Opening and closing device of vehicle opening and closing body

Abstract

The opening and closing device of the vehicle opening and closing body of the present invention realizes stable movement of the vehicle opening and closing body when opening and closing starts. In the opening and closing device of the vehicle opening and closing body, the proportional gain (Kp_a) of the feedback control in the correction period (Tpa) is different from the proportional gain (Kp_n) of the feedback control in the normal period (TPn), wherein the correction period (Tpa) is the period corresponding to the start of driving of the rear tailgate (3) by the opening and closing drive unit (104) at the first position until the end of the acceleration area (Za), and the normal period (TPn) is the period from the end of the correction period (TPa) to the end of driving of the rear tailgate (3) by the opening and closing drive unit (104) when the rear tailgate (3) reaches the second position.

Description

Technical Field

[0001] The invention relates to an opening and closing device for an opening and closing body of a vehicle. Background Art

[0002] It is known that a technology is used to feedback control an opening and closing drive unit (equipped with an electric motor as a power source) based on the difference between a target speed and an input speed, and the opening and closing drive unit is used to open and close a vehicle opening and closing body that opens and closes the opening of the vehicle. More specifically, it is known that in order to make the vehicle opening and closing body move at a predetermined speed even when torque changes due to ambient temperature, road inclination, the opening degree of the vehicle opening and closing body, speed control is performed by feedback control such as PID control (for example, refer to patent document 1). In addition, PID control is a control composed of proportional (P), integral (I), and differential (D) (control performed using these three elements (P, I, D)). On the other hand, control performed using a combination of one or two of these three elements is hereinafter referred to as proportional control (P control), proportional and differential control (PD control), and proportional and integral control (PI control), for example.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-089456 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the case where the vehicle opening and closing body is a rear tailgate, even when torque changes due to ambient temperature, road inclination, the opening degree of the vehicle opening and closing body, etc., the vehicle opening and closing body can be operated at a predetermined speed by feedback controlling the opening and closing drive unit and adjusting the duty cycle of the PWM signal output to the opening and closing drive unit. However, when only one proportional gain, integral gain, and differential gain are used and these gains are adjusted in a manner to suppress vibrations in the constant speed area, when the rear tailgate begins to open and close, that is, when the electric motor is started, the rear tailgate may sometimes become unstable due to interference such as the cogging torque of the electric motor and the reaction force generated by the opening and closing action of the rear tailgate. In detail, this may cause the speed of the rear tailgate to increase excessively or the rear tailgate to not move.

[0008] The present invention aims to realize stable movement of a vehicle opening and closing body at the start of opening and closing in an opening and closing device for a vehicle opening and closing body.

[0009] Technical solutions for solving technical problems

[0010] The first embodiment of the present invention provides an opening and closing device for a vehicle opening and closing body, comprising: an opening and closing drive unit, which drives a vehicle body opening and closing body to open and close, and the vehicle body opening and closing body opens and closes an opening of a vehicle body, a rotation sensor, which detects the number of rotations of the opening and closing drive unit, a position detection unit, which detects the opening and closing position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit, which detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, and a target speed setting unit, which sets a target speed of the opening and closing drive unit at the opening and closing position of the vehicle opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from a first position to a second position, the target speed having an acceleration area starting from the first position and a speed range following the acceleration area. A constant speed area in the domain, and a deceleration area following the constant speed area and ending at the second position, and an opening and closing control unit, which controls the speed of the opening and closing drive unit through feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; the proportional gain of the feedback control in a preset correction period starting from the start of the driving of the vehicle body opening and closing body by the opening and closing drive unit at the first position is different from the proportional gain of the feedback control in a normal period, and the normal period is a period from the end of the correction period to the end of the driving of the vehicle body opening and closing body by the opening and closing drive unit when the vehicle body opening and closing body reaches the second position.

[0011] By setting the proportional gain in the correction period, i.e., the proportional gain at the start of opening and closing of the vehicle body opening and closing body, differently from the proportional gain in the normal period (including the constant speed area and the deceleration area), it is possible to suppress vibration in the constant speed area and stabilize the movement of the vehicle opening and closing body at the start of opening and closing. Specifically, it is possible to avoid an excessive increase in the speed of the vehicle opening and closing body at the start of opening and closing, or a state in which the vehicle opening and closing body does not move.

[0012] The duration of the correction period may be set to be less than 3.0 times the duration of the acceleration region when the speed of the opening and closing drive unit detected by the speed detection unit at the position of the vehicle body opening and closing body detected by the position detection unit follows the target speed without difference.

[0013] Alternatively, the duration of the correction period may be set to a duration during which the speed of the opening and closing drive unit detected by the speed detection unit is equal to or less than a preset speed.

[0014] The feedback control in at least the acceleration region may be P control including proportional control, and the feedback control in the constant speed region and the deceleration region may be PID control including proportional, differential, and integral control.

[0015] Alternatively, the second position is the fully open position of the vehicle opening and closing body, and the first position is the fully closed position of the vehicle opening and closing body or a position between the fully closed position and the fully open position. In addition, regarding the second position, when an opening angle is set, there is also a situation where it is between the fully closed position and the fully open position.

