Control method of opening and closing device

Abstract

A control method for an opening and closing device is disclosed, used to control the opening speed of the opening and closing body. The opening and closing device includes a slide rail, rollers, a drive cable driven by a motor, a hinge unit, and a control device. The hinge unit is fixedly connected to the drive cable and has an opening and closing body side fixing part fixedly connected to the opening and closing body. The control device controls the opening speed by controlling the rotational speed of the motor. The curved section is divided into m segments. Let S2 be the distance the opening and closing body side fixing part moves along each segment, let S1 be the distance the drive cable moves corresponding to the movement of the opening and closing body side fixing part, let S2 / S1 be the corner ratio, let Nmax be the maximum corner ratio within the m segments, let Vmax be the maximum moving speed that the opening and closing body can reach, and let Vmax / Nmax be Va. The rotational speed of the motor is controlled so that when the opening and closing body is opened, the target speed Vb of the motor from the fully closed position to entering the curved section is ≤ Va.

Description

Technical Field

[0001] This invention relates to a control method for an opening and closing device. More particularly, it relates to a control method for an opening and closing device for a vehicle. Background Technology

[0002] In the prior art, there is a known control method for a vehicle opening and closing device that controls the moving speed of the opening and closing body of the vehicle opening and closing device through feedback control. For example, referring to Patent Document 1, the control method for this vehicle opening and closing device is configured to control the moving speed of the opening and closing body by performing speed feedback control, thereby moving the opening and closing body, and setting multiple control regions for the moving stroke of the opening and closing body, and changing the control characteristics of the speed feedback control for each control region.

[0003] Specifically, when a sliding door, acting as an opening and closing mechanism, moves within the corner of the track, its speed increases due to centrifugal force. This can easily lead to a deviation between the current speed and the target speed, affecting the smoothness of the movement. Patent Document 1 addresses this by executing a speed feedback control cycle within the corresponding area, reducing the responsiveness of the speed feedback control, thereby suppressing the excessive deviation between the sliding door's speed and the target speed caused by centrifugal force, and thus reducing the jitter of the sliding door moving within the corner.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Chinese Invention Patent Publication CN107075894A

[0007] However, through the efforts of the inventors of this invention, it has been found that the control method described in the aforementioned patent document 1 still has the following problems: when the vehicle is on a certain uphill slope, even if the control cycle for the speed feedback is changed, the sliding door will still experience a significant deceleration when it opens electrically and leaves the corner, resulting in poor smoothness of movement.

[0008] Through their diligent research, the inventors of this invention have determined the reason for this sense of deceleration as follows: When a vehicle is on an uphill slope and the sliding door is electrically opened, in the initial stage of movement within the corner, the sliding door accelerates by increasing the output of the motor to reach the set target speed. Simultaneously, due to the weight of the door itself, gravity generates a component force along the sliding door's direction of movement, further increasing the door's acceleration. Upon reaching the target speed, the motor limits the sliding door's speed according to the set speed feedback control cycle. However, due to the centrifugal force generated by the sliding door's circular motion at the corner and the component force generated by the door's weight while going uphill, even controlling the sliding door's speed according to the set speed feedback control cycle cannot effectively reduce the sliding door's speed within the corner. Therefore, when leaving the corner, the sliding door experiences a significant speed increase. After leaving the corner, the sliding door's direction of movement changes from an arc to a roughly straight line, and the direction of movement changes. Furthermore, to reach the set target speed, the motor increases its output to limit the sliding door's movement, resulting in a significant drop in the sliding door's speed and thus a noticeable sense of deceleration. Summary of the Invention

[0009] The purpose of this invention is to provide a control method for an opening and closing device that effectively reduces the feeling of deceleration when the opening and closing body leaves a corner during electric opening. In particular, this invention provides a control method for an opening and closing device that effectively reduces the feeling of deceleration when the sliding door is electrically opened while the vehicle is on an uphill slope.

