, the spindle nut 25 moves in the backward direction side in the axial direction of the spindle 24 together with the operating member 22A.

In the drive unit 2 configured as described above, when the drive motor 21 is driven, the spindle 24 is rotated in the axial direction, and the operating member 22A is axially moved via the spindle nut 25 .
That is, by driving the drive motor 21, the advance/retreat portion moves in the axial direction with respect to the main drive portion.

Since the operating member 22A that constitutes the advance/retreat portion is provided with the first connection portion 26 that is connected to the back door 102, the back door 102 moves in the opening direction or the closing direction as the advance/retreat portion moves. As a result, the back door 102 can be positioned at the fully open position P1 or the fully closed position P2.

Further, the back door 102 is configured to be screwed with the spindle 24 constituting the driving main body through the spindle nut 25 constituting the advancing and retreating part, and through the operating member 22A constituting the advancing and retreating part, the drive main body A biasing member 23 forming a part always biases in the opening direction.
Therefore, even if the back door 102 is at the fully open position P1 or at the mid-movement position, it will not move in the closing direction unless there is an external factor. The drive unit 2 is configured so that the back door 102, which is a movable body, can be held at an intermediate position.

Furthermore, the drive motor 21 is in a free state when the power is off.
When the driving motor 21 is in the free state, the back door 102 supported by the driving section 2 can be manually moved.
That is, when a load is applied to the back door 102 to move the operating member 22A connected to the back door 102 in the axial direction, the spindle 24 follows the axial movement of the spindle nut 25. is free to rotate around the axis, the back door 102 can be manually moved in the opening direction or the closing direction.

[Configuration of arithmetic processing unit 41]
Next, details of the configuration of the arithmetic processing unit 41 will be described with reference to FIG.
In this embodiment, as described above, two driving units 2 are provided. Since the control systems of these two driving units 2 have the same configuration, in FIG. Only one drive unit 2 is shown for simplification.

The arithmetic processing unit 41 is provided in the control unit 4 as described above, and controls and monitors the driving of each driving unit 2 .
The arithmetic processing unit 41 includes a signal input unit 41A electrically connected to the rotation sensor 3 and the voltage detection circuit unit 42, a signal output unit 41B electrically connected to the drive motor 21 via the voltage detection circuit unit 42, It is also electrically connected to the signal input section 41A and the signal output section 41B, performs arithmetic processing based on the signal input from the signal input section 41A, and then outputs a signal based on the arithmetic result to the signal output section 41B. It is composed of a control signal calculation unit 41C and the like.

The control signal calculation unit 41C stores a program for executing PI (Proportional Integral) control, which is a type of feedback control, a speed digital map regarding the target opening/closing speed of the back door 102, and the load torque of the drive unit 2. A torque digital map and the like are stored in advance.

Here, the speed digital map is an example of a "moving speed law" that predetermines the opening/closing speed (door speed) of the back door 102 according to the position (door opening) of the moving back door 102, The control signal calculation section 41C is set to execute calculation processing based on the program and the digital map for speed, and to control the drive of the drive section 2, that is, the rotational speed of the drive motor 21. FIG.

The torque digital map is an example of an "allowable load torque rule" that predetermines the allowable load torque for the drive motor 21 of the drive unit 2 according to the position (door opening) of the moving back door 102. The control signal calculation unit 41C is set to execute calculation processing based on the program and the digital map for torque, determine whether or not the back door 102 is pinched during movement, and monitor it. .

Further, the signal output unit 41B is composed of a PWM circuit, a motor drive circuit made of a power semiconductor driven by the PWM circuit, and the like, and changes the duty ratio of the PWM circuit based on the signal input from the control signal calculation unit 41C. The rotation speed of the drive motor 21 is controlled by changing the supply voltage or current supplied to the drive motor 21 via the voltage detection circuit unit 42 .

A pulse signal output from the rotation sensor 3 is input to the signal input unit 41A, and the signal input unit 41A determines the actual opening/closing speed (door speed) of the back door 102 based on the input pulse signal. An actual speed signal indicating the actual speed and a position signal indicating the position (door opening) of the back door 102 are output to the control signal calculation unit 41C.