[0016] Alternatively, the second position is the fully closed position of the vehicle opening and closing body, and the first position is the fully opened position of the vehicle opening and closing body or a position between the fully opened position and the fully closed position. In addition, in the case where the opening angle is set, the second position may be between the fully closed position and the fully opened position. In addition, sometimes the action is started from the midway position of the opening and closing action, and the action is stopped at the midway position by the user's switch operation.

[0017] A second aspect of the present invention provides an opening and closing device for a vehicle opening and closing body, comprising: an opening and closing drive unit, which drives a vehicle body opening and closing body to open and close, and the vehicle body opening and closing body opens and closes an opening of a vehicle body, a rotation sensor, which detects the number of rotations of the opening and closing drive unit, a position detection unit, which detects the position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit, which detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, and a target speed setting unit, which sets the opening and closing position of the vehicle opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from a first position to a second position. The target speed of the opening and closing drive unit at the first position is as follows: the target speed includes an acceleration area starting from the first position, a constant speed area following the acceleration area, and a deceleration area following the constant speed area and ending at the second position; and an opening and closing control unit, which controls the speed of the opening and closing drive unit through feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; the proportional gain of the feedback control in the acceleration area is different from the proportional gain of the feedback control in the constant speed area and the deceleration area.

[0018] Effects of the Invention

[0019] The opening and closing device of a vehicle opening and closing body of the present invention can realize stable movement of the vehicle opening and closing body at the start of opening and closing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a perspective view viewed from the rear of a vehicle body on which the rear gate opening and closing device according to the first embodiment of the present invention is mounted.

[0021] Figure 2 It is a longitudinal sectional view of the spindle drive mechanism.

[0022] Figure 3 This is a block diagram of the rear tailgate opening and closing device according to the first embodiment.

[0023] Figure 4 : is a schematic graph showing a target speed when the tailgate is driven from the fully closed position to the fully opened position.

[0024] Figure 5 : is a schematic graph showing a target speed when the tailgate is driven from a position between the fully closed position and the fully opened position to the fully closed position.

[0025] Figure 6 This is a flowchart for explaining control executed by the rear tailgate opening and closing device according to the first embodiment.

[0026] Figure 7 It is a flowchart showing the details of the opening and closing process.

[0027] Figure 8 This is a flowchart showing the details of determining the control characteristics according to the first embodiment.

[0028] Fig. 9 This is a flowchart showing the details of determining the control characteristics according to the second embodiment.

[0029] Fig.10 This is a flowchart showing the details of determining the control characteristics according to the third embodiment.

[0030] Fig.11 This is a schematic graph showing the relationship between the speed threshold value and the correction period in the target speed when the tailgate is driven from the fully closed position to the fully opened position. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0032] (First embodiment)

[0033] Figure 1 The figure shows a rear door opening and closing device 17 ( Figure 3 A schematic diagram of the rear portion of the vehicle body 1 shown).

[0034] An opening 2 is provided at the rear portion of the vehicle body 1. The opening 2 is opened and closed by a rear tailgate 3 which is an example of a vehicle body opening and closing body.

[0035] The upper end of the rear tailgate 3 is mounted to the upper edge of the opening 2 via a rotation axis (not shown). The rear tailgate 3 can rotate in the up-down direction between a fully closed position for completely closing the opening 2 and a fully open position for fully opening the opening 2, with the rotation axis as the center. The rear tailgate 3 is driven to rotate by a pair of main shaft drive mechanisms (opening and closing drive units) 4.

[0036] A door opening switch 19 is provided on the outer surface of the rear tailgate 3 to be operated when opening the rear tailgate 3. In addition, a door closing switch 18 is provided at the center of the lower end of the rear tailgate 3 to be operated when closing the rear tailgate 3. Furthermore, a door lock device 20 is provided at the center of the lower end of the rear tailgate 3 adjacent to the door closing switch 18.

[0037] When the rear door 3 is closed, the latch (not shown) of the door lock device 20 engages with the bolt eye 50 provided at the lower edge of the opening 2, thereby prohibiting the rear door 3 from rotating in the opening direction. When the rear door 3 is opened, the engagement between the latch and the bolt eye 50 is released.

[0038] Reference Figure 2 Each spindle drive mechanism 4 includes a first housing 6 that accommodates the electric motor 5 and the like, and a second housing 7 that accommodates the spindle 9 and the like.

[0039] At one end of the first housing 6 ( Figure 2 The door side connecting structure 51 is fixed to the right end of the rear door 3. The door side connecting structure 51 is rotatably connected to the joint ball 3a provided on the rear tailgate 3. The electric motor 5 is accommodated in the first housing 6. The rotating shaft 5a of the electric motor 5 is connected to the main shaft 9 in the second housing 7 via the reduction gear mechanism 8.

[0040] The rotation sensor 15 housed in the first housing 6 detects the rotation of the electric motor 5, more specifically, the rotation of the rotating shaft 5a of the electric motor 5. The rotation sensor 15 may be a magnetic sensor using a Hall element, an optical sensor using an LED (light emitting diode) and a PD (photodiode). In order to detect the number of rotations and the rotation speed of the rotating shaft 5a of the electric motor 5, the output signal of the rotation sensor 15 is input to the control device 31 (see Figure 3 ).

