Opening and closing body control device

Abstract

An open / close body control device includes a motor drive unit and a control unit. The motor drive unit outputs a predetermined application voltage to a motor based on a control command from the control unit. The control unit is configured to set a target speed of the motor to a closing-time target speed that ensures a torque required for closing the open / close body when the open / close body reaches a first position that is ahead of a closing position, and perform feedback control on the motor drive unit, and stop the feedback control when the open / close body reaches a second position that is closer to the closing position than the first position, and control the motor drive unit so that the application voltage of the motor at that time is maintained.

Description

Technical Field

[0001] One or more embodiments of the present invention relate to a device for controlling an opening and closing body that performs opening and closing operations by driving a motor, and more specifically, to control technology for closing the opening and closing body. Background Technology

[0002] For example, as an opening and closing control device installed on a vehicle, there exists an electric window system that controls the opening and closing of vehicle windows. In this system, an electric motor is used as an actuator, and the window, which acts as the opening and closing mechanism, is opened or closed by rotating the motor forward or backward using a switch. Specifically, an opening and closing mechanism (adjuster) linked to the motor is provided between the motor and the window. When the motor rotates forward, the window is raised via the opening and closing mechanism and is closed. Conversely, when the motor rotates in the reverse direction, the window is lowered via the opening and closing mechanism and is opened.

[0003] To ensure reliable window closure during operation, the motor continues to operate even after the upper part of the window contacts the rubber guide groove in the window frame. The window is then fully pressed against the guide groove, and the motor stops and locks. When the window closing force is weak, a gap is created between the window and the window frame, allowing rainwater to enter the vehicle or generating wind noise through this gap.

[0004] JP-A-2007-270523, JP-A-2020-012279, and JP-A-2020-122317 disclose techniques for reliably closing vehicle windows. In JP-A-2007-270523 and JP-A-2020-012279, the window is fully closed by increasing the applied voltage of a motor in a predetermined area in front of the fully closed position. According to JP-A-2020-122317, when the external temperature deviates from room temperature, the reduction in window closing force is suppressed by making the applied voltage of the motor higher than room temperature.

[0005] Furthermore, to reliably close the window, the applied voltage to the motor is increased, causing the window to collide with the guide rail at high speed. A strong reaction force from the guide rail acts on the window. In electric window systems, motor speed control is typically implemented through feedback control. Therefore, when the motor speed drops below the target speed just before reaching the closed position due to friction between the window and the guide rail, feedback control to maintain the speed activates, and the applied voltage to the motor increases, causing the motor speed to increase. As a result, the window forcefully impacts the guide rail and receives a strong reaction force from it.

[0006] As described above, the reaction force can be applied as excessive mechanical stress from the window to the door via the opening and closing mechanism, potentially causing door deformation. Specifically, higher temperatures and higher applied voltages to the motor result in a greater reaction force on the window and excessive stress on the opening and closing mechanism. Therefore, power window systems require opening and closing mechanisms capable of withstanding such excessive stress, which increases costs. Summary of the Invention

[0007] The object of one or more embodiments of the present invention is to provide an opening and closing control device capable of reliably closing the opening and closing body without generating excessive mechanical stress.

[0008] According to one aspect of the present invention, an opening / closing control device is provided, comprising: a motor drive unit that drives a motor to open and close the opening / closing body; and a control unit that controls the operation of the motor drive unit. The motor drive unit outputs a predetermined applied voltage to the motor based on a control command from the control unit. The control unit is configured to: when the opening / closing body reaches a first position prior to a closed position, set a target speed of the motor to a closing target speed that ensures the torque required to close the opening / closing body, and perform feedback control on the motor drive unit. The control unit is configured to: when the opening / closing body reaches a second position closer to the closed position than the first position, stop the feedback control and control the motor drive unit such that the applied voltage to the motor is maintained when the feedback control is stopped.