[0010] The present invention discloses a control method for an opening and closing device, used to control the opening speed of an opening and closing body of the device, the opening and closing body being used to open and close an opening provided on a vehicle body. The opening and closing device includes: a slide rail disposed on the vehicle body and having a curved portion extending in an arc shape; a roller; a drive cable driven by a motor; a hinge unit fixedly connected to the drive cable and having an opening and closing body-side fixing portion fixedly connected to the opening and closing body, the roller being fixedly fixed to the hinge unit in a manner that allows it to slide along the slide rail to guide the movement of the opening and closing body; and a control device that controls the opening speed by controlling the rotational speed of the motor. The curved section is divided into m segments, where m is a natural number greater than 0. Let S2 be the distance the fixed part on the opening / closing body moves along each segment, and let S1 be the distance the drive cable moves corresponding to the movement of the fixed part on the opening / closing body. Let S2 / S1 be the corner ratio, and let Nmax be the maximum corner ratio within the m segments. Let Vmax be the maximum moving speed that the opening / closing body can achieve, and let Va be Vmax / Nmax. The control device controls the rotational speed of the motor so that when the opening / closing body is in the fully closed position, the target speed Vb of the motor from when the opening / closing body is in the fully closed position until the fixed part on the opening / closing body enters the curved section is less than or equal to Va.

[0011] According to the above technical solution, by reducing the target speed Vb starting from the fully closed position, the deceleration sensation when the opening and closing body leaves the bend can be effectively reduced, resulting in a better opening and closing feel. Especially when the opening and closing body opens uphill, it accelerates within the bend, and the weight of the opening and closing body is in the same direction as the output force, which easily generates a greater deceleration sensation. Through the above technical solution, the opening and closing body can achieve a good opening feel when going uphill.

[0012] In addition, in the above technical solution, the preferred value is 80% Va≤Vb≤Va.

[0013] In addition, in the above technical solution, the preferred value is 90% Va≤Vb≤Va.

[0014] In addition, in the above technical solution, it is preferred that the slide rail also has a first straight portion, which extends straight from the fully closed position of the opening and closing body and is connected to the upstream end of the opening and closing body of the curved portion in the opening direction.

[0015] Therefore, when opening and closing the body, the speed at which the body enters the curved section can be better controlled through the first straight section.

[0016] Furthermore, in the above technical solution, it is preferable that the corner ratio has a deviation of d% based on the shape difference of the slide rail, where the shape difference is the deviation between the actual shape of the curved portion and the design standard, and the control device sets the target speed Vb according to the following formula.

[0017] Vb = Va * (1 - d%).

[0018] Therefore, by setting the target speed Vb from the fully closed position according to the shape difference of the slide rail, the deceleration feeling when the opening and closing body leaves the curved part can be further reduced, resulting in a good opening and closing feel.

[0019] Furthermore, in the above technical solution, the preferred option is 0 ≤ d% ≤ 20%.

[0020] Furthermore, in the above technical solution, the preferred option is 0 ≤ d% ≤ 10%.

[0021] In addition, in the above technical solution, it is preferred that the opening and closing device has an upper slide rail, a middle slide rail and a lower slide rail as the slide rail, the upper slide rail, the middle slide rail and the lower slide rail are arranged sequentially in the vertical direction of the vehicle, and the deviation is set based on the shape difference of the middle slide rail or the lower slide rail.

[0022] Therefore, by setting the target speed Vb from the fully closed position according to the shape difference of the middle slide rail or the lower slide rail, which has a greater impact on the opening and closing speed, the deceleration feeling when the opening and closing body leaves the curved part can be further reduced, so that the opening and closing body has a good opening and closing feel.

[0023] In addition, in the above technical solution, it is preferred that the hinge unit has a hinge body and a bracket connected to the hinge body, the hinge body is fixedly connected to the opening and closing body side fixing part, and the bracket is fixedly connected to the drive cable.

[0024] In addition, in the above technical solution, it is preferred that the slide rail also has a second straight portion, which is connected to the downstream end of the opening and closing body of the curved portion in the opening direction and extends straight. The control device controls the rotation speed of the motor so that the difference between the actual speed at which the fixing part on the opening and closing body side begins to separate from the curved portion and the actual speed at which the fixing part on the opening and closing body side fully enters the second straight portion is 100mm / s±20mm / s.

[0025] Therefore, by setting Vb, the deceleration sensation when the opening and closing body enters the second straight section can be effectively reduced, resulting in a good opening and closing sensation for the opening and closing body. Attached Figure Description

[0026] Figure 1 This is a top view of the slide rail according to a preferred embodiment.