[0041] The second housing 7 and the other end of the first housing 6 ( Figure 2The second housing 7 contains a spindle 9 and a spindle nut 10. The spindle nut 10 is screwed to the spindle 9. The spindle nut 10 reciprocates in the axial direction in the second housing 7 as the spindle 9 rotates in both directions. The rear end ( Figure 2 At the front end of the push rod 11 ( Figure 2 The front end of the outer cylinder 13 is fixed to the left end of the push rod 11. The push rod 11 and the outer cylinder 13 are coaxially arranged. Between the push rod 11 and the outer cylinder 13, the coil spring 12 is arranged radially outward, and the inner cylinder 14 is arranged radially inward. The rear end ( Figure 2 The right end of the push rod 11 is fixed to the second housing 7. Figure 2 A vehicle body side connecting structure 52 is fixed to the left end of the vehicle body 1. The vehicle body side connecting structure 52 is rotatably connected to a joint ball 1a provided on the vehicle body 1.

[0042] In the spindle drive mechanism 4, when the electric motor 5 is driven to rotate the rotating shaft 5a in the forward direction, the spindle 9 rotates in the forward direction, and the spindle nut 10 moves toward the other end side of the second housing 7 ( Figure 2 As a result, the protrusion of the outer tube 13 and the push rod 11 relative to the second housing 7 increases, and the tailgate 3 rotates to the fully open position. In addition, if the electric motor 5 is driven to rotate the rotating shaft 5a in the reverse direction, the spindle 9 also rotates in the reverse direction, and the spindle nut 10 moves toward one end side of the second housing 7 ( Figure 2 As a result, the protrusion amount of the outer tube 13 and the push rod 11 relative to the second housing 7 is reduced, and the rear tailgate 3 rotates to the fully closed position.

[0043] Figure 3 1 is a block diagram for explaining the structure of the rear tailgate opening and closing device 17. Figure 3 In, yes Figure 1 and Figure 2 The same elements are provided with the same reference numerals.

[0044] The rear tailgate opening and closing device 17 is provided with a control device 31. The control device 31 is constructed by hardware such as a CPU, a ROM, and a RAM, and programs installed therein. The control device 31 is electrically connected to the spindle drive mechanism 4, the door lock device 20, the door closing switch 18, the door opening switch 19, the BCM (Body Control Module) 25, and the like. In addition, the control device 31 communicates with the electronic key 26 via the BCM 25 to perform the authentication process described later. In addition, a door opening and closing operation switch capable of opening and closing operations may be provided instead of the door closing switch 18 and the door opening switch 19. In addition, a switch for the driver on the driver's seat, an operation switch on the electronic key 26, and the like may also function as a trigger switch for opening and closing the door.

[0045] The door lock device 20 includes a latch motor 21 for driving the latch to rotate forward and reversely, a full latch switch 22, a half latch switch 23, and a release switch 24. The full latch switch 22, the half latch switch 23, and the release switch 24 detect the position of the latch. The position of the latch refers to any one of a position where the latch is fully engaged with the bolt eye 50 (full latch position), a position where the latch is not fully engaged with the bolt eye 50 (release position), and a position between these positions (half latch position). The detection states of these switches 21 to 24 are input to the control device 31.

[0046] The door closing switch 18 outputs a door closing operation signal for moving the rear tailgate 3 to the fully closed position to the control device 31. The control device 31, which has received the door closing operation signal, outputs a PWM (Pulse Width Modulation) signal to the spindle drive mechanism 4 to rotate the rear tailgate 3 in the closing direction.

[0047] The door opening switch 19 outputs a door opening operation signal for moving the rear tailgate 3 to the fully opened position to the control device 31. The control device 31, which has been input with the door opening operation signal, outputs a PWM (Pulse Width Modulation) signal to the spindle drive mechanism 4 to rotate the rear tailgate 3 in the opening direction.

[0048] The control device 31 includes a position detection unit 101 , a speed detection unit 102 , a target speed setting unit 103 , and an opening and closing control unit 104 .

[0049] The position detection unit 101 calculates or detects the number of rotations Cn (n=1, 2, 3...) of the electric motor 5 based on the input signal from the rotation sensor 15. The number of rotations Cn refers to the number of times the rotating shaft 5a of the electric motor 5 rotates forward or reversely from the reference state. For example, the number of rotations Cn indicates how many times the rotating shaft 5a of the electric motor 5 rotates in the forward direction based on the fully closed position of the rear tailgate 3. Therefore, the number of rotations Cn indicates which position the rear tailgate 3 is in between the fully open position and the fully closed position. That is, the position detection unit 101 calculates or detects which position the rear tailgate 3 is in between the fully open position and the fully closed position based on the input signal from the rotation sensor 15. In the following description, the number of rotations of the electric motor 5 corresponding to the fully closed position of the rear tailgate 3 is represented by the number of rotations C1, and the number of rotations of the electric motor 5 corresponding to the fully open position of the rear tailgate 3 is represented by the number of rotations C4.

[0050] The speed detection unit 102 detects the rotation speed of the electric motor 5 based on the input signal from the rotation sensor 15. The term rotation speed refers to the number of times the rotating shaft 5a of the electric motor 5 rotates per unit time. Therefore, the rotation speed corresponds to the speed at which the rear tailgate 3 rotates to the fully open position or to the fully closed position. That is, the speed detection unit 102 calculates or detects the rotation speed of the electric motor 5 (corresponding to the speed at which the rear tailgate 3 rotates to the fully open position or to the fully closed position) based on the input signal from the rotation sensor 15. In the following description, the rotation speed of the electric motor 5 detected by the speed detection unit 102 is represented by a symbol Vdet.