The control signal calculation unit 41C receives the actual speed signal and the position signal output from the signal input unit 41A, and based on these signals, determines the actual opening/closing speed (door speed) of the back door 102 as the target at that position. A control signal to be output to the drive motor 21 is calculated in order to reach the opening/closing speed.

Specifically, the control signal calculation unit 41C executes calculation processing based on a pre-stored program and the speed digital map (moving speed rule), and calculates a reference corresponding to the target opening/closing speed of the back door 102. A signal obtained by adding or subtracting a correction amount obtained by multiplying the difference between the actual opening/closing speed (door speed) of the back door 102 and the target opening/closing speed by a predetermined proportional term constant is output as a control signal.

Then, the signal output unit 41B, which receives the control signal output from the control signal calculation unit 41C, varies the duty ratio of the PWM circuit based on the control signal, and outputs the voltage to the drive motor 21 via the voltage detection circuit unit 42. The rotational speed of the drive motor 21 is controlled by changing the supplied voltage or current.

Further, when the movement of the back door 102 is started, a voltage signal detected through the voltage detection circuit unit 42 is input to the signal input unit 41A, and the signal input unit 41A detects the input voltage signal. , into an actual load torque signal indicating the actual load torque of the drive motor 21, and output to the control signal calculator 41C.

The control signal calculation unit 41C receives the actual load torque signal output from the signal input unit 41A, and uses the actual load torque signal to calculate the actual load torque of the drive motor 21 and the door opening degree of the back door 102. is compared with the permissible load torque permissible for the drive motor 21, and it is determined whether or not the back door 102 is pinched during movement.

Specifically, the control signal calculation unit 41C, based on a pre-stored program and the digital map for torque (permissible load torque rule), determines the input actual load torque signal and the door opening degree of the back door 102. Execute a comparison operation with the corresponding allowable load torque.

As a result, when the actual load torque signal is equal to or less than the allowable load torque, the control signal calculation unit 41C determines that the state is normal without entrapment, and inputs the load torque signal again from the signal input unit 41A. , to determine whether or not the back door 102 is pinched during movement.
On the other hand, when the actual load torque signal exceeds the allowable load torque, the control signal calculation unit 41C determines that there is an abnormal state in which entrapment has occurred, and immediately outputs a control signal to the signal output unit 41B to regulate the drive unit 2. Control is executed to regulate movement of the back door 102 .

Here, the restriction control of the driving section 2 is performed by, for example, connecting the driving motor 21 of the driving section 2 to a short circuit or applying a reverse voltage/reverse current of a pulse waveform to the driving motor 21. be able to.
For this short circuit, for example, a bridge circuit that can be shorted by switching an FET corresponding to the resistor R4 of the voltage detection circuit 42 may be provided separately from the voltage detection circuit 42 of the control unit 4 .

It should be noted that the restriction control of the drive unit 2 is not limited to restriction by electrical operation of the drive motor 21 as described above, and the operating member 22A, the spindle 24 (see FIG. 3), etc. are restricted by frictional force. Then, the movement of the drive unit 2 may be restricted.

[Method for Controlling Mobile Device 1]
Next, a method of controlling the back door 102 when opening and closing the back door 102 in the moving body moving apparatus 1 according to the present embodiment will be described with reference to FIGS. 2, 6 and 7. FIG.

For example, as shown in FIG. 2, in the moving body moving device 1, when the back door 102 is moved from the fully open position P1 to the fully closed position P2 and the back door 102 is closed, the moving speed of the back door 102 ( The door speed) is controlled by the controller 4 as follows based on the movement speed law described above.

That is, as shown in FIG. 6(a), the moving speed law Vs composed of the speed digital map stored in the control signal calculation unit 41C (see FIG. 5) allows the back door 102 to start moving from a stopped state. , and a speed increasing region Vs1 in which the moving speed (door speed) is increased to a predetermined speed V1. , until the position (door opening) of the back door 102 reaches a position X1, which is a predetermined distance from the fully open position P1 toward the fully closed position P2, is controlled to gradually rise with a constant acceleration. be done.

Further, after the back door 102 reaches the position X1, the moving speed (door speed) of the back door 102 is set from the fully closed position P2 toward the fully open position P1 by the controller 4 based on the moving speed law Vs. It is controlled to maintain the predetermined speed V1 until it reaches the position X2 which is separated by a distance.