[0027] Figure 2 This is a schematic diagram illustrating the connection relationship between the hinge and the drive cable in the preferred configuration.

[0028] Figure 3 This is a schematic diagram used to illustrate the corner magnification.

[0029] Figure 4 It is a graph used to illustrate the relationship between the target speed and actual speed and the position of the door in the preferred embodiment.

[0030] Figure 5 It is a graph used to illustrate the relationship between target speed and actual speed and door position in the prior art.

[0031] Symbol Explanation

[0032] 1 slide rail

[0033] 10. Bend

[0034] 11 First straight part

[0035] 12 Second Straight Part

[0036] 20 hinge body

[0037] 21 supports

[0038] 3 pedals

[0039] 4 Fasteners (Side fixing part of the opening and closing body)

[0040] 5 drive cables

[0041] 51 rollers

[0042] 6 electric motors Detailed Implementation

[0043] The following is for reference Figures 1-4 The control method for the opening and closing device in a preferred embodiment of the present invention will be described in detail below. The control method for the opening and closing device in this embodiment is used to control the opening speed of the opening and closing body of the opening and closing device, which is used to open and close an opening provided on the vehicle body. The opening and closing body is, for example, a sliding door of a vehicle, and the opening is, for example, a door opening of a vehicle. The sliding door is supported on the side of a vehicle (not shown) and moves in the front-rear direction, thereby opening and closing the door opening provided on the side of the vehicle. However, the opening and closing body is not limited to a sliding door of a vehicle; it can be any structure that opens and closes the opening by sliding.

[0044] The opening and closing device in this embodiment is a vehicle opening and closing device, and includes a slide rail 1, a drive cable 5, a hinge unit, and a control device.

[0045] In this embodiment, the slide rail 1 is installed on the vehicle body; for details, see [link to relevant documentation]. Figure 1 , 2 The slide rail 1 is installed on the floor inside the vehicle. The slide rail 1 has a first straight part 11, a curved part 10 (corner part) and a second straight part 12.

[0046] The first straight portion 11 extends straight from the fully closed position of the opening and closing body. This means that the first straight portion 11 extends straight from the position of the slide rail 1 where the roller 51 (described later) is located when the opening and closing body is fully closed. That is, from... Figure 1 Line A in the diagram begins to extend vertically. Figure 1 The left and right directions in the text refer to the forward and backward directions of a vehicle. Figure 1 The upper side of the middle section faces the outside of the vehicle exterior, and the lower side faces the inside of the vehicle interior. That is, the first straight section 11... Figure 1 The B-line extends straight towards the interior of the vehicle (towards the A-line) in a direction that intersects with the vehicle width direction. Furthermore, the straight portion (including the first straight portion 11 and the second straight portion 12) referred to in this invention can be either a structure extending in a straight line, or a structure that extends almost in a straight line with a slightly curved shape compared to the curved portion 10.

[0047] The curved portion 10 is connected to the downstream end of the opening and closing body of the first straight portion 11 in the opening direction and extends in an arc shape.

[0048] The second straight portion 12 is connected to the downstream end of the opening / closing body of the curved portion 10 in the opening direction and extends straight. The outer side of the second straight portion 12 in the vehicle width direction is approximately flush with the outer side of the opening / closing body in the vehicle width direction when fully closed, and is opposite to the inner side of the opening / closing body in the vehicle width direction when fully open.

[0049] The drive cable 5 is driven by the motor 6.

[0050] The hinge unit is fixedly connected to the drive cable 5 and has a fastener 4 (fixed part on the opening / closing body side), a hinge body 20, and a bracket 21. More specifically, the hinge unit is a unit that transmits the driving force of the drive cable 5 to the opening / closing body, thereby causing the opening / closing body to move along the slide rail 1.

[0051] The hinge body 20 connects to the roller 51, fastener 4, and bracket 21.

[0052] Fastener 4 is fixedly connected to the opening and closing body side of the hinge body 20 and is fixedly connected to the opening and closing body. Fastener 4 is, for example, a screw or other known fastener.

[0053] The roller 51 is fixed to the hinge body 20 of the hinge unit in such a way that it can slide along the slide rail 1 to guide the movement of the opening and closing body.