[0051] The switch control unit 104 controls the pair of spindle drive mechanisms 4. Specifically, the switch control unit 104 supplies a PWM signal to the drive circuit 30 of the electric motor 5 and changes the duty ratio of the PWM signal to control the torque generated by the electric motor 5. More specifically, the switch control unit 104 controls the speed of the electric motor 5 of the spindle drive mechanism 4 through feedback control so that the rotation speed Vdet of the electric motor 5 detected by the speed detection unit 102 at the number of rotations Cn detected by the position detection unit 101 follows the target speed Vtag set by the target speed setting unit 103.

[0052] In the present embodiment, the position detection unit 101 detects the number of rotations Cn, and the speed detection unit 102 detects the rotation speed Vdet based on the input signal from the rotation sensor 15 provided in one of the pair of spindle drive mechanisms 4. Then, the duty ratio of the PWM signal is adjusted by feedback control, and output to the motor drive circuit 30 of the electric motor 5 of both sides of the pair of spindle drive mechanisms 4. As an alternative, the number of rotations Cn and the rotation speed Vdet may be detected by the position detection unit 101 and the speed detection unit 102, respectively, based on the input signal from the rotation sensor 15 of both sides of the pair of spindle drive mechanisms 4. In this case, the opening and closing control unit 104 adjusts the duty ratio of the two PWM signals by feedback control based on the two sets of the number of rotations Cn and the rotation speed Vdet, and outputs their average value to the motor drive circuit 30 of the electric motor 5 of both sides of the pair of spindle drive mechanisms 4.

[0053] The concept of PID control used in feedback control can be expressed by the following equation (1).

[0054]

[0055] u(t): The operation amount of the PWM duty ratio at time t

[0056] e(t): The difference in rotation speed detected relative to the target speed at time t

[0057] Kp: proportional gain

[0058] Ki: Integral gain

[0059] Kd: differential gain

[0060] When any one of the proportional gain Kp, integral gain Ki and differential gain Kd in formula (1) is not zero, it is proportional-integral-differential control, that is, PID control. When the proportional gain Kp in formula (1) is not zero, but the integral gain Ki and differential gain Kd are zero, it is proportional control (P control). When the proportional gain Kp and differential gain Kd in formula (1) are not zero, but the integral gain Ki is zero, it is proportional-differential control (PD control). When the proportional gain Kp and integral gain Ki in (1) are not zero, but the differential gain Kd is zero, it is proportional-integral control (PI control). The opening and closing control unit 104 determines the duty cycle of the PWM signal supplied to the drive circuit 30 of the electric motor 5 according to the operating amount u(t) of the PWM duty ratio in formula (1).

[0061] The target speed setting unit 103 sets a target speed Vtag used in feedback control, and more specifically, sets a relationship between the number of revolutions Cn of the electric motor 5 (corresponding to the position of the tailgate 3 as described above) and the target speed Vtag.

[0062] Figure 4 Indicates the target speed Vtag set in the target speed setting unit 103 when the tailgate 3 rotates from the fully closed position (number of rotations C1) to the fully open position (number of rotations C4). The tailgate 3 starts to rotate at the number of rotations C1, and in the acceleration area Za from the number of rotations C1 to the number of rotations C2, the target speed Vtag increases as the number of rotations Cn increases. In the constant speed area Zc (from the number of rotations C2 to the number of rotations C3) following the acceleration area Za, the target speed Vtag remains constant even if the number of rotations Cn increases. In the deceleration area Zd (from the number of rotations C3 to the number of rotations C4) following the constant speed area Zc, the target speed Vtag decreases as the number of rotations Cn increases. The tailgate 3 ends its rotation at the number of rotations C4.

[0063] The target speed setting unit 103 also sets a target speed Vtag when the tailgate 3 rotates from the fully open position to the fully closed position. The change of the target speed Vtag with respect to the number of rotations Cn in this case is Figure 4 The result of replacing the rotation numbers C1 and C2 with the rotation numbers C4 and C3 respectively.

[0064] Figure 5The target speed Vtag stored in the target speed setting unit 103 indicates the case where the tailgate 3 rotates from a position (rotation number C21) between the fully closed position (rotation number C1) and the fully open position (rotation number C4) to the fully open position. In this case, the tailgate 3 rotates from the fully closed position (rotation number C1) to the fully open position (rotation number C4). Figure 4 ) compared to the conventional vehicle, the vehicle reaches the constant speed region Zc after passing through the shorter acceleration region Za. In addition, the acceleration region Za may not be particularly shortened.

[0065] The target speed setting unit 103 also sets a target speed Vtag when the tailgate 3 rotates from a position (rotation number C31) between the fully open position (rotation number C4) and the fully closed position (rotation number C1) to the fully closed position. The change of the target speed Vtag with respect to the rotation number Cn in this case is Figure 5 The results of replacing the rotation numbers C1, C21, C3, and C4 with the rotation numbers C4, C31, C2, and C1 respectively.

