Lock release control device for opening and closing body

Abstract

Provided is a lock release device capable of suppressing a sense of incongruity that a user feels due to further displacement of an opening / closing body toward the closing side from the fully closed position of the opening / closing body. When opening the sliding door (20) is instructed, the CPU (82) operates the door lock device (22) to release the locked state. At this time, the CPU (82) performs a pull-in process of operating the door operator (70) to further move the sliding door (20) in the closing direction. In the pull-in process, the CPU (82) gradually increases the effective value of the voltage applied to the motor (72). In addition, when the total rotation amount of the motor (72) reaches a threshold value, the CPU (82) switches to control to hold the rotation angle of the motor (72).

Description

TECHNICAL FIELD

[0001] The present application relates to a lock release control device of an opening and closing body. BACKGROUND

[0002] In Patent Document 1, for example, a control device is described which performs control to release the lock of a sliding door that is an opening and closing body of a vehicle. The control device performs a process to further displace the door to the closing side when releasing the lock of the door. This is to reduce the force required when releasing the lock by canceling the reaction force generated on the door by a seal member provided to an opening portion.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENT

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. Hei 4-68182 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, as described above, in the case of further displacing the opening and closing body to the closing side from the fully closed position of the opening and closing body, a sense of incongruity can be generated to the user.

[0008] MEANS FOR SOLVING THE PROBLEMS

[0009] The following describes the means for solving the above problems and the effects thereof.

[0010] 1. A lock release control device of an opening and closing body, which takes an opening and closing body that opens and closes an opening portion of a vehicle as a control object, the opening and closing body contacts a sealing member provided on a vehicle body side of the vehicle in a fully closed state, the vehicle is provided with a lock device that restrains the opening and closing body at a fully closed position, and an opening and closing actuator that displaces the opening and closing body by rotation of a motor to shift the opening and closing body from one of an open state and a closed state to the other state, the lock release control device of the opening and closing body executes an open command acquisition process that acquires a command to set the opening and closing body to the open state, a pull-in process that includes at least one of a voltage ramp-up process that gradually increases a voltage applied to the motor in conjunction with a start of a closed rotation process that controls the rotation of the motor to further displace the opening and closing body in a closed direction, and a suppression process that suppresses further displacement of the opening and closing body when the motor is rotated by a predetermined amount by the closed rotation process, and a closed rotation process that controls the rotation of the motor to further displace the opening and closing body in the closed direction in a case where the command to set to the open state is acquired, and a lock release process that operates the lock device to release the restraint of the opening and closing body at the fully closed position in a case where the command to set to the open state is acquired.

[0011] In the above structure, at the time of releasing the lock, the opening and closing body is pressed against the sealing member by the closed rotation process. Therefore, by the closed rotation process, the force of the sealing member acting on the opening and closing body can be canceled. Therefore, compared with a case where the closed rotation process is not executed, the force required when the lock device releases the locked state becomes smaller. Also, thereby, it is possible to reduce the sound generated when the locked state is released.

[0012] However, in a case where the opening and closing body is further displaced in the closing direction due to the closed rotation process, the user can feel a sense of incongruity through the vision or the hearing. For example, since the opening and closing body is displaced in the closing direction further than the fully closed position, a sound can be generated by the contact of members other than the sealing member with each other. Also, in a case where the opening and closing body is greatly displaced in the closing direction, although the open command is issued, the user can perceive that the opening and closing body is displaced in the opposite direction to the intended direction.

[0013] In this regard, according to the voltage ramp-up process, it is possible to reduce the acceleration when the opening and closing body is displaced in the closing direction. Therefore, it is possible to suppress the impact at the time of the contact of members other than the sealing member with each other due to the displacement of the opening and closing body in the closing direction further than the fully closed position. Therefore, it is possible to make the sound generated due to the displacement of the opening and closing body in the closing direction further than the fully closed position smaller. Also, according to the suppression process, it is possible to suppress the great displacement of the opening and closing body in the closing direction.

[0014] 2. The lock release control device of an opening and closing body according to claim 1, wherein the opening and closing body is a sliding door, the vehicle is provided with a guide rail and a link member, the guide rail is linked to a vehicle body, the link member links the guide rail and the opening and closing body, and is provided with a guide roller, a guide roller support, and a fixed portion, the guide roller is a member that is displaced while rotating along the guide rail, the guide roller support is a member that supports a rotation axis of the guide roller, the fixed portion is linked to the opening and closing body, the guide roller support and the fixed portion are relatively rotatable along the same axis, a closing side opposite surface of the guide roller and a closing side opposite surface of the fixed portion are opposite to each other in a closed state of the opening and closing body, and an angle formed by the closing side opposite surfaces becomes larger as the opening and closing body is displaced toward an open state, and the pull-in process includes the voltage gradual change process.