[0054] The bracket 21 is fixedly connected to the drive cable 5. The bracket 21 is, for example, a metal sheet, with one end wound and fastened to the drive cable 5, and the other end connected to the hinge body 20.

[0055] In this embodiment, the motor 6, drive cable 5, and roller 51 are mounted on the pedal 3, but the invention is not limited thereto; the motor 6, drive cable 5, and roller 51 can also be mounted on the vehicle body. The drive cable 5 is, for example, a pull rope or belt.

[0056] In this embodiment, an automatic opening and closing device is formed that can open and close the opening and closing body based on the driving force of the motor 6. Specifically, through the structure of the hinge unit, the driving force of the motor 6 drives the cable 5 to move the bracket 21 as a whole. The hinge body 20 connected to the bracket 21 moves accordingly and guides the roller 51 to slide along the slide rail 1. As a result, the opening and closing body, which is fastened to the hinge body 20 by the fastener 4, moves to open and close along the slide rail 1.

[0057] The opening speed of the opening and closing body is controlled by controlling the rotation speed of the motor 6. In essence, the rotation speed of the motor 6 controls the movement speed of the drive cable 5, thereby controlling the speed at which the hinge body 20 drives the opening and closing body to slide along the slide rail 1.

[0058] Specifically, the control device is a processor or control circuit consisting of a storage unit (RAM, ROM, etc.) that stores a control program and a CPU that executes various controls according to the control program. The storage unit also stores the target speed of the opening / closing body when executing the opening / closing drive control. The control device is configured to perform speed feedback control so that the detected moving speed of the opening / closing body follows the target speed, and simultaneously moves the opening / closing body in the opening or closing direction. The control device sets the target speed based on the sections of the first straight section 11, the curved section 10, and the second straight section 12.

[0059] In addition, the control device also uses various sensors to detect, for example, the moving speed of the opening and closing body, the moving stroke of the fastener 4, and the amount of movement of the drive cable 5 corresponding to the moving stroke of the fastener 4.

[0060] The control method of the opening and closing device in this embodiment will be described in detail below.

[0061] First, refer to Figure 1 , 3 Explain the corner magnification.

[0062] The curved portion 10 is divided into m segments, where m is a natural number greater than 0 (m is preferably 5 ≤ m ≤ 100, and more preferably 10 ≤ m ≤ 50). Figure 3The diagram schematically shows a segment. Let S2 be the distance that the fastener 4 moves along each segment (each segment here includes the segment in the fan-shaped area outside the vehicle body corresponding to the segment in the bend 10), and let S1 be the distance that the drive cable 5 moves corresponding to the movement of the fastener 4. Then, S2 / S1 is defined as the corner ratio (the amount of movement of the fastener 4 / the amount of movement of the drive cable 5).

[0063] The amount of movement of fastener 4 is essentially equivalent to the amount of movement of the opening and closing body. When roller 51 slides along slide rail 1, the movement trajectory of fastener 4 is located outside the carriage door of slide rail 1. For example, refer to Figure 1 Within the area corresponding to the bend 10, the movement trajectory of the fastener 4 is within a fan-shaped region located outside the vehicle exterior relative to the bend 10, formed by lines B and C. The distance the fastener 4 moves along each segment is measured, for example, by a displacement sensor installed at the fastener 4.

[0064] The movement of the drive cable 5 is calculated by measuring the rotational stroke of the motor 6. For example, a sensor is installed on the motor 6, and the movement of the drive cable 5 is calculated by measuring the number of rotations of the motor 6. The measurement of the number of rotations of the motor 6 is synchronized with the measurement of the movement of the fastener 4.

[0065] Because it is located within the arc-shaped section of the bend 10, the amount of movement of the drive cable 5 driven by the rotation of the motor 6 is not 1:1 with the amount of movement of the fastener 4, which actually represents the amount of movement of the opening and closing body.