After the back door 102 reaches the position X2, the moving speed (door speed) of the back door 102 is kept constant until reaching the fully closed position P2 by the controller 4 based on the moving speed law Vs. It is controlled to gradually descend by deceleration (negative acceleration).

On the other hand, while the back door 102 is moving from the fully open position P1 toward the fully closed position P2, the control unit 4 continues to determine whether or not there is an entrapment based on the above-described allowable load torque rule.
Here, the allowable load torque rule Ts composed of the torque digital map stored in the control signal calculation unit 41C is based on the actual load torque of the drive motor 21 (actual load Torque) is set in advance based on Tq.

That is, as shown in FIG. 6B, in the normal case, the actual load torque Tq of the drive motor 21 in the drive unit 2 suddenly increases immediately after the back door 102 starts closing operation, and then back up. As the moving speed of the door 102 (door speed) gradually increases with constant acceleration, the actual load torque Tq gradually decreases.

Further, when the back door 102 reaches the position X1 and the moving speed (door speed) of the back door 102 is maintained at the predetermined speed V1, the actual load torque Tq of the drive motor 21 is also changed to the predetermined load. The torque is substantially maintained at Qa1.

After the back door 102 reaches the position X2, the moving speed (door speed) of the back door 102 gradually decreases due to constant deceleration (negative acceleration), and the actual load torque Tq gradually rises.

The actual load torque Tq of the drive motor 21 changes with the moving speed (door speed) of the back door 102 controlled based on the moving speed law Vs. With respect to the actual load torque Tq of the drive motor 21, the allowable load torque rule Ts is not based on the fully open position P1 and the fully closed position P2 of the position of the back door 102, but the opening operation or the closing operation is started. Position is set as a reference. As a result, it is possible to set a threshold value for judging entrapment corresponding to an inrush current at the start of operation from an intermediate position or a current corresponding to the speed set at the start of operation.

In addition, the allowable load torque rule Ts is a decrease region in which the actual load torque Tq is gradually decreased along the actual load torque Tq while exceeding the actual load torque Tq by a substantially constant torque value between the fully open position P1 and the position X1. Ts1, between the position X1 and the position X2, a maintenance region Ts2 maintained at a load torque Q1 exceeding the actual load torque Tq by a substantially constant torque value, and between the position X2 and the fully closed position P2 , an increase region Ts3 that gradually increases along the actual load torque Tq while exceeding the actual load torque Tq by a substantially constant torque value.

As described above, the control unit 4 continuously performs a comparison operation between the torque value of the actual load torque Tq and the torque value of the allowable load torque rule Ts according to the position of the back door 102 (door opening). As a result of the calculation, when the torque value of the actual load torque Tq is less than or equal to the torque value of the allowable load torque rule Ts (Tq≦Ts), it is determined that the pinching has not occurred and that the state is normal.
When the torque value of the actual load torque Tq exceeds the torque value of the allowable load torque rule Ts (Tq>Ts) as a result of the above calculation, the control unit 4 determines that an entrapment has occurred. do.

Here, when the back door 102 is closed at a position halfway between the fully open position P1 and the fully closed position P2 for some reason, the start of the operation of the back door 102 is normally performed at a predetermined time. This is done from the midway position, which is the position where the movement should be at a high speed.
In this case, the moving speed (door speed) of the back door 102 is controlled by the control unit 4 to increase from the intermediate position based on the speed increasing region Vs1 of the moving speed rule Vs described above.

Specifically, as shown in FIG. 7A, for example, when the back door 102 is held at a position P3 between the positions X1 and X2, the movement speed (door speed) of the back door 102 is is controlled by the control unit 4 to gradually increase at a constant acceleration based on the speed increasing region Vs1 of the movement speed law Vs, and when it reaches the predetermined speed V1 at the position P4 on the fully closed position P2 side, It is controlled to maintain a predetermined speed V1.
It should be noted that the moving speed rule Vs indicated by the two-dot chain line in FIG. 7A means the moving speed rule Vs in the normal case described above.

Here, as described above, the actual load torque Tq of the drive motor 21 in the drive unit 2 abruptly increases immediately after the back door 102 starts closing operation, and thereafter the moving speed of the back door 102 (door speed ) gradually increases with constant acceleration, the actual load torque Tq gradually decreases.