[0015] In the above structure, the opening and closing body is displaced toward the closing side by the closing rotation process, whereby the closing side opposite surface of the guide roller and the closing side opposite surface of the fixed portion can come into contact. Also, at this time, in a case where the relative displacement speed of the closing side opposite surface of the guide roller and the closing side opposite surface of the fixed portion is large, a sound that makes a user feel a sense of discord can be generated. In this regard, according to the voltage gradual change process, the relative displacement speed generated by the closing rotation process can be reduced compared to a case where the voltage applied to the motor is increased in stages. Therefore, the sound generated by the closing side opposite surface of the guide roller and the closing side opposite surface of the fixed portion coming into contact can be reduced.

[0016] 3. The lock release control device of an opening and closing body according to claim 2, wherein a voltage of a direct current voltage source is applied to a terminal of the motor via a switching element, and the voltage gradual change process is a process of gradually increasing a duty ratio with respect to one cycle of on-off operation of the switching element.

[0017] In the above structure, by gradually increasing the duty ratio, the effective value of the voltage applied to the motor can be gradually increased.

[0018] 4. The lock release control device of an opening and closing body according to any one of claims 1 to 3, wherein the pull-in process includes the suppression process.

[0019] According to the above structure, since the suppression process is included in the pull-in process, the opening and closing body can be suppressed from being greatly displaced toward the closing side.

[0020] 5. The lock release control device of an opening and closing body according to claim 4, wherein the motor is a multiphase brushless motor and is applied with an output voltage of an inverter, and the suppression process is a process of fixing the switching elements of the inverter corresponding to a first phase of an upper side arm and a second phase of a lower side arm to an on state in a case where the motor is rotated by a prescribed amount by the closing rotation process.

[0021] In the above-described configuration, the state in which current flows from the first phase of the upper arm to the second phase of the lower arm is continued, and thus, torque that fixes the rotation angle of the motor to a prescribed angle is generated. Therefore, it is possible to suppress the motor from excessively rotating toward the closed side of the opening and closing body.

[0022] 6. The lock release control device of an opening and closing body according to 4 above, wherein the suppression process is a process of feedback-controlling the rotation amount of the motor by the closed rotation process.

[0023] In the above-described configuration, since the rotation amount of the motor is feedback-controlled, it is possible to suppress the motor from rotating toward the closed direction of the opening and closing body by a prescribed amount or more. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a view that shows a sliding door and a control device thereof according to a first embodiment.

[0025] Figure 2 (a) of FIG. 1 shows the sliding door in an open state according to the first embodiment, Figure 2 (b) of FIG. 1 shows the sliding door in a closed state.

[0026] Figure 3 (a) and (b) of FIG. 2 are views that show side surface configurations of a link member according to the first embodiment.

[0027] Figure 4 is a timing chart that shows an open control of a sliding door according to the first embodiment.

[0028] Figure 5 is a flowchart that shows processing steps of the open control of the sliding door according to the first embodiment.

[0029] Figure 6 is a timing chart that shows a switching method of an inverter according to the first embodiment.

[0030] Figure 7 (a) and (b) of FIG. 6 are timing charts that show the progress of the rotation amount of the motor in the first embodiment and a comparative example.

[0031] Figure 8 is a flowchart that shows processing steps of the open control of a sliding door according to a second embodiment.

[0032] SYMBOL EXPLANATION

[0033] 10 vehicle

[0034] 12 vehicle body

[0035] 14 opening portion

[0036] 16… windproof strips

[0037] 18… firing pin

[0038] 20… Sliding Door

[0039] 22… Door locking device

[0040] 40…Central Orbit

[0041] 60…Connecting components

[0042] 62…Fixed part

[0043] 62a… Closed-side opposite surface

[0044] 64…Guide rollers

[0045] 66…Guide roller support section

[0046] 66a… Closed-side opposite surface

[0047] 67… Rotation axis

[0048] 68… Rotation axis

[0049] 70… door actuator

[0050] 80… control device Detailed Implementation

[0051] <First Implementation>

[0052] The first embodiment will now be described with reference to the accompanying drawings.