[0066] Let Nmax be the maximum corner ratio within m sections, Vmax be the maximum achievable moving speed of the opening / closing body, and Va be the ratio of Vmax / Nmax. The control device controls the motor speed so that, during the opening / closing action, the target speed Vb of the motor 6 from the fully closed position of the opening / closing body until the fastener 4 enters the bending section 10 is ≤ Va. That is, for example, the speed of the motor 6 from the fastener 4... Figure 1 The target speed Vb of the motor corresponding to the moving speed of the drive cable 5 at the position of line A (more specifically, the portion of line A facing the exterior of slide rail 1) up to the point of entering line B (more specifically, the portion of line B facing the exterior of slide rail 1) is set to be less than or equal to Va. Preferably, Vb is close to Va, where Va is the ideal target speed. Furthermore, the fastener 4 does not necessarily need to be at the position of line A simultaneously with the roller 51; it is sufficient that the target speed Vb of the motor 6 up to the point of entering the bend 10 is ≤ Va.

[0067] Wherein, Vmax is the moving speed of the opening and closing body corresponding to the maximum output of motor 6. In order to meet the operating requirements of the opening and closing body (temperature, slope, operating time, operating smoothness, etc.), it is necessary to select a corresponding motor. The maximum output speed of the corresponding motor 6 determines the maximum moving speed Vmax of the opening and closing body.

[0068] Furthermore, the control device sets the target speed Vb according to the following formula: Based on the shape difference of the slide rail 1, the corner ratio has a deviation of d%, Vb = Va * (1 - d%). The control device sets the target speed Vb according to this formula. This shape difference is the deviation between the actual shape of the curved portion 10 and the design standard.

[0069] Specifically, in actual processing, since the curved part 10 of the slide rail 1 is arc-shaped, when designing the curved part 10, the shape of the slide rail section is a data range rather than a specific value (for example, the angle of entering and leaving the curved part 10, the inner and outer diameter width of the curved part 10, etc. all have an allowable numerical range). Therefore, compared with the designed standard value, when the opening and closing body moves within the curved part 10 (corner section), the movement of the drive cable 5 and the movement of the fastener 4 will have a certain deviation, which is d.

[0070] More specifically, see, for example, Figure 1 Regarding the manufacturing method of the slide rail 1 with the curved portion 10, it is actually made by pressing a straight slide rail into an arc-shaped slide rail 1 as in this embodiment using external force. This manufacturing method results in some deviation in the accuracy of the manufactured arc-shaped slide rail 1. This deviation is reflected in the angle (especially the bending angle at points B and C), the inner and outer diameters of the curved portion 10, etc. Therefore, for the standard value (drawing standard) of slide rail 1 production, a certain deviation range, i.e., a deviation of d%, is allowed for the slide rail 1. As long as it is within the deviation range, the slide rail is considered to meet the production requirements. This results in some deviation between the final manufactured slide rails.

[0071] In this embodiment, preferably, 0 ≤ d% ≤ 20%, and correspondingly, preferably 80% Va ≤ Vb ≤ Va; more preferably, 0 ≤ d% ≤ 10%; and correspondingly, even more preferably 90% Va ≤ Vb ≤ Va.

[0072] When the upper, middle, and lower slide rails are arranged sequentially in the vertical direction of the vehicle as slide rail 1, d% is mainly determined by the middle and lower slide rails 1. Therefore, the deviation d% is mainly set based on the shape difference of the middle or lower slide rail.

[0073] By using the control method described above, the control device controls the rotational speed of the motor so that the difference between the actual speed at which the fastener 4 begins to detach from the bent portion 10 and the actual speed at which the fastener 4 fully enters the second straight portion 12 is 100mm / s ± 20mm / s. Under such circumstances, the deceleration of the opening and closing body during the opening and closing action is not obvious, and the operator will not experience any abnormality in the opening speed.

[0074] The actual speed at which fastener 4 begins to detach from the curved portion 10 refers to the actual speed at which the upstream end of fastener 4 detaches from the curved portion 10 in the opening direction of the opening and closing body, that is, the actual speed at which the upstream end leaves line C and enters the second straight portion 12. The actual speed at which fastener 4 fully enters the second straight portion 12 refers to the actual speed at which the downstream end of fastener 4 detaches from the curved portion 10 in the opening direction of the opening and closing body, that is, the actual speed at which the downstream end leaves line C and enters the second straight portion 12.

[0075] The following mainly explains the reason for the feeling of deceleration when the opening and closing body disengages from the bending part 10.