Therefore, as shown in FIG. 7(b), the torque value of the actual load torque Tq of the drive motor 21 at the position P3 immediately after the back door 102 starts closing operation immediately follows the torque value of the allowable load torque rule Ts. After that, as the moving speed (door speed) of the back door 102 gradually increases, the actual load torque Tq of the drive motor 21 gradually decreases.

Immediately before the position P4 where the moving speed (door speed) of the back door 102 reaches the predetermined speed V1, the torque value of the actual load torque Tq becomes equal to or less than the torque value of the allowable load torque rule Ts. Until the back door 102 reaches the position just before the position P4, the torque value of the actual load torque Tq is kept exceeding the torque value of the allowable load torque rule Ts.
As a result, when a specific threshold corresponding to the position of the opening/closing member with reference to the fully open position P1 and the fully closed position P2 is set for abnormality determination, immediately after the back door 102 starts closing operation, The torque value of the actual load torque Tq that suddenly increases may cause the control unit 4 to erroneously determine that there is an abnormal state in which entrapment has occurred.

For this reason, conventionally, as one of countermeasures for starting the movement of the back door 102 from a position halfway between the fully open position P1 and the fully closed position P2, for example, the movement of the back door 102 is stopped. From immediately after the start until the moving speed (door speed) of the back door 102 reaches a predetermined speed V1, there is a method of preventing an erroneous determination of entrapment by masking the torque value of the allowable load torque rule Ts. had been taken.
However, with such a method, it is difficult to determine that there is an abnormal state when entrapment actually occurs, and there is a problem that the accuracy of detecting the entrapment is lowered.

Therefore, in the present embodiment, when the movement of the back door 102 is started from a midway position between the fully open position P1 and the fully closed position P2, the control unit 4 sets the movement start position of the back door 102 (for example, In the form, after correcting the allowable load torque law Ts with a correction value according to the movement of the back door 102 based on the position P3), the torque value of the actual load torque Tq and the corrected allowable load torque law Ts are calculated. Presence or absence of entrapment is determined by executing a comparison operation with the torque value.

Specifically, the control unit 4 starts calculating the correction value when the position (door opening) of the back door 102 reaches Pa1 after a predetermined time Ta has elapsed immediately after the movement of the back door 102 is started. Start.

Further, after starting the calculation of the correction value, the control unit 4, at least until the torque value of the actual load torque Tq becomes equal to or less than the torque value of the allowable load torque rule Ts, each time a preset time Tb elapses, Calculation of the correction value is repeatedly executed.
That is, the correction value is repeatedly calculated according to the elapsed time (Ta+ΣTb) after the back door 102 started moving.

Then, the control unit 4 adds the calculated correction value to the existing torque value of the allowable load torque rule Ts, so that the torque value of the allowable load torque rule Ts corresponding to the position of the back door 102 (door opening) is calculated. is corrected, and then the presence or absence of entrapment is determined by executing a comparison operation between the torque value of the actual load torque Tq and the torque value of the corrected allowable load torque rule Ts.

Regarding the calculated correction value, the torque value of the allowable load torque law Ts corrected by adding the correction value according to the position of the back door 102 (door opening) is is set to slightly exceed the torque value of the actual load torque Tq when moving through the speed increasing region Vs1 by a substantially constant torque value. The value of the correction value can be set so as to correspond to the target moving speed preset as the target opening/closing speed of the back door 102 .

As described above, in the present embodiment, when the back door 102 is closed from an intermediate position between the fully open position P1 and the fully closed position P2, based on the movement start position (position P3) of the back door 102, According to the movement of the back door 102, the calculation of the correction value is repeatedly executed, and the calculated correction value is added to correct the torque value of the allowable load torque rule Ts, and then the torque value of the actual load torque Tq is calculated. , the presence or absence of entrapment is determined by executing a comparison operation with the torque value of the corrected allowable load torque rule Ts.

Therefore, it is possible to prevent the control unit 4 from erroneously determining that an entrapment has occurred due to the torque value of the actual load torque Tq that suddenly increases immediately after the back door 102 starts closing operation. , it is possible to reliably determine that an abnormal state has occurred when an entrapment has actually occurred.

