Door opening and closing device

Abstract

The invention provides a door opening and closing device which can effectively utilize a motor for generating driving force on a door in the opening and closing direction of the door to keep the door at a specified opening and closing position. A control device (120) of a door opening and closing device (100) performs door holding control for causing an electric motor (11) to generate a holding force for holding an opening and closing position as a driving force when the opening and closing position of a side door (D) becomes within a predetermined range. At least two or more phases of an electric motor (11) are energized and rotation of a rotor (RT) of the electric motor (11) is braked, thereby generating a holding force.

Description

Technical Field

[0001] The invention relates to a door opening and closing device. Background Art

[0002] In the past, for example, there was a door check device comprising: an arm, one end side of which is rotatably mounted on the vehicle body side, and the arm is provided with a locking recess by varying its thickness in the direction of the rotation center axis throughout the long side direction; and a limiting mechanism, which is arranged on the door side and can be engaged with and disengaged from the locking recess of the arm (for example, refer to the following patent document 1).

[0003] In addition, there is the following technology in the past, namely, a door opening and closing device for opening and closing a side door supported on the side of a vehicle body via a hinge, the door opening and closing device comprising: a drive unit, which is arranged in the internal space of the side door; and a connecting rod mechanism, which connects the output shaft of the drive unit to the vehicle body, wherein the connecting rod mechanism comprises: a drive arm, which extends radially from the output shaft of the drive unit; and a driven arm, which is rotatably connected to the vehicle body, and when the drive unit is driven, the side door is opened and closed relative to the vehicle body via the drive arm and the driven arm (for example, refer to the following patent document 2).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 6681202

[0007] Patent Document 2: Japanese Patent No. 6583685 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] However, in the above-mentioned prior art, sufficient research has not been conducted on effectively utilizing a motor that generates a driving force for the door in the opening and closing direction of the door to keep the door at a predetermined opening and closing position, and there is room for improvement in this regard.

[0010] The present invention provides a door opening and closing device which can effectively utilize a motor which generates a driving force for a door in the opening and closing direction of the door to keep the door at a specified opening and closing position.

[0011] Solutions for solving problems

[0012] One aspect of the present invention is a door opening and closing device comprising:

[0013] A motor that generates a driving force for the door in the opening and closing direction of the door;

[0014] a door position sensor that detects an open or closed position of the door; and

[0015] a control device that controls the motor based on the open / closed position detected by the door position sensor,

[0016] The motor includes a stator and a rotor, the stator has at least three-phase coils, the rotor is arranged to be rotatable relative to the stator, and the motor generates the driving force by rotating the rotor relative to the stator.

[0017] When the opening / closing position is within a predetermined range, the control device performs door holding control to generate a holding force for holding the opening / closing position as the driving force.

[0018] In the door holding control, the control device energizes at least two phases of the motor to brake the rotation of the rotor, thereby generating the holding force.

[0019] Effects of the Invention

[0020] According to the present invention, it is possible to provide a door opening and closing device capable of effectively utilizing a motor that generates a driving force for a door in the opening and closing direction of the door to hold the door at a predetermined opening and closing position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a diagram conceptually showing a main part of a vehicle to which the door opening and closing device according to the present embodiment is applied.

[0022] Figure 2 It is conceptually shown Figure 1 An enlarged top view of the connection portion of a vehicle's side door and the vehicle body is shown.

[0023] Figure 3 Viewed from the outside of the vehicle Figure 1 A perspective view of the appearance of a door opening and closing device applied to the vehicle shown.

[0024] Figure 4 Viewed from the inside of the vehicle Figure 1 A perspective view of the appearance of a door opening and closing device applied to the vehicle shown.

[0025] Figure 5 Observed from above Figure 1 A perspective view of the appearance of a door opening and closing device applied to the vehicle shown.

[0026] Figure 6 Observed from the side Figure 1 The external perspective view is obtained by showing the output shaft and the link mechanism of the door opening and closing device applied to the vehicle shown.

[0027] Figure 7 Observed from above Figure 1 A perspective view of the appearance of a link mechanism of a door opening and closing device applied to the vehicle shown.

[0028] Figure 8 It is conceptually shown Figure 1 The figures show the connection part between the side door of the vehicle and the vehicle body, (a) is an enlarged top view of the side door in a closed state, (b) is an enlarged top view of the side door in a half-open state, and (c) is an enlarged top view of the side door in an open state.

[0029] Fig. 9 It is a block diagram showing an example of the functional structure of the door opening and closing device 100.

[0030] Fig.10 It is a diagram showing an example of a two-phase energization state.

[0031] Fig.11 This is a diagram showing an example of the relationship between the phase energized by the door hold control and the rotational position of the rotor RT.