[0009] In this way, between the first and second positions, the target speed of the motor is set to the closing target speed that ensures the torque required to close the opening and closing body, and feedback control is performed based on this target speed. Furthermore, at the second position, feedback control is stopped, and the applied voltage maintained at this time causes the motor to rotate at a constant speed thereafter. As a result, the opening and closing body impacts the guide rail at the minimum required constant speed, and by stopping feedback control, the motor speed does not increase just before reaching the closed position, thereby suppressing the reaction force acting on the opening and closing body from the guide rail. Moreover, since the force required to close the opening and closing body is ensured, the opening and closing body can be closed reliably.

[0010] In an opening / closing control device according to one aspect of the invention, a motor drive unit may be configured to: output a sustained applied voltage to the motor during the time from when the opening / closing body reaches a second position to when the opening / closing body reaches a stop position further than the closed position on the closed side, and to stop outputting the sustained applied voltage when the opening / closing body reaches the stop position and stops.

[0011] In an opening / closing control device according to one aspect of the invention, the control unit may be configured to perform feedback control on the motor drive unit based on a normal target speed greater than the target speed when the opening / closing body is in the region in front of a first position.

[0012] In an opening / closing control device according to one aspect of the invention, the control unit may be configured to control a motor drive unit such that the applied voltage of the motor becomes the maximum voltage while the opening / closing body is in the region in front of the first position.

[0013] According to one aspect of the invention, the opening and closing body control device may further include: a jamming detection unit that detects foreign objects being jammed during the closing operation of the opening and closing body, wherein a prohibition area for preventing the jamming detection unit from performing detection may be provided in front of the closed position of the opening and closing body, and the second position may be the position of the opening and closing body when it reaches the prohibition area.

[0014] In an opening / closing control device according to one aspect of the invention, the control unit may be configured to: gradually reduce the target speed of the motor up to the point when the opening / closing body reaches a first position, and set the target speed at that point as the target speed when the opening / closing body reaches a certain value.

[0015] According to one or more embodiments of the present invention, an opening / closing control device can be provided to reliably close the opening / closing body without generating excessive mechanical stress. Attached Figure Description

[0016] Figure 1 This is a block diagram illustrating the first embodiment of this implementation.

[0017] Figure 2A and Figure 2B This is a schematic diagram of the opening and closing mechanism;

[0018] Figures 3A-3C This is a diagram illustrating the forces acting on a car window;

[0019] Figure 4 This is a diagram illustrating the control process according to the first embodiment;

[0020] Figure 5 This is an example of continuation. Figure 4 A diagram of the control process;

[0021] Figure 6 This is an example of continuation. Figure 5 A diagram of the control process;

[0022] Figure 7 This is a diagram illustrating the changes in the electric motor's output and speed relative to the position of the car window;

[0023] Figure 8 This is a block diagram illustrating the second embodiment of this embodiment;

[0024] Figure 9 This is a diagram illustrating the control process according to the second embodiment;

[0025] Figure 10 This is an example of continuation. Figure 9 A diagram of the control process;

[0026] Figure 11 This is an example of continuation. Figure 10 A diagram of the control process;

[0027] Figure 12 The diagram illustrates a modified example of the first embodiment; and

[0028] Figure 13 This is a diagram illustrating a variation of the second embodiment. Detailed Implementation

[0029] In embodiments of the invention, numerous specific details have been set forth to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid obscuring the invention.

[0030] Embodiments of the present invention will be described with reference to the accompanying drawings. Hereinafter, an electric window device installed in a vehicle will be given as an example, serving as an opening and closing control device.

[0031] Figure 1 An example of a power window device according to a first embodiment of this invention is shown. The power window device 100 is a device that opens and closes a vehicle window W by operating an operating switch 30 to operate an opening and closing mechanism 10. The power window device 100 includes a control unit 1, a motor drive unit 2, a motor 3, and a sensor 4. The window W is an example of an "opening and closing body" according to an embodiment of the invention.