In this embodiment, the torque value of the allowable load torque rule Ts corresponding to the position of the back door 102 is masked during the elapse of the predetermined time Ta immediately after the back door 102 starts moving.

Here, in general, the current supplied to the drive motor 21 of the drive unit 2 is maintained until a predetermined time Ta (specifically, several hundred milliseconds to several seconds) elapses immediately after the back door 102 starts moving. known to be unstable.
In the present embodiment, in such a situation where the current supplied to the drive motor 21 is unstable, by masking the torque value of the allowable load torque rule Ts according to the position of the back door 102, temporarily By stopping detection of entrapment to prevent erroneous detection, entrapment can be detected more reliably.

By the way, it is generally known that the torque value exerted by the motor is proportional to the current value supplied to the motor. Instead of grasping the actual load torque Tq of the drive motor 21 from the voltage value obtained, the current value supplied to the drive motor 21 is detected, and the actual load torque Tq of the drive motor 21 is calculated from the detected current value. It may be understood.

Here, in the driving motor 21 that performs rotational driving, a counter electromotive force acting in a direction that hinders the rotational driving is generated in proportion to the rotational speed. are substantially balanced, and the current value flowing through the drive motor 21 becomes a stable value.
However, in the drive motor 21 when starting to rotate from a stopped state, the drive motor 21 is in the state immediately after the current is supplied to the drive motor 21 and the voltage is applied until immediately before the actual rotation is started. No back electromotive force is generated in 21, and the back electromotive force generated in the drive motor 21 is extremely small immediately after the rotation is started, so the voltage applied to the drive motor 21 is There is little hindrance by the back electromotive force, and an extremely large current called inrush current is generated in the drive motor 21 .
Therefore, it is possible to indirectly grasp the occurrence of the rush current based on the rotation speed of the drive motor 21 .

On the other hand, as described above, the rotational speed of the drive motor 21 is adjusted so that the moving speed (door speed) of the back door 102 is adjusted to the preset position (door opening) of the back door 102 based on the moving speed law Vs. It is controlled so as to achieve the corresponding target movement speed.

From these facts, as a method for correcting the allowable load torque rule Ts in accordance with the movement of the back door 102, there is a method for a predetermined constant time immediately after the movement of the back door 102 (for example, the acceleration region Vs1 described above). elapse time), for example, after the above-described predetermined time Ta has passed, the moving speed (door speed) of the back door 102 and the moving speed law A speed difference from a preset target moving speed is calculated by Vs, and a correction value for the allowable load torque law Ts is calculated based on the current value supplied to the drive motor 21 according to the calculated speed difference. You can do it.
Alternatively, directly according to the moving speed (door speed) of the back door 102 without calculating the speed difference between the moving speed (door speed) of the back door 102 and the target moving speed according to the moving speed law Vs, A correction value for the allowable load torque law Ts may be calculated based on the current value supplied to the drive motor 21 .
That is, the control unit 4 grasps the moving speed (door speed) of the back door 102 as the movement of the back door 102, and corrects the allowable load torque rule Ts based on the moving speed (door speed). A correction value may be calculated.

It should be noted that the aforementioned "predetermined constant time" immediately after the back door 102 starts moving can be determined in consideration of the response time of the feedback control executed in the control signal calculation section 41C. be.

In the above description, the case where the back door 102 is moved from the fully open position P1 to the fully closed position P2 and the back door 102 is closed is described. When the back door 102 is closed by moving the back door 102, only the moving direction of the back door 102 is different. Since they are substantially the same, description of the description is omitted.

[effect]
As described above, the moving body moving device 1 according to the present embodiment includes the back door (moving body) 102, the drive unit 2 for moving the back door (moving body) 102, and the position of the back door (moving body) 102. A moving body moving device comprising a rotation sensor (sensor) 3 for detecting and a control section 4 for controlling driving of a driving section 2 based on a movement speed law Vs in which movement of a back door (moving body) 102 is defined as a predetermined movement. 1.
Further, the moving speed rule Vs has a speed increasing region Vs1 in which the moving speed of the back door (moving body) 102, which starts moving from a stopped state, is increased to a predetermined speed V1.