[0076] The main reason for the feeling of deceleration is the centrifugal force generated when the opening and closing body moves away from the curved part 10 and into the second straight part 12. Therefore, to reduce the feeling of deceleration when the opening and closing body moves away from the curved part 10, it is necessary to reduce the centrifugal force generated during the movement.

[0077] Centrifugal force calculation formula: F=mV 2 / r Where: F is the centrifugal force, m is the mass of the opening and closing body, V is the moving speed of the opening and closing body, and r is the radius corresponding to the arc shape of the curved part 10.

[0078] As can be seen from the formula, since the mass of the opening and closing body and the shape of the slide rail 1 are fixed, m and r are fixed. Therefore, to reduce the centrifugal force when the opening and closing body separates from the bending part 10, it is necessary to reduce the moving speed V of the opening and closing body in the bending part 10 region.

[0079] The following is for reference Figure 4 The control method of this embodiment and Figure 5 The advantages of this embodiment are explained by comparing the control methods of existing technologies. Figure 4 , Figure 5 The position 0mm indicates the fully closed position. Figure 4 240mm / s and Figure 5 The 310 mm / s in the figure corresponds to the maximum speed reached by the opening / closing body (fastener 4) just as it leaves position C. Figure 4 135mm / s and Figure 5The 130 mm / s corresponds to the position where the opening and closing body (fastener 4) decelerates to the minimum speed due to centrifugal force after entering the second straight part 12. This position is related to the operating speed of the opening and closing body (fastener 4) when it is in position C, but it is not fixed. The specific position is different depending on the speed at position C, which is related to the inertia of the opening and closing body.

[0080] according to Figure 1 It can be seen that after the opening and closing body reaches position C, the slide rail 1 enters the second straight section 12. Therefore, from position C onwards, the ratio of the movement of the drive cable 5 driven by the rotation of the motor 6 to the movement of the fastener 4, which actually represents the movement of the opening and closing body, can be considered as 1:1, and the corner ratio does not need to be considered.

[0081] In the prior art, for the first straight section 11 of the slide rail 1 between lines AB, assuming the slide rail ratio of the first straight section 11 is N0 (the slide rail ratio of a straight section is basically a fixed value, theoretically 1, but in reality it is not 1 because the movement trajectory of the fastener 4 and the movement trajectory of the drive cable 5 are not parallel), the target speed within the first straight section 11 is Vmax / N0 = V0. In the prior art, two constant target speeds V0 and Va are set within the AB interval. To allow the opening and closing body to enter between positions B and C at a smooth speed, the starting point of Va is a certain distance forward from position B. The position where the target speed begins to decrease from V0 and the position where the target speed reaches Va are obtained after adjustment in the actual test bench environment.

[0082] However, in reality, because the first straight section 11 is relatively short, with only about 180mm between positions A and B as shown in the figure, the range available for adjusting the motor speed of the opening and closing body is insufficient, resulting in poor traceability of the segmented target speed. Especially on uphill slopes, the component force generated by the self-weight of the opening and closing body causes the speed to be difficult to decrease after the first acceleration at the target speed V0, when moving to the second segment at the target speed Va. This results in the opening and closing body having an excessive speed when disengaging from the curved section 10, causing a feeling of deceleration. Figure 4 In the method shown, the deceleration reaches 210-130=180mm / s.

[0083] In this embodiment, the target speed from the initial straight portion 11 to the curved portion 10 is set to a value Vb, and Vb≤Va. With this design, the designed target speed can be reached as early as possible, and when the opening and closing body moves to the target speed, the motor output is controlled to suppress the increase in speed, thereby making the actual speed of the opening and closing body smaller when it leaves the curved portion 10.

[0084] Based on the results confirmed by the actual vehicle, when the speed difference when disengaging from the bend 10 is controlled within 100mm / s±20%, the naked eye will not feel a significant deceleration of the opening and closing body.

[0085] See Figure 4 , 5 After adjusting the initial target speed Vb using the control method of this embodiment, the speed difference from the bend 10 is reduced from the original 180 mm / s to the adjusted 105 mm / s. This meets the standard of 100 mm / s ± 20%, thus achieving the goal of reducing the feeling of deceleration during movement.

[0086] The preferred embodiments of the present invention have been described above, but the present invention is not limited thereto, and various modifications are possible without departing from the spirit of the present invention.