[0032] The control unit 1 includes, for example, a microcomputer, and includes a speed detection unit 11, a position detection unit 12, a target speed selection unit 13, a speed control unit 14, an applied voltage holding unit 15, and a target speed storage unit 16. The functions of each block are implemented by software. Although various blocks other than those mentioned above are provided in the control unit 1, these blocks are not shown because they are not directly related to the embodiments of the present invention.

[0033] The speed detection unit 11 is a block that detects the rotational speed of the motor 3 based on the pulse signal input from the sensor 4, as will be described below. The position detection unit 12 is a block that detects the position of the window W based on the pulse signal. The target speed selection unit 13 is a block that selects either of the target speeds V1 and V2 stored in the target speed storage unit 16, as will be described below. The speed control unit 14 is a block that performs feedback control based on the deviation between the target speed selected by the target speed selection unit 13 and the rotational speed of the motor 3 detected by the speed detection unit 11, so that the rotational speed of the motor 3 is the target speed. The applied voltage holding unit 15 is a block that holds the applied voltage to the motor 3 at the voltage just before the window W reaches the closed position. The target speed storage unit 16 is a block that stores the normal target speed V1 and the target speed V2 when closed.

[0034] The motor drive unit 2 operates based on control commands from the control unit 1 and provides a predetermined applied voltage to the motor 3. The motor drive unit 2 is equipped with a pulse width modulation (PWM) circuit 21 and a switching circuit 22 including four bridge field-effect transistors (FETs).

[0035] The motor 3 is a DC motor and rotates at a predetermined speed based on the applied voltage supplied from the motor drive unit 2. The rotational speed of the motor 3 increases with the increase of the applied voltage. The opening and closing mechanism 10, which will be described later, is connected to the motor 3.

[0036] Sensor 4 includes a rotary encoder, a voltage divider, etc., and detects the rotational state of motor 3. Specifically, sensor 4 generates a pulse signal synchronized with the rotation of motor 3 and outputs the pulse signal to control unit 1. Speed ​​detection unit 11 of control unit 1 detects the rotational speed of motor 3 based on the pulse interval of the pulse signal. Position detection unit 12 of control unit 1 counts the number of rising and falling edges of the pulse signal and detects the position of window W based on the count value.

[0037] The opening / closing mechanism 10 (adjuster) operates in conjunction with the rotation of the electric motor 3 to open and close the vehicle window W. For example... Figure 2A As shown, the opening and closing mechanism 10 is inserted between the motor 3 and the window W. The window W is vertically attached to the window frame 40 to be fitted into the groove of the rubber guide groove 50 provided inside the window frame 40. Figure 2A Fa in the figure represents the force acting on window W when window W is raised (details will be described below).

[0038] Figure 2BAn example of an opening and closing mechanism 10 is illustrated. The opening and closing mechanism 10 is configured with a first wheel 10a located at the top, a second wheel 10b located at the bottom, a cable 10c suspended between the first wheel 10a and the second wheel 10b, and a lifting member 10d fixed to the cable 10c. The second wheel 10b is connected to the rotating shaft 3a of the motor 3 and rotates with the motor 3. The lifting member 10d is connected to the window W and moves vertically with the rotation of the motor 3.

[0039] For example, when motor 3 rotates forward, the second wheel 10b rotates counterclockwise, and the lifting member 10d rises via cable 10c. As a result, the window W rises and closes together with the lifting member 10d (closing operation). Conversely, when motor 3 rotates in the reverse direction, the second wheel 10b rotates clockwise, and the lifting member 10d descends via cable 10c. As a result, the window W descends and opens together with the lifting member 10d (opening operation).

[0040] Figures 3A-3C This is a diagram illustrating the forces acting on window W when window W is closed. Figure 3A This example illustrates the state where the car window is raised (W). Figure 3B This illustrates the state where window W is in the closed position, and Figure 3C This illustrates the state where the car window W rises further and reaches a stop position.

[0041] like Figure 3A As shown, when the car window W is raised, the force acting on the window W is only the normal load force Fa. Therefore, the output (torque) of the motor 3 at this time is equal to the normal load force Fa. The normal load force Fa mainly comes from... Figure 2A The friction between the front and rear guide grooves 50a and 50b shown and the side portion of the window W, as well as the weight of the glass of the window W.