[0032] Fig.12 1 is a flowchart showing an example of processing executed by the control device 120 of the door opening and closing device 100 .

[0033] Fig.13 It is a diagram showing a first example of the holding force of the door holding control.

[0034] Fig.14 It is a diagram showing a second example of the holding force of the door holding control.

[0035] Fig.15 It is a diagram showing a third example of the holding force of the door holding control. DETAILED DESCRIPTION

[0036] Below, an embodiment of the door opening and closing device of the present invention is described in detail with reference to the accompanying drawings. Below, an example in which the door opening and closing device of the present invention is applied to a vehicle such as an automobile is described. The accompanying drawings are assumed to be views observed in the direction of the mark. In addition, the following embodiments do not limit the invention described in the claims, and all combinations of the features described in the embodiments are not necessarily required for the invention. It is also possible to arbitrarily combine two or more of the multiple features described in the embodiments. In addition, below, the same or similar elements are sometimes marked with the same or similar figure marks, and their descriptions are appropriately omitted or simplified.

[0037] <An example of a vehicle to which a door opening and closing device is applied>

[0038] Figure 1The figure conceptually shows the main parts of a vehicle to which the door opening and closing device of the present embodiment is applied. The vehicle to which the door opening and closing device of the present embodiment is applied (hereinafter, also referred to as "vehicle") is, for example, a four-door four-wheeled automobile in which a front side door D and a rear side door D are respectively provided on both sides of a vehicle body B.

[0039] The front side door D and the rear side door D are respectively configured to include a door body DM formed in a hollow shape and a window frame DS provided in a frame-like shape on the upper portion of the door body DM. Each side door D is connected to the vehicle body B through an upper hinge H and a lower hinge H (hereinafter, also collectively referred to as "hinge H") provided on the front surface DMF of the door body DM, and can be rotated around a hinge axis HS in the up-down direction to open and close the opening BO for getting on and off the vehicle body B.

[0040] like Figure 1 As shown, a window glass WG is provided at the window frame DS of the side door D. The window glass WG is provided so as to be movable in the up-down direction along the lifting guide GG by a lifting mechanism (not shown) provided inside the door body DM, and the opening of the window frame DS can be closed when the window glass WG moves upward. When the window glass WG moves downward, the window glass WG is accommodated inside the door body DM, and the opening of the window frame DS can be opened.

[0041] In addition, in each side door D, a drive unit 10 is provided inside the door body DM. The drive unit 10 is used to assist the opening and closing of the side door D relative to the vehicle body B. Figure 3 to Figure 5 As shown in the figure, the drive unit 10 is configured to include an electric motor 11 as a drive source, a reducer 12, and an output shaft 13. Although not explicitly shown in the figure, as the reducer 12, a reducer composed of a plurality of gears such as a planetary gear mechanism can be applied. In addition, a clutch mechanism can also be inserted between the electric motor 11 and the output shaft 13 so that the power transmission from the electric motor 11 is cut off when the side door D is manually operated.

[0042] like Figure 1 As shown, a drive unit 10 is installed inside each side door D of the vehicle, wherein the drive unit 10 is installed in a state where the electric motor 11 is located at the top and the output shaft 13 extends approximately vertically downward. The drive unit 10 is installed in the internal space A between the front surface DMF where the hinge H is installed inside the door body DM and the lifting guide GG. More specifically, as shown in FIG. Figure 2 As shown, the drive unit 10 is mounted inside the side door D so that the output shaft 13 is located inside the vehicle and behind the hinge shaft HS of the side door D when the side door D is closed. The output shaft 13 of the drive unit 10 is connected to the vehicle body B via a link mechanism 20 .

[0043] The link mechanism 20 is used to open and close the side door D relative to the vehicle entry and exit opening BO of the vehicle body B when the output shaft 13 is rotated by the drive of the electric motor 11. In the present embodiment, the link mechanism 20 is configured to include a driving arm 21 and a driven arm 22, wherein the driving arm 21 is fixed to the output shaft 13 and the driven arm 22 connects a portion of the vehicle body B that faces the front surface DMF of the side door D, such as a support BP, and the driving arm 21.