[0053] like Figure 1 As shown, the vehicle 10 includes a body 12 and a sliding door 20. An opening 14 is provided on the side of the body 12. Additionally, a weatherstripping 16, serving as a sealing member, is provided at the opening 14 of the body 12 to improve the sealing performance of the sliding door 20 when the opening 14 is closed. A striker 18 is provided at the center of the front end of the opening 14 in the vertical direction of the body 12. The striker 18 is approximately U-shaped and protrudes rearward. The sliding door 20 operates between a fully closed position (fully closed) and a fully open position (fully open). In this embodiment, the sliding door 20 is opened by moving rearward and closed by moving forward. Furthermore, the sliding door 20 includes a door locking device 22. When the sliding door 20 is in the fully closed position, the door locking device 22 engages with the striker 18 to restrain the sliding door 20 in the fully closed position.

[0054] An upper rail 30, a center rail 40, and a lower rail 50 are provided in the vehicle body 12. The upper rail 30 is disposed above the opening portion 14. The center rail 40 is disposed behind the opening portion 14. The lower rail 50 is disposed in a lower portion of the sliding door 20. The sliding door 20 is linked to the upper rail 30, the center rail 40, and the lower rail 50 via respective link members 32, 60, 52.

[0055] Figure 2 (a) of FIG. 6 shows a state of mechanical linkage of the sliding door 20 and the center rail 40 formed by the link member 60.

[0056] The link member 60 has a fixed portion 62, a guide roller supporting portion 66, and a guide roller 64. The fixed portion 62 is fixed to the sliding door 20. The guide roller supporting portion 66 is linked to the fixed portion 62 in a rotatable manner. The guide roller 64 is supported to the guide roller supporting portion 66 in a rotatable manner.

[0057] In the link member 60, the fixed portion 62 is fixed to a position near a rear end of a central portion in the vertical direction of the sliding door 20. The guide roller supporting portion 66 is linked to the fixed portion 62 in a manner that allows relative displacement with a rotation axis 67 extending in the vertical direction as a rotation center 62. The guide roller 64 is disposed in alignment in a direction orthogonal to the vertical direction.

[0058] In a state where the link member 60 is linked to the center rail 40, the guide roller 64 is disposed between side walls of the center rail 40. Also, the link member 60 rotates with the rotation axis 68 extending in the vertical direction as a rotation center in a state where the guide roller 64 is in contact with the side walls of the center rail 40 in a case where the link member 60 moves along the longitudinal direction of the center rail 40 with respect to the center rail 40.

[0059] Figure 2 (a) of FIG. 6 shows a state where the sliding door 20 is located at a fully open position. Also, Figure 2 (b) of FIG. 6 shows a state where the sliding door 20 is located at a fully closed position.

[0060] In Figure 3 FIG. 7 is an enlarged view of the link member 60. In detail, Figure 3 (a) of FIG. 7 shows a fully open state of the sliding door 20. Also, Figure 3 (b) of FIG. 7 shows a fully closed state of the sliding door 20.

[0061] As the sliding door 20 is displaced toward the fully closed position by the guide roller rotating with the rotation axis 68 as a center, the guide roller supporting portion 66 relatively rotates with the rotation axis 67 as a center with respect to the fixed portion 62. As the sliding door 20 is displaced toward the fully closed position, an angle formed by respective closed side relative surfaces 62a, 66a of the fixed portion 62 and the guide roller supporting portion 66 becomes smaller. Also, as the sliding door 20 is displaced toward the fully closed position, the guide roller 64 is displaced toward the fully closed position in the direction orthogonal to the vertical direction. Figure 3As shown in (b), at the fully closed position of the sliding door 20, the closing side opposite faces 62a, 66a are opposed to each other at a position just before contact.

[0062] Returning to Figure 1 The vehicle 10 is provided with a door actuator 70. The door actuator 70 is provided with a motor 72, an inverter IV, and a controller 74. The motor 72 transmits power to the sliding door 20, for example, via a wire, a belt, or the like. The direction of rotation of the motor 72 determines whether the sliding door 20 is caused to perform a closing operation or the sliding door 20 is caused to perform an opening operation.

[0063] The motor 72 is a three-phase brushless motor. The inverter IV is a component in which series connection bodies of switching elements SW1, SW2, series connection bodies of switching elements SW3, SW4, and series connection bodies of switching elements SW5, SW6 are connected in parallel. Further, the voltage of a battery as a direct-current voltage source is applied to these series connection bodies. The controller 74 performs on-off operation of the switching elements SW1 to SW6.