[0042] like Figure 3B As shown, when the car window W reaches the closed position, in addition to the normal load force Fa, the force required to close the car window W (closing force) Fb acts on the car window W. Therefore, as the output (torque) of the motor 3 at this time, the motor output = normal load force Fa + closing force Fb. The closing force Fb comes from... Figure 2A The friction between the upper guide groove 50c shown and the upper part of the window W.

[0043] like Figure 3CAs shown, when the window W exceeds the closed position and reaches the stop position, in addition to the normal load force Fa and the closing force Fb mentioned above, an overload force Fc acts on the window W. Therefore, as the output (torque) of the motor 3 at this time, the motor output = normal load force Fa + closing force Fb + overload force Fc. The overload force Fc is the reaction force received from the upper guide groove 50c when the window W hits the upper guide groove 50c, and the higher the speed of the window W, the greater the overload force Fc.

[0044] When an excessive force Fc is applied to the window W as described above, the excessive force Fc is transmitted to the door via the window frame 40, the opening and closing mechanism 10, the connecting unit between the opening and closing mechanism 10 and the vehicle door (not shown), and as described in the introduction, it may cause deformation of the door. Therefore, in an embodiment of the present invention, when the window W reaches a predetermined position before the closed position, the speed of the motor 3 is reduced, and then when the window W approaches the closed position, the feedback control of the motor speed is stopped, thereby suppressing the excessive force Fc applied to the window W. In the following, reference will be made to... Figures 4-7 Describe the details.

[0045] Figures 4-6 This is an example of... Figure 1 The diagram shows the control process performed by control unit 1. Figure 7 This is a diagram illustrating the changes in the output (torque) and speed of motor 3 relative to the position of window W. Figures 4-6 The switches SW1 to SW3 shown are for illustrative purposes only, and these switches SW1 to SW3 are not actually installed. Figure 1 In the configuration (also applicable) Figures 9-13 (SW1 to SW4 in the middle).

[0046] Switch SWl corresponds to Figure 1 The position detection unit 12 in the middle is switched to a neutral position according to the position of the window W. Figure 4 P1 side ( Figure 5 ) and P2 side ( Figure 6 P1 and P2 represent respectively Figure 7 The target speed switching position and speed control stop position are shown (details will be described below).

[0047] Switch SW2 corresponds to Figure 1 The target speed selection unit 13 in the middle switches the target speed of the motor 3 between the normal target speed V1 and the target speed V2 when the switch SW1 is closed, based on the state of the switch SW1. Here, V1 and V2 have a relationship of V1>V2. Furthermore, the target speed V2 when the window is closed is set to a speed that can ensure the torque required to close the window W. The torque required to close the window W is compared with a reference... Figure 3B The torque that the closed force Fb is balanced by is described.

[0048] Switch SW3 and switch SW1 together correspond to Figure 1 The position detection unit 12 is in the ON state before switch SW1 switches to the P2 side, and is in the OFF state in conjunction with switch SW1 when switch SW1 switches to the P2 side (see [link]). Figure 6 ).

[0049] Figure 4 This example illustrates what happens when the upper part of the window W is located... Figure 7 The area in front of the target speed switching position Pl in the middle ( Figure 7 The control state is as follows (left side of the diagram). At this time, switch SW1 is in the neutral position, switch SW2 selects the normal target speed V1, and switch SW3 is in the ON state. Therefore, Figure 1 The speed control unit 14 performs speed control (feedback control) based on the normal target speed V1.