[0066] In the present embodiment, the target speed setting unit 103 pre-stores the target speed Vtag when rotating from the fully closed position (number of rotations C1) to the fully open position (number of rotations C4), and the target speed Vtag when rotating from the fully open position (number of rotations C4) to the fully closed position (number of rotations C1). In addition, the target speed setting unit 103 calculates the target speed Vtag when rotating from a position between the fully closed position (number of rotations C1) and the fully open position (number of rotations C4) to the fully open position (number of rotations C4) or the fully closed position (number of rotations C1) based on the rotation start position, etc. The term "setting" involved in the target speed setting unit 103 includes both the case of using the pre-stored target speed Vtag and the case of using the calculated target speed Vtag.

[0067] Reference Figure 4 and Figure 5 The opening and closing control unit 104 of this embodiment performs P control for a specified time (duration Tth of the correction period TPa described later) from the start of motor drive control in the acceleration area Za and follows the target speed Vtag in an ideal manner until the rotation of the rear tailgate 3 is completed, that is, PID control is performed in a part of the constant speed area Zc and the deceleration area Zd.

[0068] The feedback control performed during the correction period TPa in the acceleration area Za can be any one of P control, PD control, PI control and PID control, and the feedback control in the constant speed area Zc and the deceleration area Zd can also be any one of P control, PD control, PI control and PID control.

[0069] Reference Figure 4 and Figure 5 The opening and closing control unit 104, i.e., the opening and closing control unit 104 of the present embodiment, makes the proportional gain Kp used in the feedback control different at the start of the rotation of the electric motor 5 and in the subsequent period. Specifically, the period from the start of the rotation of the electric motor 5 (the start of opening and closing of the rear tailgate 3) to the end of the rotation of the electric motor 5 (the end of the rotation of the rear tailgate 3) is divided into a correction period TPa and a normal period TPn following the correction period TPa and TPn, and the proportional gain Kp is made different in these two periods TPa and TPn.

[0070] The correction period TPa is a period during which, after the door closing operation signal from the door closing switch 18 or the door opening operation signal from the door opening switch 19 is input to the control device 31, the opening and closing control unit 104 starts driving the electric motor 5 until the rotation speed Vdet follows the target speed Vtag without difference in the acceleration area Za. Figure 4 In the case of, the correction period TPa is the period corresponding to the time from when the door opening operation signal from the door opening switch 19 is input to the control device 31 and the opening and closing control unit 104 starts driving the electric motor 5 at the rotation number C1 (equivalent to the fully closed position of the rear tailgate 3) to when the rotation speed Vdet ideally follows the target speed Vtag in an ideal manner. More specifically, the duration Tth of the correction period TPa is the duration of the correction period TPa during which the rotation speed Vdet (equivalent to the speed of the rear tailgate 3) ideally follows the target speed Vtag during the rotation action, and the rotation speed Vdet is the rotation speed Vdet detected by the speed detection unit 102 at the rotation number Cn (equivalent to the position of the rear tailgate 3) of the electric motor 5 detected by the position detection unit 101, and the duration Tth of the correction period TPa is preferably set to be less than 3.0 times the duration of the acceleration zone Za.

[0071] The normal period TPn is a period from the end of the correction period TPa through the constant speed area Zc and the deceleration area Zd to the end of the rotation of the electric motor 5 (the tailgate 3 stops). Figure 4 In the case of , it is the period from the end of the correction period TPa to the end of the driving of the electric motor 5 at the number of rotations C4 (corresponding to the fully closed position of the rear tailgate 3).

[0072] The proportional gain Kp_a in the correction period TPa is preferably set to be larger than the proportional gain Kp_n in the normal period TPn. For example, the proportional gain Kp_a is preferably set to be 1.5 times or more of the proportional gain Kp_n.

[0073] At the beginning of opening and closing of the rear tailgate 3, that is, at the start of the electric motor 5, the influence of disturbances such as the cogging torque of the electric motor 5 and the reaction force generated by the opening and closing action of the rear tailgate 3 is more significant than in the constant speed area. Therefore, when only one proportional gain Kp, integral gain Ki and differential gain Kd are used and these gains are adjusted in a manner to suppress vibration in the constant speed area Zc, when the electric motor 5 is started, the speed of the rear tailgate 3 may increase excessively and the rear tailgate 3 may not move. In this regard, in the present embodiment, by making the proportional gain Kp_a in the correction period TPa, that is, when the electric motor 5 is started (when the opening and closing of the rear tailgate 3 begins) and the proportional gain Kp_n in the normal period TPn (including the constant speed area Zc and the deceleration area Zd) different settings, it is possible to suppress the increase of vibration in the constant speed area Zc and stabilize the action of the rear tailgate 3 when the electric motor 5 is started. Specifically, it is possible to avoid the state in which the speed of the rear tailgate 3 increases excessively and the rear tailgate 3 does not move when the electric motor 5 is started.

[0074] In addition, if only one proportional gain Kp, integral gain Ki and differential gain Kd are used, it is very complicated to adjust these gains in a manner that ensures that vibrations in the constant speed area Zc are suppressed and the action of the tailgate 3 is stabilized when the electric motor 5 is started. In this regard, in the present embodiment, the complexity of the adjustment can be avoided by making the proportional gain Kp different between the correction period TPa and the normal period TPn.