[0064] The control device 80 operates the door locking device 22 and the door actuator 70 to control the opening and closing state of the sliding door 20 as a control target. In order to perform the above control, the control device 80 refers to an output signal Sm of a rotation angle sensor 76 that senses the rotation angle of the motor 72. The output signal Sm is a signal that becomes a pulse-shaped waveform each time the motor 72 becomes a prescribed rotation angle. In addition, the control device 80 refers to the output signal of the half-latch detection switch 90, the output signal of the full-latch detection switch 92, and the output signal of the pole detection switch 94. Here, the half-latch detection switch 90 is a switch that detects that the sliding door 20 is positioned at a so-called half-open door position on the basis of the state of a latch provided in the door locking device 22. The full-latch detection switch 92 is a switch that detects that the sliding door 20 is positioned at a fully closed position on the basis of the state of the latch. The pole detection switch 94 is a switch that detects that the position of the latch reaches a prescribed position on the release side.

[0065] In the control device 80, the CPU 82, the ROM 84, and the peripheral circuit 86 are able to communicate via a communication line 88. Here, the peripheral circuit 86 includes a circuit that generates a clock signal of a prescribed internal operation, a power supply circuit, a reset circuit, and the like. The CPU 82 executes a program stored in the ROM 84, whereby the control device 80 performs opening and closing control of the sliding door 20. In particular, when a user of the vehicle 10 issues an instruction to make the sliding door 20 in a fully closed state into an open state by operating a user interface 96, the CPU 82 performs opening control of the sliding door 20.

[0066] In Figure 4 indicates opening control of the sliding door 20. As shown in Figure 4When an instruction to open the sliding door 20 is issued, as shown, the CPU 82 operates the door locking device 22 to the opening side at time tl, and further operates the door actuator 70 to the closing side. That is, the motor 72 is rotated to the closing action side of the sliding door 20. This is a process for canceling the force by which the weather strip 16 presses the sliding door 20 to the opening side in the release action of the locked state of the door locking device 22. As a result, at time t2, the latch of the door locking device 22 is detected by the pole detection switch 94 to have moved to the release direction to a prescribed position. Thus, the CPU 82 reverses the motor 72 at time t3, which is a prescribed time after time t2, to cause the sliding door 20 to perform the opening action.

[0067] However, as described above, in the case where the sliding door 20 is temporarily closed to release the lock, the sliding door 20 presses the weather strip 16 to further move to the closing direction. As a result, Figure 3 The closing side opposite surface 62a of the fixed portion 62 collides with the closing side opposite surface 66a of the guide roller support portion 66, and an abnormal sound can be generated. In addition, when the elastic force of the weather strip 16 decreases due to aging, the movement of the sliding door 20 to the closing direction can be perceived by the user.

[0068] Thus, in the present embodiment, the process for releasing the locked state of the full-closed position of the sliding door 20, which is the control during time tl to time t3, is executed as follows.

[0069] Figure 5 The step representing the above-described release-related process. Figure 5 The process shown is implemented by the CPU 82 repeatedly executing the program stored in the ROM 84 at a prescribed period, for example. Hereinafter, the step number of each process is represented by a number annotated with "S" at the beginning.

[0070] In Figure 5 In the series of processes shown, the CPU 82 first determines whether the flag F is "1" (S10). The flag F is "1" in the case where the process for the locked state of the full-closed position of the sliding door 20 is executed, and is "0" in the case where this is not the case. In the case where the determination is "0" (S10: No), the CPU 82 determines whether an instruction to open the sliding door 20 (open instruction) is issued by the operation of the user interface 96 (S12). Then, in the case where the determination is that the instruction to open is issued (S12: Yes), the CPU 82 substitutes "1" for the flag F (S14).

[0071] In this case, in the case where the determination is that the flag F is "1" (S10: Yes), the CPU 82 determines whether a prescribed time has elapsed since the pole detection switch 94 was turned on (S16). This process is a determination as to whether the latch of the door locking device 22 has moved to the release direction to a prescribed position. Figure 4The processing of time t3. Then, if it is determined that the specified time has not elapsed (S16: No), the CPU82 performs a lock release operation using the door locking device 22 (S18). Next, the CPU82 determines whether the total rotation amount Ntot of the motor 72 has reached the threshold Nth (S20). The threshold Nth is set below the upper limit value at which the user will not feel any discomfort from the displacement of the sliding door 20 in the closing direction. If it is determined that the threshold Nth has not been reached (S20: No), the CPU82 substitutes the smaller of the value of the time ratio D plus the increase ΔD and 100 into the time ratio D (S22). The time ratio D is the ratio of the on-time to the period of periodically switching the switching elements SW2, SW4, SW6 on and off. This process increases the time ratio D towards 100% each time by the increase ΔD.