[0087] For example, in the above embodiment, the structure of the slide rail having a first straight portion, a curved portion, and a second straight portion in sequence from the upstream side of the opening direction of the opening and closing body has been described. However, the present invention is not limited to this. The slide rail of the present invention may also have a curved portion directly provided from the fully closed position of the opening and closing body.

[0088] For example, in the above embodiment, a specific structure of the hinge unit having fasteners, a hinge body and a bracket has been described, but the specific structure of the hinge unit is not limited to this. The hinge unit can be any structure that can connect to the drive cable and the opening / closing body to realize the opening and closing movement of the opening / closing body by driving the drive cable.

[0089] The present invention has been described above with reference to specific examples. However, the present invention is not limited to these specific examples. Designs obtained by those skilled in the art through appropriate design modifications to these specific examples, as long as they possess the features of the present invention, are also included within the scope of the present invention.

Claims

1. A control method for an opening and closing device, used to control the opening speed of an opening / closing body of the opening and closing device, the opening / closing body being used to open and close an opening provided on a vehicle body. The opening and closing device has: A slide rail, which is disposed on the vehicle body, has a curved portion extending in an arc shape; Roller; A drive cable, which is driven by an electric motor; A hinge unit is fixedly connected to the drive cable and has an opening / closing body side fixing part fixedly connected to the opening / closing body. The roller is fixed to the hinge unit in such a way that it can slide along the slide rail to guide the movement of the opening / closing body. as well as The control device controls the opening speed by controlling the rotational speed of the motor. The control method for the opening and closing device is characterized in that... The curved section is divided into m segments, where m is a natural number greater than 0. Let S2 be the distance the fixed part on the opening / closing body moves along each segment, and let S1 be the distance the drive cable moves corresponding to the movement of the fixed part on the opening / closing body. Let S2 / S1 be the corner ratio, and let Nmax be the maximum corner ratio within the m segments. Let Vmax be the maximum achievable speed of the opening / closing body, and let Vmax / Nmax be Va. The control device controls the rotational speed of the motor so that, when the opening and closing body is opened, the target speed Vb of the motor from when the opening and closing body is in the fully closed position until the fixed part on the side of the opening and closing body enters the curved part is ≤ Va.

2. The control method for the opening and closing device as described in claim 1, characterized in that, 80% Va≤Vb≤Va.

3. The control method for the opening and closing device as described in claim 2, characterized in that, 90% Va≤Vb≤Va.

4. The control method for the opening and closing device as described in claim 1, characterized in that, The slide rail also has a first straight portion that extends straight from the fully closed position of the opening and closing body and is connected to the upstream end of the opening and closing body of the curved portion in the opening direction.

5. The control method for the opening and closing device as described in claim 1, characterized in that, Depending on the shape difference of the slide rail, the corner magnification has a deviation of d%. The shape difference is the deviation between the actual shape of the curved portion and the design standard. The control device sets the target speed Vb according to the following formula. Vb = Va * (1 - d%).

6. The control method for the opening and closing device as described in claim 5, characterized in that, 0≤d％≤20％。 7. The control method for the opening and closing device as described in claim 6, characterized in that, 0≤d％≤10％。 8. The control method for the opening and closing device as described in claim 5, characterized in that, The opening and closing device has an upper slide rail, a middle slide rail, and a lower slide rail, which are arranged sequentially in the vertical direction of the vehicle. The deviation is set based on the shape difference between the middle slide rail or the lower slide rail.

9. The control method for the opening and closing device as described in claim 1, characterized in that, The hinge unit has a hinge body and a bracket connected to the hinge body. The hinge body is fixedly connected to the fixing part on the opening / closing body side, and the bracket is fixedly connected to the drive cable.

10. The control method for the opening and closing device as described in any one of claims 1 to 9, characterized in that, The slide rail also has a second straight section, which is connected to the downstream end of the opening / closing body of the curved section in the opening direction and extends straight. The control device controls the rotational speed of the motor so that the difference between the actual speed at which the fixing part on the opening / closing body side begins to detach from the curved section and the actual speed at which the fixing part on the opening / closing body side fully enters the second straight section is 100 mm / s ± 20 mm / s.

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