[0044] like Figure 3 to Figure 7 As shown in the figure, the driving arm 21 is configured to include a first arm element 21A and a second arm element 21B connected in a manner that they can slide relative to each other in the longitudinal direction. Specifically, guide protrusions 21B1 are provided on both sides of the base end of the second arm element 21B, and the first arm element 21A is arranged between these guide protrusions 21B1 in a state that it can slide in the longitudinal direction and cannot rotate relative to each other. In addition, a groove 21B2 is formed in the longitudinal direction at the front end of the second arm element 21B. For this driving arm 21, the output shaft 13 is fixed to the base end of the first arm element 21A via the groove 21B2 of the second arm element 21B. Although not explicitly shown in the figure, the first arm element 21A and the output shaft 13 are spline-connected and cannot rotate relative to each other around the shaft core 13C of the output shaft 13. The second arm element 21B is in a state of being clamped between the first arm element 21A and the washer 14 fixed to the output shaft 13. Therefore, the first arm element 21A and the second arm element 21B relatively move only in the radial direction with respect to the output shaft 13 , and do not relatively move along the axial core 13C of the output shaft 13 .

[0045] In this embodiment, if Figure 2 As shown in the figure, the state in which the front end is tilted about 40 degrees to the rear side with the front end facing the vehicle inner side is the standby state of the drive arm 21. When the electric motor 11 is driven from this state, the front end of the drive arm 21 can pass through a position closer to the vehicle inner side than the output shaft 13, and the front end can be rotated forward to a position of about 25 degrees toward the vehicle inner side.

[0046] The base end of the slave arm 22 is rotatably connected to the support BP of the vehicle body B via the link bracket LB. The front end of the slave arm 22 enters the internal space A of the side door D via the cutout LF provided on the front surface DMF of the side door D, and is rotatably connected to the base end of the second arm element 21B in the driving arm 21. The rotation axis C1 of the slave arm 22 and the link bracket LB and the rotation axis C2 of the slave arm 22 and the second arm element 21B are respectively set to be substantially parallel to the axis 13C of the output shaft 13. As is also clear from the figure, the length of the slave arm 22 is set so that the slave arm 22 extends along the front and rear of the vehicle when the driving arm 21 is in a standby state with the side door D closed.

[0047] like Figure 2 to Figure 7 As shown in FIG. 1 , in the second arm element 21B of the driving arm 21, a position-defining pin 21C is protrudingly provided on the upper surface of the front end side thereof. The position-defining pin 21C is a cylindrical member extending from the second arm element 21B toward substantially vertically upward, and the extended end is inserted into the slide groove 15a of the guide plate 15. The guide plate 15 is a thick plate-shaped member fixed to the lower part of the driving unit 10, and extends substantially orthogonally to the output shaft 13. The slide groove 15a is as shown in FIG. Figure 2 As shown in the figure, the position limiting pin 21C is arranged at a position closer to the vehicle inner side than the output shaft 13 in a manner along the front and rear of the vehicle, and is formed into a curved shape that is slightly convex toward the vehicle outer side. That is, during the period when the drive arm 21 rotates toward the front from the standby state and reaches a position approximately at a right angle from the output shaft 13 toward the vehicle inner side, the sliding groove 15a provided in the guide plate 15 guides the position limiting pin 21C in a manner that gradually approaches the output shaft 13 of the drive unit 10. Thereafter, during the period when the drive arm 21 rotates toward the front from the position approximately at a right angle relative to the front and rear of the vehicle, the sliding groove 15a is formed so as to guide the position limiting pin 21C in a manner that gradually moves away from the output shaft 13 of the drive unit 10.

[0048] In the door opening and closing device of the present embodiment constructed as described above, Figure 8 As shown in (a), when the electric motor 11 of the drive unit 10 in the standby state is driven with the side door D closed, the rotation of the output shaft 13 is transmitted to the driven arm 22 via the drive arm 21, and the driven arm 22 is pushed forward. Therefore, for example, if the drive unit 10 is operated in a state where the engagement between the striker (not shown) provided in the vehicle body B and the latch device provided in the side door D is released, Figure 8 (b) and Figure 8 As shown in (c), the driven arms 22 sequentially protrude outward from the front surface DMF of the side door D toward the front, and the side door D opens relative to the vehicle body B with the hinge axis HS as the center.

[0049] On the other hand, if the electric motor 11 of the drive unit 10 is reversed from the state where the side door D is open, Figure 8 The state shown in (c) is as follows Figure 8 As shown in (b), the driven arm 22 moves toward the rear in a manner accommodated in the internal space A of the side door D. Figure 8 As shown in (a), the side door D can be closed relative to the vehicle body B.

[0050] <Functional structure of door opening and closing device>

[0051] Next, the functional structure of the door opening and closing device of the present embodiment (hereinafter, also referred to as “door opening and closing device 100 ”) will be described. Fig. 9 It is a block diagram showing an example of the functional structure of the door opening and closing device 100.

[0052] like Fig. 9 As shown, the door opening and closing device 100 is configured to include: an electric motor 11, which generates a driving force for the side door D in the opening and closing direction of the side door D; a door sensor 110, which detects the state of the side door D; and a control device 120, which controls the electric motor 11. The details will be described later. In this embodiment, the electric motor 11 is a three-phase brushless motor.