[0072] like Figure 6 As shown, when the time ratio D is 100%, the switching elements SW1 to SW6 of inverter IV are switched on in a 120° energizing manner. That is, the switching elements SW1 to SW6 are each in a 120° energizing state with different phases between each other within 360°.

[0073] Therefore, when the time ratio D is less than 100%, and when the time ratio D is 100%, the switching elements SW2, SW4, and SW6 are periodically switched on and off during the period of switching operation. Here, the period is the PWM period, and the ratio of the on-time to the PWM is used as the time ratio D. According to this process, the larger the time ratio D, the larger the effective value of the voltage applied to the motor 72.

[0074] therefore, Figure 5 The process of S22 is to gradually increase the effective value of the voltage applied to the motor 72.

[0075] Return to Figure 5 The CPU 82 outputs a closing operation command signal and a time ratio D (S24) to the controller 74. The closing operation command signal is a command used to close the sliding door 20. As a result, the controller 74 operates the switching elements SW2, SW4, and SW6 according to the time ratio D.

[0076] On the other hand, if it is determined that the total rotation amount Ntot has reached the threshold Nth (S20: Yes), the CPU 82 outputs a braking command to the controller 74 to fix the rotation angle of the motor 72 (S26). As a result, the controller 74 executes a process of setting the switching elements SW1 and SW4 to the ON state and setting the switching elements SW2, SW3, SW5, and SW6 to the OFF state. Thus, the rotation angle of the motor 72 is fixed to a predetermined angle determined by the aforementioned switching mode.

[0077] Further, in a case where it is determined that the prescribed time has elapsed (S16: YES), the CPU 82 substitutes "0" for the flag F (S28).

[0078] Further, in a case where the processing of S14, S24, S26, and S28 is completed and in a case where the processing of S12 is negatively determined, the CPU 82 temporarily ends the series of processes illustrated in FIG. 8. Figure 5

[0079] The effects and advantages of the present embodiment will be described herein.

[0080] When the sliding door 20 is in the fully closed state, if an opening instruction of the sliding door 20 is issued, the CPU 82 releases the locked state by the door locking device 22. Further, the CPU 82 operates the door actuator 70 so that the sliding door 20 performs the closing operation. Thereby, the force of the weather strip 16, which causes the sliding door 20 to perform the opening operation, applied to the sliding door 20 can be canceled. Therefore, the force required when the door locking device 22 releases the locked state becomes small. Further, thereby, the abnormal sound generated when the door locking device 22 releases the locked state can be suppressed.

[0081] The CPU 82 gradually increases the effective value of the voltage applied to the motor 72 when the sliding door 20 performs the closing operation. Thereby, compared to a case where the effective value is raised in stages, the acceleration imparted to the sliding door 20 becomes small. Therefore, the impact when the closing-side opposing surface 62a of the fixed portion 62 and the closing-side opposing surface 66a of the guide roller support portion 66, which oppose each other, come into contact with each other can be reduced. Therefore, the abnormal sound perceived by the user can be suppressed.

[0082] Further, when the total rotation amount Ntot of the motor 72 after the start of the closing operation of the sliding door 20 reaches the threshold value Nth, the CPU 82 fixes the rotation angle of the motor 72. Thereby, even in a case where the force against the closing operation of the sliding door 20 due to the aging of the weather strip 16 decreases, the sliding door 20 can be suppressed from excessively displacing.

[0083] In Figure 7 , the total rotation amount Ntot in a case where the force against the closing operation of the sliding door 20 due to the aging of the weather strip 16 decreases is exemplified.

[0084] Figure 7 (a) of FIG. 10 indicates the progress of the total rotation amount Ntot involved in the present embodiment. As indicated in (a) of FIG. 10, the operation of the inverter IV for driving the motor 72 in the closing operation direction is started at time t1. In Figure 7 Figure 7 ​​This processing is described as "pull-in operation". Thereby, after time t2, when a pulse of the output signal Sm of the rotation angle sensor 76 is detected, the CPU 82 increases the total rotation amount Ntot. Then, at time t3, when the total rotation amount Ntot reaches the threshold value Nth, the CPU 82 fixes the rotation angle of the motor 72. Thereby, it is possible to suppress the total rotation amount Ntot from reaching an amount NA at which the user feels a sense of incongruity with respect to the displacement of the sliding door 20.