[0050] Specifically, the speed control unit 14 calculates the deviation between the normal target speed V1 and the rotational speed of the motor 3 detected by the speed detection unit 11, determines the duty cycle of the PWM signal generated by the PWM circuit 21 of the motor drive unit 2 so that the deviation becomes zero (i.e., the rotational speed of the motor 3 becomes the normal target speed V1), and outputs the duty cycle as a control command to the motor drive unit 2. The PWM circuit 21 of the motor drive unit 2 generates a PWM signal with the commanded duty cycle to operate the switching circuit 22, and an applied voltage with a predetermined value is output from the switching circuit 22 to the motor 3. In this case, Figure 1 The applied voltage holding unit 15 does not maintain the applied voltage. Therefore, the applied voltage of the motor 3 fluctuates according to the feedback control of the speed control unit 14.

[0051] Then, as window W rises and the upper part of window W reaches... Figure 7 When the target velocity changes position Pl, the state changes as follows: Figure 5 The control state is shown. In Figure 5 In this configuration, switch SW1 switches to the P1 side, and switch SW2 switches accordingly, selecting the target speed V2 when closed. Since V1 > V2 as described above, the target speed is set to a lower value than the previous target speed at the target speed switching position P1. The speed control unit 14 performs feedback control of the motor speed based on the target speed V2 when closed. Furthermore, in this case, the applied voltage holding unit 15 does not hold the applied voltage of the motor 3 output from the motor drive unit 2.

[0052] As the window W rises further and the upper part of the window W reaches... Figure 7 When the speed control stops at position P2, the state changes as follows:Figure 6 The control state is shown. In Figure 6 In this process, switch SW1 switches to the P2 side, and switch SW3 correspondingly opens. Therefore, the output of the applied voltage based on the speed control unit 14 disappears, and feedback control stops. On the other hand, the applied voltage holding unit 15 maintains the applied voltage of the motor 3 when feedback control stops.

[0053] Specifically, the applied voltage holding unit 15 continues to output the duty cycle of a PWM signal corresponding to the applied voltage of the motor when feedback control stops to the motor drive unit 2 as a control command from the control unit 1. Therefore, the motor 3 is driven by an applied voltage (holding voltage) with a fixed value based on the duty cycle, and the motor 3 rotates at a constant speed. Since the feedback control of the speed control unit 14 is not active while the applied voltage is held, the rotational speed of the motor 3 does not increase due to feedback control.

[0054] As described above, when window W reaches the target speed switching position P1, the target speed switches from V1 to V2 (i.e., the target speed decreases). Then, when window W reaches the speed control stop position P2, the feedback control stops and maintains the voltage applied to the motor at this time, so as to suppress [the following]. Figure 3C The diagram shows the excessive force Fc applied to the window W when it impacts the upper guide groove 50c. This will be referenced. Figure 7 To describe in more detail.

[0055] exist Figure 7 In the diagram, the horizontal axis represents the position of window W, and the window position changes from left to right when window W is closed. Feedback control is performed based on the normal target speed V1 before window W reaches the target speed switching position P1. The target speed switching position P1 corresponds to the "first position" according to an embodiment of the invention.

[0056] When the car window W rises and reaches the target speed switching position P1, Figure 1 The target speed selection unit 13, as described above, switches the target speed from the normal target speed V1 to the closed-loop target speed V2. Therefore, feedback control is executed, causing the rotational speed of the motor 3 to become the closed-loop target speed V2. To facilitate the transition to this feedback control, in Figure 7 Instead of immediately switching the target speed from V1 to V2 at position P1, the target speed when the window is closed is set to the target speed V2 when the window is gradually reduced from the previous V1 to a certain value. Since V2 is less than V1, the rotational speed of motor 3 decreases after the target speed is switched, and the lifting speed of window W also decreases accordingly. On the other hand, even when window W reaches the target speed switching position P1, as before, only... Figures 3A-3CThe normal load force Fa acts on the window W, so that the motor output (torque) remains unchanged (motor output = normal load force Fa).

[0057] When the window W rises further and reaches the speed control stop position P2, as described above, the speed control unit 14 stops feedback control, and the applied voltage holding unit 15 maintains the applied voltage to the motor 3 at this time. Therefore, thereafter, the motor 3 rotates at a constant speed, and the window W also rises at a constant speed. Furthermore, even at this point, since the force acting on the window W is only the normal load force Fa, the motor output does not change (motor output = normal load force Fa). The speed control stop position P2 corresponds to the "second position" according to an embodiment of the present invention.