[0053] The door sensor 110 is configured to include a door position sensor 111, which detects the position of the side door D in the opening and closing direction (hereinafter, also referred to as the "opening and closing position"). In the present embodiment, the opening and closing position when the side door D is in a fully closed state (i.e., a fully closed state) is set to 0 (zero), and the closer to the fully open state (i.e., a fully open state), the larger the value of the opening and closing position. That is, in the present embodiment, the opening and closing position can also be referred to as the opening degree of the side door D (hereinafter, also referred to as the "door opening degree").

[0054] The door position sensor 111 detects, for example, the current opening and closing position (i.e., the door opening degree), and outputs a detection signal indicating the detection result to the control device 120. In addition, the door position sensor 111 may output, for example, a pulse signal corresponding to the opening and closing movement of the side door D to the control device 120 instead of the detection signal indicating the current opening and closing position. The door position sensor 111 may be implemented by, for example, a rotary encoder.

[0055] The door sensor 110 may also include a door acceleration sensor 112, which detects the acceleration of the side door D in the opening and closing direction (hereinafter, also referred to as "door acceleration"). The door acceleration sensor 112 detects, for example, the acceleration of the front end portion of the current side door D (specifically, the other end portion on the side opposite to the end portion provided with the hinge H) in the opening and closing direction as the door acceleration, and outputs a detection signal indicating the detection result to the control device 120. The door acceleration sensor 112 can be implemented by, for example, a gyro sensor.

[0056] The control device 120 controls the electric motor 11 based on the state of the side door D detected by the door sensor 110. For example, the control device 120 is implemented by a motor drive circuit and a microcontroller, wherein the motor drive circuit has half-bridge circuits corresponding to each of the electric motors 11, and the microcontroller controls the opening and closing of switching elements (such as MOSFETs) provided in these half-bridge circuits. Moreover, the control device 120 is configured to include, for example, a determination unit 121 and a motor control unit 122 as functional units implemented by the above-mentioned microcontroller executing a pre-stored program or by the above-mentioned motor drive circuit.

[0057] The determination unit 121 determines whether the execution condition of the door holding control is satisfied when the motor control unit 122 does not perform the door holding control described later, and sends the determination result to the motor control unit 122. More specifically, the determination unit 121 determines whether the opening and closing position of the side door D detected by the door position sensor 111 (i.e., the door opening) has become within a prescribed range. Then, the determination unit 121 determines that the execution condition of the door holding control is satisfied based on the determination that the opening and closing position has become within the prescribed range. In other words, when the determination unit 121 determines that the opening and closing position has not become within the prescribed range, it determines that the execution condition of the door holding control is not satisfied.

[0058] In the present embodiment, a first range and a second range are provided as prescribed ranges, and the determination unit 121 determines whether the opening and closing position becomes within the first range or the second range. Here, the first range is a range from "a-α" as an example of the first position to "a+α" as an example of the second position, and is a range including "a" as an example of the prescribed position. In addition, the second range is a range from "b-α" as another example of the first position to "b+α" as another example of the second position, and is a range including "b" as another example of the prescribed position. In addition, here, α can be set to any value greater than 0 (zero), a can be set to any value greater than α, and b can be set to any value greater than a.

[0059] When the determination unit 121 determines that the execution condition of the door holding control is satisfied, the motor control unit 122 performs the door holding control to cause the electric motor 11 to generate a holding force for maintaining the opening and closing position of the side door D as the above-mentioned driving force. As described above, in the present embodiment, when the opening and closing position becomes within a prescribed range (more specifically, within the first range or the second range), it can be determined that the execution condition of the door holding control is satisfied. Therefore, the motor control unit 122 can perform the door holding control when the opening and closing position becomes within the prescribed range. In addition, in the present embodiment, in the door holding control, the motor control unit 122 generates the holding force by causing the electric motor 11 to be in a prescribed two-phase energized state.

[0060] Fig.10 is a diagram showing an example of a two-phase energization state. Fig.10 As shown, in this embodiment, the electric motor 11 is a three-phase two-pole three-slot brushless motor, comprising a stator ST and a two-pole rotor RT, wherein the stator ST has three independent coils L1, L2, and L3 (i.e., three-phase coils), and the two-pole rotor RT is configured to be rotatable relative to the stator ST.

[0061] The two-phase energized state is a state in which the rotation of the rotor RT relative to the stator ST is braked, for example, a state in which currents of equal magnitude and opposite directions flow through two coils (i.e., two phases) among the three coils of the stator ST in order not to generate a rotating magnetic field. Fig.10 The figure shows a two-phase energization state when currents of equal magnitude and opposite directions flow through coils L1 and L3. By setting the electric motor 11 to such a two-phase energization state, the rotor RT attempts to maintain a state of being stopped at a predetermined rotational position relative to the stator ST, thereby generating the above-mentioned holding force.