[0085] Figure 7 (b) indicates the progress of the total rotation amount Ntot in the case where the processing of S20, S26 is not performed. As shown in (b) of FIG. 10, in this case, when the force against the weather strip 16 generated by the closing operation of the sliding door 20 decreases, the total rotation amount Ntot exceeds the above-mentioned amount NA. Therefore, although the user instructs the opening of the sliding door 20, the user can perceive a sense of incongruity with respect to the displacement of the sliding door 20 to the opposite side of the intended direction. Figure 7

[0086] <Second Embodiment>

[0087] Hereinafter, with respect to the second embodiment, the description will be made with the difference from the first embodiment as the center, with reference to the drawings.

[0088] Figure 8 indicates the steps of the processing related to the release according to the present embodiment. Figure 8 The processing shown in FIG. 11 is implemented by the CPU 82 repeatedly executing the program stored in the ROM 84 at a prescribed period, for example. In addition, in the following description, the same step number is annotated to the processing corresponding to the processing shown in FIG. 11 for the sake of convenience. Figure 8 Figure 5 In addition, in the following description, the same step number is annotated to the processing corresponding to the processing shown in FIG. 11 for the sake of convenience.

[0089] In the series of processing shown in FIG. 11, in the case where the affirmative determination is made in the processing of S20, the CPU 82 performs feedback control of the total rotation amount Ntot to the threshold value Nth (S26a). That is, the value obtained by multiplying the total rotation amount Ntot by the gain Kp after subtracting the threshold value Nth therefrom is added to the time ratio D. Figure 8 In addition, the CPU 82 temporarily ends the series of processing shown in FIG. 11 in the case where the processing of S26a is completed.

[0090] Figure 8 According to the above-mentioned processing, it is possible to suppress the total rotation amount Ntot from greatly exceeding the threshold value Nth.

[0091] According to the above-mentioned processing, it is possible to suppress the total rotation amount Ntot from greatly exceeding the threshold value Nth.

[0092] <Correspondence Relationship>

[0093] ​​​The correspondence between the matters in the above-described embodiments and the matters described in the above-described "means for solving the technical problem" column is as follows. Hereinafter, each number of the solution means described in the "means for solving the technical problem" column indicates the correspondence. [1, 4] The lock release control means corresponds to the control means 80. The opening and closing body corresponds to the sliding door 20. The sealing member corresponds to the weather strip 16. The locking means corresponds to the door locking means 22. The opening and closing actuator corresponds to the door actuator 70. The electric motor corresponds to the electric motor 72. The opening instruction acquisition process corresponds to the process of S12. The closing rotation process corresponds to the process of S24 in the case where S22 is performed. The voltage ramping process corresponds to the process of S22. The suppression process corresponds to the processes of S26, S26a. [2] The guide rail corresponds to the center rail 40. The linking member corresponds to the linking member 60. The guide roller corresponds to the guide roller 64. The guide roller support portion corresponds to the guide roller support portion 66. The fixing portion corresponds to the fixing portion 62. The rotation axis of the guide roller corresponds to the rotation axis 68. The "same rotation axis" corresponds to the rotation axis 67. The closing side opposite surface of the guide roller support portion corresponds to the closing side opposite surface 66a. The closing side opposite surface of the fixing portion corresponds to the closing side opposite surface 62a. [3] The switching element corresponds to the switching elements SW1 to SW6. [5] The first phase corresponds to the phase configured to have the switching element SW1. The second phase corresponds to the phase configured to have the switching element SW4. The suppression process corresponds to the process of S26. [6] The suppression process corresponds to the process of S26a.

[0094] <Other Embodiments>

[0095] In addition, the present embodiment can be implemented by being changed as follows. The present embodiment and the following modified examples can be implemented in combination with each other within a range where there is no technical contradiction.

[0096] "Regarding the Voltage Ramping Process"

[0097] In Figure 5 and Figure 8 , the execution period update rate D of the series of processes shown in these drawings, but it is not limited thereto. For example, it can also be that the process of S20 is executed when the processes other than the process of S22 in the series of processes are executed a prescribed number of times. If this case is taken as a process of making the time ratio D rise stage by stage, in the processes shown in Figure 5 and Figure 8 , it can be taken as a process of making the time ratio rise continuously.