[0075] Next, refer to Figures 6 to 8 The flowchart of FIG. 1 is used to explain the control of the main shaft drive mechanism 4 executed by the control device 31. In addition, the door opening process in which the tailgate 3 rotates from the fully closed position (rotation number C1) to the fully opened position (rotation number C4) is described below as an example.

[0076] exist Figure 6 In step S101, if the door opening operation signal from the door opening switch 19 is input, the authentication process of the electronic key 26 is performed in step S102. In this authentication process, the control device 31 requests the BCM25 to authenticate the electronic key 26. After the BCM25 sends a request for the electronic key 26 to send an authentication code, the verification component (not shown) compares the authentication code received from the electronic key 26 with the pre-registered regular code, and sends the comparison result to the control device 31. Based on the above comparison result, if the above authentication code is consistent with the above regular code, the control device 31 determines that the user has operated the door opening switch 19, the authentication process is completed, and the next step is entered. In addition, if the above authentication process ends in failure, or the above authentication code is inconsistent with the above regular code, the above control ends.

[0077] Next, in step S103, a latch release signal for releasing the engagement between the latch and the striker eye 50 is output to the door lock device 20. As a result, the latch motor 21 is driven.

[0078] Next, in step S104 , it is determined whether the latch is in a position (release position) where it is not engaged with the bolt eye 50 at all, that is, whether the rear door 3 is in a state where it can be opened safely.

[0079] If the release position is detected in step S104 , the door opening drive process is executed by the opening and closing control unit 104 in step S105 .

[0080] In the door opening drive process, in order to perform feedback control, first, Figure 7 In step S201, the switching control unit 104 determines an initial value of the duty ratio of the PWM control supplied to the drive circuit 30 of the spindle drive mechanism 4, and in step S202, the PWM signal is supplied to the motor drive circuit 30, and the electric motor 5 is driven.

[0081] Next, in step S203, the position detection unit 101 detects the number of revolutions Cn of the electric motor 5 (corresponding to the position of the rear tailgate 3) based on the signal input from the rotation sensor 15. In step S204, the speed detection unit 102 detects the rotation speed Vdet of the electric motor 5 (corresponding to the speed of the rear tailgate 3) based on the signal input from the rotation sensor 15. Furthermore, in step S205, the target speed Vtag at the number of revolutions Cn detected in step S204 is acquired from the target speed setting unit 103.

[0082] Next, in step S206, control characteristic determination is performed. In the control characteristic determination, first, Figure 8 In step S301, after the PWM signal is supplied to the motor drive circuit 30 and the electric motor 5 is driven in step S202, it is determined whether a predetermined time has passed, that is, whether the duration Tth of the correction period TPa has passed. If the duration Tth of the correction period TPa has not passed in step S301, the feedback control is set to P control in step S302. On the other hand, if the duration Tth of the correction period TPa has passed in step S301, the feedback control is set to PID control in step S303.

[0083] In addition, in step S301, if the duration Tth of the correction period TPa has not passed in step S301, the proportional increment Kp is set to the proportional gain Kp_a in step S304. On the other hand, if the duration Tth of the correction period TPa has passed in step S301, the proportional increment Kp is set to a relatively small proportional gain Kp_n in step S305. In the present embodiment, as described above, the proportional gain Kp_a is greater than the proportional gain Kp_n.

[0084] Next Figure 8 Step S304 or step S305 Figure 7 In step S207, based on Figure 8 The feedback control method determined in steps S302 and S303 (in this embodiment, P control or PID control) and Figure 8 The proportional gain Kp determined in steps S304 and S305 determines the corrected duty ratio supplied to the spindle drive mechanism 4, more specifically, to the drive circuit 30 of the electric motor 5. Next, in step S208, the PWM signal of the corrected duty ratio determined in step S207 is supplied to the motor drive circuit 30, and the electric motor 5 is driven.

[0085] In step S209, the processing of steps S203 to S208 is repeated until it is determined that the number of rotations Cn of the electric motor 5 detected by the position detection unit 101 reaches the fully opened position of the rear tailgate 3. Figure 4 When the rear tailgate 3 is rotated from the fully closed position to the fully opened position, and Figure 5 In the case where the rear tailgate 3 rotates from a position between the fully closed position and the fully open position to the fully open position, the processes of steps S202 to S207 are repeated in step S208 until the electric motor 5 reaches the number of rotations C4 corresponding to the fully open position of the rear tailgate 3. In addition, in the case where the rear tailgate 3 rotates from the fully open position to the fully closed position, and in the case where the rear tailgate 3 rotates from a position between the fully open position and the fully closed position to the fully closed position, it is a door closing drive process, and in step S209, the processes of steps S203 to S208 are repeated until the electric motor 5 reaches the number of rotations C1 corresponding to the fully closed position of the rear tailgate 3.

[0086] (Second embodiment)

[0087] In the second embodiment of the present invention, Figure 7 The specific processing of determining the control characteristic of step S206 is similar to that of the first embodiment ( Figure 8 )different.