[0062] However, even if the electric motor 11 is set to a two-phase power-on state, when the user of the door opening and closing device 100 (hereinafter, also referred to as "user") inputs an operating force to the side door D that exceeds the holding force generated by the two-phase power-on state, the side door D is also opened and closed by the operating force, and accordingly, the rotor RT is also able to rotate relative to the stator ST.

[0063] If the phase energized during door holding control (i.e., when the electric motor 11 is set to a two-phase energized state) is set to a constant phase, then when the rotor RT is rotated by inputting an operating force exceeding the holding force generated by the two-phase energized state, the holding force takes the next maximum value after the rotor RT rotates 360° in electrical angle. Therefore, if the phase energized during door holding control is set to a constant phase, there is a concern that even if the user operates the side door D with a constant operating force during the door holding control, the movement of the side door D is intermittent, and the operability of the side door D during the door holding control is reduced.

[0064] Therefore, when the electric motor 11 is set to the two-phase energized state by the door holding control, the motor control unit 122 preferably energizes the two phases according to the rotational position of the rotor RT relative to the stator ST at that time.

[0065] Fig.11 : is a diagram showing an example of the relationship between the phase energized by the door holding control and the rotational position of the rotor RT. Fig.11 As shown, in the door holding control, the motor control unit 122 energizes the two phases corresponding to the rotational position of the rotor RT to set the electric motor 11 to a two-phase energized state, thereby, for example, the holding force can take a maximum value every time the rotor RT rotates 120 degrees in electrical angle. As a result, the intermittent feeling of the movement of the side door D in the door holding control can be reduced, and the operability of the side door D in the door holding control can be improved.

[0066] In such a case, for example, information indicating which phase is energized according to the rotational position of the rotor RT is pre-stored in the control device 120. When the electric motor 11 is set to a two-phase energized state by door holding control, the motor control unit 122 energizes the two phases corresponding to the rotational position of the rotor RT with reference to the information. In addition, for example, a position detector (for example, a Hall sensor or an optical encoder) for detecting the rotational position of the rotor RT is provided in the electric motor 11, and the control device 120 (for example, the motor control unit 122) is configured to be able to obtain the rotational position of the rotor RT based on the detection signal from the position detector.

[0067] In addition, when the user wants to quickly open and close the door D, the operating force applied by the user to the side door D increases, and the door acceleration may become greater than the specified value. In other words, when the door acceleration is greater than the specified value, the user is likely to quickly open and close the side door D. If a holding force is generated in such a situation, the opening and closing of the side door D may be hindered by the holding force.

[0068] Therefore, the determination unit 121 may further determine whether the door acceleration is less than a specified value based on the door acceleration detected by the door acceleration sensor 112, for example. Then, the determination unit 121 may determine that the execution condition of the door holding control is satisfied based on the fact that the door acceleration is less than a specified value and the opening and closing position is within a specified range (for example, within the first range or the second range). In other words, the determination unit 121 may determine that the execution condition of the door holding control is not satisfied when it is determined that the door acceleration is greater than a specified value, regardless of whether the opening and closing position is within the specified range. That is, the motor control unit 122 may perform the door holding control when the door acceleration is less than a specified value and the opening and closing position is within the specified range, and on the other hand, the motor control unit 122 does not perform the door holding control when the door acceleration is greater than a specified value, regardless of the opening and closing position. In this way, it is possible to suppress the following situation: the generation of a holding force that may hinder the opening and closing of the side door D against the will of the user who wants to open and close the side door D quickly.

[0069] In addition, the control device 120 may use the door acceleration detected by the door acceleration sensor 112 instead of the door acceleration detected by the door acceleration sensor 112 by further differentiating the speed in the opening and closing direction of the side door D detected by the door position sensor 111 with respect to time.

[0070] In addition, the determination unit 121 determines whether the end condition of the door holding control is satisfied when the motor control unit 122 is performing the door holding control, and sends the determination result to the motor control unit 122. More specifically, the determination unit 121 determines whether the opening and closing position changes from being within the prescribed range to being outside the prescribed range based on the opening and closing position of the side door D detected by the door position sensor 111. Then, the determination unit 121 determines that the end condition of the door holding control is satisfied based on the determination that the opening and closing position changes from being within the prescribed range to being outside the prescribed range.