[0058] Next, as the window W rises further and reaches position P3 where it contacts the upper guide groove 50c, the motor 3 continues to rotate. Due to the friction caused by the contact between the window W and the upper guide groove 50c, the motor speed gradually decreases, and the motor output (torque) increases according to the friction.

[0059] Next, when the car window W reaches the closed position P4 ( Figure 3B In the state of (the state of the motor), although the motor 3 continues to rotate, the motor speed further decreases. At the same time, due to the closing force Fb required to close the window W, the motor output further increases (motor output = normal load force Fa + closing force Fb).

[0060] Even after the window W reaches the closed position P4, the motor 3 rotates while the applied voltage is maintained, causing the window W to rise beyond the closed position P4 and reach the stop position P5. When the window W reaches the stop position P5, it is pressed against the upper guide groove 50c and cannot rise further, causing the motor 3 to stop (locked state). Simultaneously, the applied voltage holding unit 15 stops maintaining the applied voltage, and the voltage from the motor drive unit 2 is not supplied to the motor 3. As a result, the window W stops at the stop position P5. Figure 3C (The state in the middle).

[0061] At the stop position P5, although the collision between the window W and the upper guide groove 50c causes an excess force Fc as a reaction force, this excess force Fc is smaller than the excess force in the prior art. That is to say, as Figure 7As shown by the dashed line, without implementing the control according to the embodiment of the invention (target speed reduction and feedback control stop), the speed of the motor 3 has not decreased until the upper guide groove contact position P3, making the time until the motor 3 stops longer, and the window W stops at the stop position P6, which is beyond the stop position P5. Therefore, at the stop position P6, the reaction force from the upper guide groove 50c, i.e., the excess force Fc, becomes larger.

[0062] On the other hand, in the embodiment of the present invention, as shown by the solid line, the target speed decreases at the target speed switching position P1, causing the motor 3 to stop at the stop position P5 before the stop position P6. Therefore, the excess force Fc at the stop position P5 is reduced by the amount represented by the symbol y. Furthermore, even if the window W stops at the stop position P5, the force required for closing (closing force Fb) is ensured, so that the window W does not close incompletely.

[0063] Furthermore, without the control according to the embodiment of the invention, as described in the introduction, when the speed of the motor 3 drops below the target speed just before reaching the closed position P4, the feedback control operates and the applied voltage of the motor 3 increases, causing the window W to violently impact the upper guide groove 50c. Therefore, although the vehicle door may deform due to excessive force Fc, according to the embodiment of the invention, the feedback control does not operate from the speed control stop position P2, so that the speed of the motor 3 does not increase before reaching the closed position P4, and there is no possibility of the aforementioned malfunction occurring.

[0064] As described above, in the electric window device 100 according to the first embodiment, between the target speed switching position P1 and the speed control stop position P2, the target speed of the motor 3 is set to a speed that ensures the torque required to close the window W (target speed V2 when closed), and feedback control is performed based on the target speed. Furthermore, at the speed control stop position P2, feedback control is stopped, and the motor 3 rotates at a constant speed due to the applied voltage maintained at this time. As a result, the window W impacts the upper guide groove 50c at the minimum necessary speed, and by stopping the feedback control, the applied voltage to the motor 3 does not increase before reaching the closed position P4, and the motor speed does not increase, thereby suppressing the excessive force Fc acting on the window W from the upper guide groove 50c. Furthermore, since the force required to close the window W (closing force Fb) is ensured, the window W can be closed reliably.

[0065] Figure 8 An example is shown of a power window device according to a second embodiment of this embodiment. The power window device 200 and the power window device 100 according to the first embodiment (…) Figure 1The difference lies in that a jam detection unit 17 is provided in the control unit 1. Because the other configurations are in the same manner as in the first embodiment, therefore... Figure 1 Components that are identical in the figures are referred to by the same reference numerals, and repeated descriptions are omitted.