Then, the control unit 4 determines entrapment based on a predetermined allowable load torque rule Ts for the drive unit 2 according to the position of the back door (moving body) 102, and the allowable load torque rule Ts is based on the back door The allowable load torque rule Ts is corrected based on the movement of the back door (moving body) 102 based on the movement start position of the (moving body) 102 or a correction value according to the elapsed time.

As described above, in the present embodiment, when the backdoor (moving body) 102 moves in the acceleration region Vs1, the movement of the backdoor (moving body) 102 is determined based on the movement start position of the backdoor (moving body) 102. The allowable load torque law Ts is corrected by the correction value calculated according to the movement.
Therefore, even in the case of moving the back door (moving body) 102 that has stopped halfway, the allowable load torque is set so that the excessive load torque generated immediately after the start of movement does not exceed the torque value of the allowable load torque rule Ts. The load torque law Ts is raised by the correction value.
As a result, erroneous detection of entrapment due to excessive load torque that occurs immediately after the movement of the back door (moving body) 102 is prevented, and based on the allowable load torque rule Ts raised by the correction value, it can be easily detected. Entrapment can be detected. The movement of the back door 102 in the speed increasing region Vs1 where the movement speed of the back door 102 changes includes movement at a constant speed if the speed increases from the beginning. With respect to the correction of the allowable load torque rule Ts, entrapment can be easily detected by making it correspond to the moving state of the back door 102 that has started moving from a midway position.

Further, in the moving body moving apparatus 1 according to the present embodiment, the control unit 4 grasps the movement speed (door speed) of the back door (moving body) 102 as the movement of the back door (moving body) 102, A correction value for correcting the allowable load torque rule Ts is calculated based on the moving speed (door speed).

With such a configuration, it is possible to correct the allowable load torque rule Ts more realistically based on the actual operation of the back door (moving body) 102 .

In addition, in the moving body moving device 1 according to the present embodiment, the control unit 4 calculates the correction value after a predetermined time Ta has passed immediately after the back door (moving body) 102 starts to move, and during the predetermined time Ta, The value (torque value) of the allowable load torque rule Ts corresponding to the position of the back door (moving body) 102 is masked.

In general, the electric current supplied to the drive motor 21 of the drive unit 2 is not stabilized until a predetermined time Ta (specifically, several seconds) elapses immediately after the back door (moving body) 102 starts to move. It has been known.
In this embodiment, under such a situation where the current supplied to the drive motor 21 is unstable, by masking the torque value of the allowable load torque rule Ts according to the position of the back door (moving body) 102, , the detection of entrapment is temporarily stopped to prevent erroneous detection, so that entrapment can be detected more reliably.

Further, in the moving body moving device 1 of the present embodiment, the correction value is repeatedly calculated according to the elapsed time (Ta+ΣTb) after the back door (moving body) 102 starts moving.

By having such a configuration, the load torque of the drive unit 2 whose torque value gradually changes (decreases) according to the elapsed time (Ta+ΣTb) immediately after the back door (moving body) 102 starts to move, A more appropriate correction value can be calculated to correct the allowable load torque rule Ts, and entrapment can be detected more reliably.

1 moving body moving device 2 driving unit 3 rotation sensor (sensor)
4 control unit 102 back door (moving body)
Ta Predetermined time Ts Allowable load torque law V1 Predetermined speed Vs Movement speed law

Claims (4)

a mobile object;
a driving unit that moves the moving body;
a sensor that detects the position of the moving body;
A moving body moving device comprising: a control unit that controls driving of the driving unit based on a moving speed law that sets movement of the moving body as a predetermined movement,
The control unit
Determining entrapment based on a predetermined allowable load torque rule for the driving unit according to the position of the moving body,
The allowable load torque law is
correcting the allowable load torque rule with a correction value according to the movement of the moving body or the elapsed time based on the movement start position or time of the moving body;
Mobile moving device. The control unit
grasping the moving speed of the moving body as the movement of the moving body, and calculating the correction value based on the moving speed;
The moving body moving device according to claim 1 . The control unit
calculating the correction value after a predetermined period of time has elapsed from immediately after the start of movement of the moving body;
during the elapse of the predetermined time, masking the value of the allowable load torque law according to the position of the moving body;
3. The moving body moving device according to claim 1 or 2. The correction value is repeatedly calculated according to the elapsed time after the moving body starts moving.
The moving body moving device according to any one of claims 1 to 3.

Images