[0071] In the present embodiment, as described above, the first range and the second range are set as the prescribed ranges. Therefore, the determination unit 121 determines whether the opening and closing position changes from being within the first range to being outside the first range or from being within the second range to being outside the second range during the door holding control. Then, the determination unit 121 determines that the end condition of the door holding control is satisfied based on the determination that the opening and closing position changes from being within the first range to being outside the first range or from being within the second range to being outside the second range.

[0072] When the determination unit 121 determines that the end condition of the door holding control is satisfied, the motor control unit 122 ends the door holding control. That is, when the opening and closing position changes from being within the prescribed range to being outside the prescribed range during the door holding control, the motor control unit 122 ends the door holding control. More specifically, in the present embodiment, when the opening and closing position changes from being within the first range to being outside the first range or from being within the second range to being outside the second range during the door holding control, the motor control unit 122 ends the door holding control.

[0073] In addition, for example, when the determination unit 121 determines that the opening and closing position is not within the specified range (for example, the first range or the second range), the motor control unit 122 may cause the electric motor 11 to generate an auxiliary force as a driving force for assisting (i.e., helping) the opening and closing of the side door D. In this way, the user can open and close the side door D with less operating force, and the user's convenience is improved.

[0074] <An Example of Processing Executed by the Control Device>

[0075] Fig.12 FIG. 1 is a flowchart showing an example of processing executed by the control device 120 of the door opening and closing device 100. When the control device 120 is supplied with power by a battery of the vehicle, for example, Fig.12 A series of processing shown.

[0076] like Fig.12 As shown, the control device 120 first determines whether it is in the door holding control (step S1). In the case where it is determined that it is not in the door holding control (step S1: "No"), the control device 120 determines whether the opening and closing position becomes within the first range (i.e., the range of a±α) based on the opening and closing position of the side door D detected by the door position sensor 111 (step S2).

[0077] When it is determined that the opening and closing position is within the first range (step S2: "Yes"), the control device 120 enters the process of step S4. On the other hand, when it is determined that the opening and closing position is not within the first range (step S2: "No"), the control device 120 determines whether the opening and closing position is within the second range (i.e., the range of b±α) based on the opening and closing position of the side door D detected by the door position sensor 111 (step S3).

[0078] When it is determined that the opening and closing position is within the second range (step S3: "Yes"), the control device 120 starts the door holding control (step S4) and returns to the process of step S1. On the other hand, when it is determined that the opening and closing position is not within the second range (step S3: "No"), the control device 120 does not start the door holding control and directly returns to the process of step S1.

[0079] In addition, when it is determined through the processing of step S1 that the door is in door holding control (step S1: "Yes"), the control device 120 determines whether the opening and closing position of the side door D has changed from being within the first range to being outside the first range based on the opening and closing position of the side door D detected by the door position sensor 111 (step S5).

[0080] When it is determined that the opening and closing position changes from being within the first range to being outside the first range (step S5: "Yes"), the control device 120 enters the processing of step S7. On the other hand, when it is not determined that the opening and closing position changes from being within the first range to being outside the first range (step S5: "No"), the control device 120 determines whether the opening and closing position changes from being within the second range to being outside the second range based on the opening and closing position of the side door D detected by the door position sensor 111 (step S6).

[0081] When it is determined that the opening and closing position changes from being within the second range to being outside the second range (step S6: "Yes"), the control device 120 ends the door holding control (step S7) and returns to the process of step S1. On the other hand, when it is not determined that the opening and closing position changes from being within the second range to being outside the second range (step S6: "No"), the control device 120 does not end the door holding control and directly returns to the process of step S1.

[0082] As described above, according to the door opening and closing device 100, when the opening and closing position of the side door D becomes within a specified range, the electric motor 11 generates a holding force, and the side door D is held by the holding force. Thus, the electric motor 11 can be effectively used to hold the side door D at a specified opening and closing position (for example, a half-open position between a fully closed position and a fully open position). Thus, for example, even if an existing limit link (also called a door limiter) is not provided separately from the electric motor 11 in the vehicle, the side door D can be held at a specified opening and closing position to suppress the side door D from opening and closing against the user's will. In other words, even if an existing limit link is not provided in the vehicle, the user can be provided with the same (or similar) operating feeling as when the existing limit link is provided in the vehicle when the side door D is opened and closed. Therefore, the convenience of the user can be improved, and compared with the case where the existing limit link is provided in addition to the electric motor 11 in the vehicle, the increase in the number of components of the vehicle can be suppressed.

[0083] In addition, according to the door opening and closing device 100, when the opening and closing position of the side door D becomes outside the prescribed range during the door holding control, the door holding control is terminated. Thus, the side door D can be held by the holding force from the electric motor 11 only when the opening and closing position of the side door D is within the prescribed range, and the user can be provided with the same (or similar) operating feeling as when the existing limit link is provided when the side door D is opened and closed.