[0066] The jamming detection unit 17 detects any foreign objects jammed during the closing operation of the window W. Since the method for detecting jamming is well-known, its description is omitted here. Jamming detection is not performed over the entire moving area of ​​the window W, and is performed in the closed position P4 ( Figure 7 A prohibited area is set in front of the window W to prevent the jam detection unit 17 from detecting it. This is because the motor speed decreases when the window W is closed, thus avoiding the false detection of jamming. In the second embodiment, the position when the window W reaches the prohibited area is set as the speed control stop position P2. As a result, when the window W reaches the prohibited area, feedback control can be stopped by using the existing signal (detection prohibition signal) output from the position detection unit 12.

[0067] Figures 9-11 This is an example Figure 8 A diagram showing the control process of control unit 1. Switches SW1 to SW3 have... Figures 4-6 Switches SW1 to SW3 are operated in the same manner. Switch SW4 is a switch that performs switching based on the aforementioned detection of the prohibition signal.

[0068] Figure 9 This example illustrates what happens when the upper part of the window W is located... Figure 7 The control state when the target speed switching position P1 is in the area in front of the target speed switching position. In this case, switch SW1 is in the neutral position, switch SW2 selects the normal target speed V1, switch SW3 is in the on state, and switch SW4 does not switch. Therefore, Figure 8 The speed control unit 14 performs speed control (feedback control) based on the normal target speed V1. In this case, the applied voltage holding unit 15 does not hold the applied voltage of the motor 3.

[0069] Then, when the upper part of the W-shaped window reaches... Figure 7 When the target velocity changes position Pl, the state changes as follows: Figure 10 The control state is shown. In Figure 10 In this configuration, switch SW1 is switched to the P1 side, switch SW2 is also switched, and the target speed V2 is selected when closed. The speed control unit 14 performs speed feedback control based on the target speed V2 when closed. Additionally, in this case, the applied voltage holding unit 15 does not hold the applied voltage to the motor 3.

[0070] As the window W rises further and the upper part of the window W reaches...Figure 7 When the speed control stops at position P2, the state changes as follows: Figure 11 The control state is shown. In Figure 11 In this process, switch SW1 switches to the P2 side, switch SW3 opens accordingly, and switch SW4 is switched based on the detected prohibition signal. Therefore, the output of the applied voltage based on the speed control unit 14 disappears, and feedback control stops. On the other hand, the applied voltage holding unit 15 holds the applied voltage of the motor 3 at this time, and the motor 3 rotates at a constant speed with the applied voltage having a certain value.

[0071] In the same manner as in the first embodiment, also in the electric window device 200 according to the second embodiment, the window W impacts the upper guide groove 50c at the minimum necessary speed, and through stop feedback control, the speed of the motor 3 does not increase before reaching the closed position P4, thereby suppressing the excessive force Fc acting on the window W from the upper guide groove 50c. Furthermore, since the force required to close the window W (closing force Fb) is ensured, the window W can be closed reliably.

[0072] In addition to the above-described embodiments, various other embodiments, such as the following, may also be employed in this invention.

[0073] In the above embodiments, when the car window W arrives... Figure 7 Before the target speed switching position P1, feedback control is performed based on the normal target speed V1, and in the region before the target speed switching position P1, the applied voltage of motor 3 can be fixed to the maximum value and motor 3 can be driven by the maximum voltage without performing feedback control.

[0074] In this case, as with the first embodiment Figure 4 Corresponding Figure 12 As shown, when the window W reaches the target speed switching position P1, switch SW2 is turned on, and only the target speed V2 when closed is selected. Furthermore, as in the second embodiment… Figure 9 Corresponding Figure 13 As shown, in this case, switch SW2 also only selects the target velocity V2 when it is closed.