[0098] As the operation target of the time ratio D, the switching elements SW2, SW4, SW6 of the lower arm are not limited. For example, the switching elements SW1, SW3, SW5 of the upper arm can also be used. In addition, as the PWM processing, the processing used in the period in which the 120° conduction method is in the on state is not limited. For example, the processing used in the period in which the 180° conduction method is in the on state can also be used.

[0099] As the voltage ramping processing, the processing in which the processing in which the rectangular wave voltage is output from the inverter IV is not limited. For example, the processing in which the voltage of the sine wave shape is output from the inverter IV can also be used. In this case, the processing in which the voltage is gradually increased can be implemented by the processing in which the amplitude of the voltage of the sine wave shape is gradually increased. In addition, the operation signal of the operation of the switching elements SW1 to SW6 for this case can be generated by the known triangular wave PWM processing or the like.

[0100] For example, as described in the following "Regarding the motor", in the case in which the DC motor is used as the motor, the time ratio D of the switching element of the H-bridge circuit connected to the motor is only gradually increased. Thereby, the effective value of the voltage applied to the motor can also be gradually increased.

[0101] As the voltage ramping processing, the processing implemented by the switching operation of the driving circuit that applies the voltage to the motor is not limited. For example, the voltage boosting circuit that boosts the input voltage of the inverter IV can also be provided, and the processing in which the boosted voltage is increased.

[0102] "Regarding the suppression processing"

[0103] In the above-described embodiment, the total rotation amount Ntot is calculated based on the output signal of the rotation angle sensor 76, but is not limited thereto. For example, the linear position sensor that detects the displacement amount of the sliding door 20 can also be provided, and the calculation can be performed based on the output signal of the linear position sensor.

[0104] In the processing of S26, the switching element SW1 and the switching element SW4 are set to the on state, but are not limited thereto. For example, the switching element that becomes the on state can also be changed according to the rotation angle of the motor 72 at the time when it is determined that the total rotation amount Ntot reaches the threshold value Nth. In this case, among the six combinations of the switching elements of one phase of the upper arm and the other phase of the lower arm, the combination in which the rotation amount from the determination time is the smallest can be selected.

[0105] The process of feedback-controlling the total rotation amount Ntot with respect to the threshold value Nth is not limited to the process of S26a. In other words, it is not limited to the process of taking the output value of the proportional element of the difference between the input total rotation amount Ntot and the threshold value Nth as the operation amount for feedback control. For example, it can also be the process of taking the output value of the integral element of the above difference as the operation amount for feedback control.

[0106] The process of feedback-controlling the total rotation amount Ntot is not limited to the process of taking the threshold value Nth as the target value. For example, it can also be the process of increasing or decreasing the time ratio D in the case of deviating from a prescribed range.

[0107] The process of fixing the rotation angle of the motor 72 is not limited to the processes of S26, S26a and the processes described in the above modification examples thereof. In other words, it is not limited to the process of operating the drive circuit of the motor 72. For example, in the case of having a device for fixing the rotation angle of the lock motor described in the column of "About the opening / closing actuator", it can also be the process of operating the device.

[0108] The process of suppression is not limited to the process of controlling the total rotation amount Ntot. For example, it can also be the process of reducing the output of the motor 72 in the case where the total rotation amount Ntot reaches the threshold value Nth. This can be achieved, for example, by reducing the effective value of the voltage applied to the motor 72 in the case where the total rotation amount Ntot reaches the threshold value Nth.

[0109] "About the purpose of the voltage ramping process"

[0110] In the above embodiment, the process of S22 is executed in order to suppress the sound generated by the link member 60 due to the pull-in operation, but it is not limited thereto. For example, the link member 32 has a hinge structure or the like, and it can generate sound due to the pull-in operation, and as a countermeasure thereto, the process of S22 can be executed.

[0111] The process of S22 is not necessarily intended to suppress the sound generated by the link member having a hinge structure. For example, if there is a concern that sound is generated due to the contact of the guide roller support portion 66 with the sliding door 20, it can also be intended to suppress this sound.

[0112] "About the opening / closing body"

[0113] The opening and closing body is not limited to the sliding door 20 that opens and closes the opening portion 14 for people to enter and exit the vehicle 10. For example, it can be a sliding sunroof. Also, it is not limited to a sliding door. For example, it can be a so-called pop-up rear door that rotates with the upper end portion of the opening portion as a rotation axis. Even in this case, when the opening portion has a seal member, the pull-in process at the time of release of the lock is effective in reducing the sound accompanying the release of the lock. Also, in this case, the suppression process in the pull-in process is effective in suppressing further displacement of the rear door in the full-closed direction at the time of the pull-in process due to aging of the seal member.