[0084] <First Example of Holding Force of Door Holding Control>

[0085] Next, a specific example of the holding force of the door holding control will be described. Fig.13 is a diagram showing a first example of the holding force of the door holding control. Fig.13 , the vertical axis represents the magnitude of the holding force, and the horizontal axis represents the opening and closing position of the side door D (in other words, the door opening degree).

[0086] like Fig.13 As shown, the control device 120 (for example, the motor control unit 122) generates a substantially constant magnitude (within the range) when the opening and closing position of the side door D is within the first range or the second range (that is, the specified range). Fig.13 In the example shown, the holding force is f1). If so, for example, Fig.14 The second example shown, Fig.15 Compared with the case where the holding force is changed as in the third example shown, the processing burden of the control device 120 can be reduced, and the side door D can be held within the first range or the second range by the holding force. In addition, the manufacturer of the door opening and closing device 100 can arbitrarily determine the size of the holding force.

[0087] <Second Example of Holding Force of Door Holding Control>

[0088] exist Fig.13 In the first example shown, the holding force when the opening and closing position of the side door D is within the first range or the second range is set to be constant, but the present invention is not limited to this. Fig.14 2 is a diagram showing a second example of the holding force of the door holding control. Fig.13 The first example shown will be described with the focus on the differences. Fig.13 The common points of the first example shown are appropriately omitted or simplified in description.

[0089] like Fig.14As shown, the control device 120 (e.g., the motor control unit 122) can also change the size of the holding force according to the opening and closing position of the side door D when the opening and closing position of the side door D is within the first range or the second range (i.e., the specified range). In other words, the control device 120 can also change the size of the holding force according to the opening and closing position of the side door D during the door holding control.

[0090] More specifically, when the opening and closing position of the side door D is within the first range, the control device 120 may increase the holding force as the opening and closing position approaches "a" as the prescribed position within the first range, and decrease the holding force as the opening and closing position moves away from "a". Similarly, when the opening and closing position of the side door D is within the second range, the control device 120 may increase the holding force as the opening and closing position approaches "b" as the prescribed position within the second range, and decrease the holding force as the opening and closing position moves away from "b".

[0091] In this way, it is possible to prevent the holding force from changing suddenly when the opening and closing position of the side door D changes from being outside the prescribed range to being within the prescribed range or from being within the prescribed range to being outside the prescribed range, thereby preventing a large impact on the hand of the user operating the side door D. Therefore, for example, when the side door D is opened and closed, the user can be provided with a natural operating feeling similar to that in the case where a conventional limit link is provided in the vehicle, and the user can open and close the side door D without feeling any discomfort.

[0092] <Third Example of Holding Force of Door Holding Control>

[0093] Fig.15 is a diagram showing a third example of the holding force of the door holding control. Fig.13 The first example shown or Fig.14 The second example shown will be described with the focus on the differences. Fig.13 The first example shown or Fig.14 The common points of the second example shown are appropriately omitted or simplified.

[0094] like Fig.15 As shown, the control device 120 (eg, the motor control unit 122) may temporarily weaken the holding force when the opening and closing position of the side door D is within the first range and is located around "a" which is a predetermined position within the first range.

[0095] More specifically, when the opening and closing position of the side door D is within the first range, the control device 120 gradually increases the holding force toward f1 in the range of the opening and closing position from "a-α" to "a-β (where β < α)", and gradually decreases the holding force toward f2 (where f2 < f1) in the range of "a-β" to "a". Furthermore, the control device 120 may again gradually increase the holding force toward f1 in the range of the opening and closing position from "a" to "a+β", and gradually decrease the holding force toward 0 (zero) in the range of "a+β" to "a+α".

[0096] That is, when the opening and closing position of the side door D is within the first range, the control device 120 may set the holding force (at the specified position "a" within the first range) to Fig.15 In the example shown, f2) is greater than the maximum value of the holding force when the open / close position is within the range from "a-α" to "a" (in Fig.15 In the example shown, f1) and the maximum value of the holding force when the open / closed position is within the range from "a" to "a+α" (in Fig.15 In the example shown, f1) is small.

[0097] In this way, the control device 120 temporarily weakens the holding force when the opening and closing position of the side door D is within the first range and becomes around "a" which is a specified position within the first range, thereby being able to prompt the user through the holding force that the opening and closing position has become around "a".