[0088] Reference Fig. 9In the control characteristic determination of this embodiment, first, in step S401, according to the current number of rotations Cn, that is, judging Figure 7 The number of rotations Cn detected in step S203 is the acceleration zone. If the current number of rotations Cn is the acceleration zone Za in step S401, the feedback control is set to P control in step S402, and the proportional gain Kp is set to the proportional gain Kp_a in step S403. On the other hand, if the current number of rotations Cn is not the acceleration zone Za in step S401, the feedback control is set to PID control in step S403, and the proportional gain Kp is set to the proportional gain Kp_n (Kp_a>Kp_n) in step S404.

[0089] Even when the control characteristics are determined as in the present embodiment, by setting the proportional gain Kp_a at the start of opening and closing of the tailgate 3, that is, in the acceleration zone Za, and the proportional gain Kp_n in the constant speed zone Zc and the deceleration zone Zd to be different, the vibration in the constant speed zone Zc can be suppressed and the movement of the tailgate at the start of opening and closing can be stabilized.

[0090] (Third embodiment)

[0091] In the third embodiment of the present invention, Figure 7 The specific processing of determining the control characteristic of step S206 is similar to that of the first embodiment ( Figure 8 )different.

[0092] Reference Fig.10 In the control characteristic determination of the present embodiment, first, in step S501, the speed detection unit 102 detects the rotation speed Vdet of the electric motor 5 (equivalent to the speed of the tailgate 3) based on the signal input from the rotation sensor 15. And, in step S502, it is determined whether the current rotation speed Vdet of the electric motor 5 is less than or equal to a predetermined rotation speed Ra (a rotation speed threshold for switching from P control to PID control, for example, 0.5 times or more and 1.5 times or less of the target speed in the constant speed area). If the current rotation speed Vdet is less than or equal to the set rotation speed Ra in step S502, the feedback control is set to P control in step S503, and the proportional gain Kp is set to the proportional gain Kp_a in step S504. If the current rotation speed Vdet is not less than the set rotation speed Ra (the current rotation speed Vdet is less than the set rotation speed Ra) in step S502, the feedback control is set to PID control in step S505, and the proportional gain Kp is set to proportional gain Kp_n (Kp_a>Kp_n) in step S506.

[0093] When the control characteristics are determined as in the present embodiment, the action of the tailgate at the start of opening and closing can be stabilized by setting a proportional gain Kp_a different from the proportional gain Kp_n according to the rotation speed Vdet of the electric motor 5 being below the predetermined rotation speed Ra. Fig.11 The setting of the rotation speed Ra relative to the rotation speed Vdet of the motor when the tailgate 3 rotates from the fully closed position (the number of rotations C1 ) to the fully opened position (the number of rotations C4 ) is shown.

[0094] The present invention is not limited to a tailgate, and can also be applied to an opening and closing device of other vehicle body opening and closing bodies such as a general vehicle door, a gull-wing door, and a sliding door.

[0095] The tailgate 3 is driven by a pair of spindle drive mechanisms (opening and closing drive units) 4 , but one of the two spindle drive mechanisms may be the spindle mechanism of the present invention and the other may be a vibration reduction mechanism such as a gas spring that does not include an electric motor 5 .

[0096] Description of Reference Numerals

[0097] 1 Body

[0098] 1a Joint ball

[0099] 2 Opening

[0100] 3. Tailgate (opening and closing body)

[0101] 3a Joint ball

[0102] 4 Spindle drive mechanism (opening and closing drive unit)

[0103] 5 Electric motor

[0104] 5a Rotation axis

[0105] 6. 1st shell

[0106] 7 Second shell

[0107] 8 Reduction gear mechanism

[0108] 9 Spindle

[0109] 10 Spindle nut

[0110] 11. Putter

[0111] 12 Coil spring

[0112] 13 outer cylinder

[0113] 15 Rotation sensor

[0114] 17 Tailgate opening and closing device (opening and closing device of vehicle opening and closing body)

[0115] 18 Door closing switch

[0116] 19 Door open switch

[0117] 20 Door lock device

[0118] 21 Latch motor

[0119] 22 Fully latched switch

[0120] 23 Semi-latching switch

[0121] 24 Release switch

[0122] 25 BCM

[0123] 26 Electronic key

[0124] 31 Control device

[0125] 50 Eye

[0126] 51 Door side connection structure

[0127] 52 Body side connecting structure

[0128] 101 Position detection unit

[0129] 102 Speed ​​Detection Unit

[0130] 103 Storage

[0131] 104 Opening and closing control unit

Claims

1. An opening and closing device for an opening and closing body of a vehicle, wherein: include: an opening and closing driving unit for driving the vehicle body opening and closing body to open and close the vehicle body opening and closing body, a rotation sensor for detecting the number of rotations of the opening and closing drive unit, a position detection unit that detects the opening and closing position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit that detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, a target speed setting unit that sets a target speed of the opening and closing drive unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from the first position to the second position, the target speed having an acceleration region starting from the first position, a constant speed region following the acceleration region, and a deceleration region following the constant speed region and ending at the second position, and an opening and closing control unit that controls the speed of the opening and closing drive unit by feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; The proportional gain of the feedback control in a calibration period which is preset from the start of the driving of the vehicle body opening and closing body by the opening and closing drive unit at the first position is different from the proportional gain of the feedback control in a normal period, wherein the normal period is the period from the end of the calibration period to the end of the driving of the vehicle body opening and closing body by the opening and closing drive unit when the vehicle body opening and closing body reaches the second position, The duration of the correction period is 3.0 times or less of the duration of the acceleration region when the speed of the opening and closing drive unit detected by the speed detection unit follows the target speed without difference at the position of the vehicle body opening and closing body detected by the position detection unit.