[0114] "Regarding the opening and closing actuator"

[0115] For example, it can be provided with a device that locks the rotation angle of the motor 72 to a prescribed angle.

[0116] "Regarding the motor"

[0117] The motor is not limited to a brushless synchronous motor. For example, it can be an induction motor. Also, as a multiphase brushless motor, it is not limited to a three-phase brushless motor. Also, it is not limited to a multiphase brushless motor, and for example, it can be a direct current motor.

[0118] "Regarding the release control device"

[0119] The release control device is not limited to a device that has a CPU 82 and a ROM 84 and executes software processing. For example, it can be provided with a dedicated hardware circuit such as an ASIC that performs hardware processing of at least a portion of the contents of the software processing performed in the above-described embodiments. That is, the release control device can be any of the following (a) to (c). (a) It is provided with a processing device that executes all of the above-described processing according to a program and a program storage device such as a ROM that stores the program. (b) It is provided with a processing device that executes a portion of the above-described processing according to a program, a program storage device, and a dedicated hardware circuit that executes the remaining processing. (c) It is provided with a dedicated hardware circuit that executes all of the above-described processing. Here, the software execution device that has a processing device and a program storage device and the dedicated hardware circuit can be plural.

Claims

1. A locking and unlocking control device for an opening and closing body, wherein, The control object is the opening and closing mechanism that controls the opening and closing of the vehicle's opening. When fully closed, the opening / closing body contacts a sealing component located on the side of the vehicle body. The vehicle is equipped with a locking device and an opening / closing actuator. The locking device is a device that constrains the opening and closing body to the fully closed position. The opening and closing actuator is an actuator that uses the rotation of a motor to displace the opening and closing body, thereby transferring the opening and closing body from one of the two states, open and closed, to the other. The locking and unlocking control device of the opening and closing body performs the opening command acquisition process, the pulling-in process, and the locking and unlocking process. The opening instruction acquisition process is the process of acquiring an instruction to set the open / closed body to the open state. The pull-in process includes at least one of two processes: voltage gradual change processing and suppression processing, as well as a closed rotation processing. This closed rotation processing, upon receiving an instruction to set the state to open, controls the rotation of the motor to further displace the opening / closing body in the closing direction. The lock release process is a process in which, upon receiving an instruction to set the opening state, the locking device is operated to release the constraint of the opening / closing body in the fully closed position. The voltage gradual change process is a process in which the voltage applied to the motor is gradually increased at the start of the closed-rotation process. The suppression process is a process that suppresses further displacement of the opening and closing body when the motor rotates by a predetermined amount through the closed rotation process.

2. The locking and unlocking control device for the opening and closing body according to claim 1, wherein, The opening and closing mechanism is a sliding door. The vehicle is equipped with guide rails and connecting components. The guide rail is connected to the vehicle body. The connecting component connects the guide rail and the opening / closing body, and includes a guide roller, a guide roller support, and a fixing part. The guide roller is a component that rotates and moves along the guide rail. The guide roller support is a component that supports the rotation axis of the guide roller. The fixing part is connected to the opening and closing body. The guide roller support and the fixing part can rotate relative to each other along the same axis. The closed-side opposing surfaces of the guide roller and the closed-side opposing surfaces of the fixing part are opposite each other in the closed state of the opening and closing body, and the angle formed between them increases as the opening and closing body moves towards the open state. The pull-in process includes the voltage gradual change process.

3. The locking and unlocking control device for the opening and closing body according to claim 2, wherein, The voltage from the DC voltage source is applied to the terminals of the motor via a switching element. The voltage gradual change process is a process that gradually increases the time ratio, which is the ratio of the period of the switching element's on operation to one cycle of the on / off operation.

4. The locking and unlocking control device for the opening and closing body according to any one of claims 1 to 3, wherein, The pull-in process includes the suppression process.

5. The locking and unlocking control device for the opening and closing body according to claim 4, wherein, The motor is a multiphase brushless motor and is subjected to the output voltage of an inverter. The suppression process is a process in which the switching elements of the inverter corresponding to the first phase of the upper arm and the second phase of the lower arm are fixed in the on state when the motor rotates by a predetermined amount through the closed rotation process.

6. The locking and unlocking control device for the opening and closing body according to claim 4, wherein, The suppression process is a feedback control process that uses the closed rotation process to control the amount of rotation of the motor.

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