[0075] Furthermore, in the above embodiments, a sensor 4, such as a rotary encoder or a voltage divider, is used to detect the rotational speed of the motor 3 or the position of the window W. Instead of the sensor 4, a current detection circuit that detects the current flowing through the motor 3 can also be provided. The motor speed and the window position can be detected based on the ripple current (pulsating current) detected by the current detection circuit.

[0076] Furthermore, in the above embodiments, the motor drive unit 2 is provided separately from the control unit 1, and the motor drive unit 2 can be incorporated into the control unit 1.

[0077] Furthermore, in the above embodiments, examples are given of the motor 3 being installed in the electric window device 100, and the motor 3 may be installed separately from the electric window device 100.

[0078] In addition, Figure 2A and Figure 2B In this paper, as an example of an opening and closing mechanism, an opening and closing mechanism 10 including a first wheel 10a and a second wheel 10b, a wire 10c and a lifting member 10d is given as an example. Instead of the opening and closing mechanism 10, for example, an opening and closing mechanism with an X-shaped arm as described in JP-A-2016-108807 can be used.

[0079] Furthermore, in the above embodiments, an electric window device for a vehicle was given as an example as an opening and closing control device, and the embodiments of the present invention can also be applied to devices for controlling the opening and closing of vehicle sunroofs, etc. Moreover, the embodiments of the present invention can be applied to various control devices for opening and closing bodies in fields other than vehicles.

[0080] Although the invention has been described with reference to a limited number of embodiments, those skilled in the art who will benefit from this disclosure will understand that other embodiments can be devised without departing from the scope of the invention disclosed herein. Therefore, the scope of the invention should be limited only by the appended claims.

[0081] Cross-references to related applications

[0082] This application is based on and claims priority to Japanese Patent Application No. 2020-212167, filed on December 22, 2020, the entire contents of which are incorporated herein by reference.

Claims

1. An opening / closing control device, the opening / closing control device comprising: An electric motor drive unit drives an electric motor to open and close the opening / closing body; as well as The control unit controls the operation of the motor drive unit. The motor drive unit outputs a predetermined applied voltage to the motor based on control commands from the control unit, and The control unit is configured as follows: When the opening / closing body reaches a first position before reaching the closed position, the target speed of the motor is set to the closing target speed with a torque sufficient to resist the force of the upper guide groove to close the opening / closing body, and feedback control is performed on the motor drive unit, wherein the closed position is a position where there is no gap between the opening / closing body and the upper guide groove, and When the opening / closing body reaches a second position that is closer to the closed position than the first position, the feedback control is stopped, and the motor drive unit is controlled to maintain the applied voltage of the motor when the feedback control is stopped.

2. The opening and closing body control device according to claim 1, in, The motor drive unit is configured as follows: During the time from when the opening / closing body reaches the second position to when the opening / closing body reaches a stopping position deeper in the upper guide groove than the closed position, the maintained applied voltage is output to the motor, and When the opening / closing body reaches the stop position and stops, the applied voltage maintained by the output is stopped.

3. The opening and closing body control device according to claim 1 or 2, in, The control unit is configured to: While the opening / closing body is located between the fully open region and the first position, feedback control is performed on the motor drive unit based on a normal target speed that is greater than the target speed when closed.

4. The opening / closing control device according to claim 1 or 2, in, The control unit is configured to: While the opening / closing body is located between the fully open region and the first position, the motor drive unit is controlled so that the applied voltage of the motor becomes the maximum voltage.

5. The opening / closing control device according to claim 1 or 2, further comprising: A jamming detection unit detects foreign objects being stuck during the closing operation of the opening and closing body. Specifically, a prohibition area is provided between the first position and the closed position of the opening / closing body to prevent the jamming detection unit from performing detection, and The second position is the position of the opening and closing body when it reaches the prohibited area.

6. The opening / closing control device according to claim 1 or 2, in, The control unit is configured to: When the opening / closing body reaches the first position, the target speed of the motor before this time is gradually reduced, and when the target speed drops to a certain value, the target speed at that time is set as the target speed when closing.

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