2. An opening and closing device for a vehicle opening and closing body, wherein: include: an opening and closing driving unit for driving the vehicle body opening and closing body to open and close the vehicle body opening and closing body, a rotation sensor for detecting the number of rotations of the opening and closing drive unit, a position detection unit that detects the opening and closing position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit that detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, a target speed setting unit that sets a target speed of the opening and closing drive unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from the first position to the second position, the target speed having an acceleration region starting from the first position, a constant speed region following the acceleration region, and a deceleration region following the constant speed region and ending at the second position, and an opening and closing control unit that controls the speed of the opening and closing drive unit by feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; The proportional gain of the feedback control in a calibration period which is preset from the start of the driving of the vehicle body opening and closing body by the opening and closing drive unit at the first position is different from the proportional gain of the feedback control in a normal period, wherein the normal period is the period from the end of the calibration period to the end of the driving of the vehicle body opening and closing body by the opening and closing drive unit when the vehicle body opening and closing body reaches the second position, The duration of the correction period is a duration during which the speed of the opening and closing drive unit detected by the speed detection unit is equal to or less than a preset speed.

3. An opening and closing device for an opening and closing body of a vehicle, wherein: include: an opening and closing driving unit for driving the vehicle body opening and closing body to open and close the vehicle body opening and closing body, a rotation sensor for detecting the number of rotations of the opening and closing drive unit, a position detection unit that detects the opening and closing position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit that detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, a target speed setting unit that sets a target speed of the opening and closing drive unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from the first position to the second position, the target speed having an acceleration region starting from the first position, a constant speed region following the acceleration region, and a deceleration region following the constant speed region and ending at the second position, and an opening and closing control unit that controls the speed of the opening and closing drive unit by feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; The proportional gain of the feedback control in a calibration period which is preset from the start of the driving of the vehicle body opening and closing body by the opening and closing drive unit at the first position is different from the proportional gain of the feedback control in a normal period, wherein the normal period is the period from the end of the calibration period to the end of the driving of the vehicle body opening and closing body by the opening and closing drive unit when the vehicle body opening and closing body reaches the second position, At least the feedback control in the acceleration region is P control consisting of proportional control, and the feedback control in the constant speed region and the deceleration region is PID control consisting of proportional, differential, and integral control.

4. An opening and closing device for a vehicle opening and closing body, wherein: include: an opening and closing driving unit for driving the vehicle body opening and closing body to open and close the vehicle body opening and closing body, a rotation sensor for detecting the number of rotations of the opening and closing drive unit, a position detection unit that detects the opening and closing position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit that detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, a target speed setting unit that sets a target speed of the opening and closing drive unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from the first position to the second position, the target speed having an acceleration region starting from the first position, a constant speed region following the acceleration region, and a deceleration region following the constant speed region and ending at the second position, and an opening and closing control unit that controls the speed of the opening and closing drive unit by feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; The proportional gain of the feedback control in a calibration period which is preset from the start of the driving of the vehicle body opening and closing body by the opening and closing drive unit at the first position is different from the proportional gain of the feedback control in a normal period, wherein the normal period is the period from the end of the calibration period to the end of the driving of the vehicle body opening and closing body by the opening and closing drive unit when the vehicle body opening and closing body reaches the second position, The second position is a fully opened position of the vehicle body opening and closing body. The first position is a fully closed position of the vehicle body opening and closing body or a position between the fully closed position and the fully opened position.

5. An opening and closing device for an opening and closing body of a vehicle, wherein: include: an opening and closing driving unit for driving the vehicle body opening and closing body to open and close the vehicle body opening and closing body, a rotation sensor for detecting the number of rotations of the opening and closing drive unit, a position detection unit that detects the opening and closing position of the vehicle body opening and closing body based on the number of rotations of the opening and closing drive unit obtained based on an input signal from the rotation sensor, a speed detection unit that detects the speed of the opening and closing drive unit based on an input signal from the rotation sensor, a target speed setting unit that sets a target speed of the opening and closing drive unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit until the vehicle body opening and closing body moves from the first position to the second position, the target speed having an acceleration region starting from the first position, a constant speed region following the acceleration region, and a deceleration region following the constant speed region and ending at the second position, and an opening and closing control unit that controls the speed of the opening and closing drive unit by feedback control so that the speed of the opening and closing drive unit detected by the speed detection unit at the opening and closing position of the vehicle body opening and closing body detected by the position detection unit follows the target speed set by the target speed setting unit; The proportional gain of the feedback control in a calibration period which is preset from the start of the driving of the vehicle body opening and closing body by the opening and closing drive unit at the first position is different from the proportional gain of the feedback control in a normal period, wherein the normal period is the period from the end of the calibration period to the end of the driving of the vehicle body opening and closing body by the opening and closing drive unit when the vehicle body opening and closing body reaches the second position, The second position is a fully closed position of the vehicle body opening and closing body. The first position is a fully opened position of the vehicle body opening and closing body or a position between the fully opened position and the fully closed position.

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