[0098] Similarly, the control device 120 may temporarily weaken the holding force when the opening and closing position of the side door D is within the second range and becomes around "b" as a specified position within the second range. More specifically, when the opening and closing position of the side door D is within the second range, the control device 120 may make the holding force when the opening and closing position is the specified position "b" within the second range smaller than the maximum value of the holding force when the opening and closing position is included in the range from "b-α" to "b" and the maximum value of the holding force when the opening and closing position is included in the range from "b" to "b+α". Thus, the control device 120 can inform the user that the opening and closing position has become around "b" through the holding force.

[0099] An embodiment of the door opening and closing device of the present invention has been described above, but it is self-evident that the present invention is not limited to this embodiment. It is obvious that various variations or modifications can be thought of within the scope of the claims, and these variations or modifications certainly also belong to the technical scope of the present invention.

[0100] For example, the structures of the drive unit 10 and the electric motor 11 described in the above-mentioned embodiment are merely examples, and they may also adopt other structures.

[0101] In the example described in the above embodiment, the door held by the holding force from the electric motor 11 is set as the side door D, but it is not limited thereto. For example, a motor for generating a driving force in the opening and closing direction of the rear door of the vehicle may be provided, and the rear door may be held by the holding force from the motor.

[0102] In the example described in the above embodiment, in the door holding control, the holding force is generated by energizing two phases of the electric motor 11, but the present invention is not limited to this. For example, the holding force may be generated by energizing three phases of the electric motor 11.

[0103] In addition, in the above-mentioned embodiment, the range of "a±α" is set as the first range, but it is not limited to this. For example, the range of "a-α" to "a+β" may be set as the first range. Furthermore, the first range and the second range do not necessarily need to be set as ranges of the same size. For example, the range of "a±α" may be set as the first range, and the range of "b±β" may be set as the second range.

[0104] In addition, in the above-described embodiment, two ranges, namely the first range and the second range, are set as the predetermined ranges. However, the predetermined range may be only the first range, or three or more ranges may be set.

[0105] As described above, according to the present invention, it is possible to provide a door opening and closing device capable of maintaining a door at a predetermined opening and closing position by effectively utilizing a motor that generates a driving force for a door in the opening and closing direction of the door.

[0106] At least the following matters are described in this specification, etc. In parentheses, corresponding components and the like in the above-mentioned embodiment are shown as examples, but the present invention is not limited to this.

[0107] (1) A door opening and closing device (door opening and closing device 100) comprising:

[0108] A motor (electric motor 11) that generates a driving force for the door (side door D) in the opening and closing direction of the door;

[0109] a door position sensor (door position sensor 111) that detects an open or closed position of the door; and

[0110] a control device (control device 120) that controls the motor based on the open / closed position detected by the door position sensor,

[0111] The motor includes a stator (stator ST) and a rotor (rotor RT), the stator (stator ST) having at least three-phase coils (coils L1, L2, L3), and the rotor (rotor RT) being arranged to be rotatable relative to the stator, and the motor generates the driving force by rotating the rotor relative to the stator.

[0112] When the opening / closing position is within a predetermined range (a first range or a second range), the control device performs door holding control to generate a holding force for holding the opening / closing position as the driving force.

[0113] In the door holding control, the control device energizes at least two phases of the motor to brake the rotation of the rotor, thereby generating the holding force.

[0114] According to (1), when the opening and closing position of the door becomes within a specified range, the motor can generate a holding force and hold the door by the holding force. Thus, the motor can be effectively used to hold the door at a specified opening and closing position. Thus, for example, even if the existing limit link (also called a door stopper) is not provided separately from the motor, the door can be held at a specified opening and closing position to suppress the door from opening and closing against the user's will. In other words, even if the existing limit link is not provided, the user can be provided with the same (or similar) operating feel when the door is opened and closed as when the existing limit link is provided. Therefore, the user's convenience can be improved, and compared with the case where the existing limit link is provided in addition to the motor, the increase in the number of components can be suppressed.

[0115] (2) The door opening and closing device according to (1), wherein:

[0116] When the open / close position becomes outside the predetermined range during the door holding control, the control device ends the door holding control.

[0117] According to (2), the door can be held by the holding force from the motor only when the door opening and closing position is within the specified range, and the user can be provided with the same (or similar) operating feeling as when the door is opened and closed as when the existing limit link is provided.

[0118] (3) The door opening and closing device according to (1) or (2), wherein:

[0119] When the acceleration in the opening and closing direction of the door is smaller than a predetermined value and the opening and closing position is within the predetermined range, the control device performs the door holding control.

[0120] When the acceleration is equal to or greater than the predetermined value, the control device does not perform the door holding control regardless of the opening and closing position.

[0121] According to (3), it is possible to suppress the generation of a holding force that may hinder the opening and closing of the door against the will of the user who wants to quickly open and close the door.

[0122] (4) The door opening and closing device according to any one of (1) to (3), wherein:

[0123] When the two-phase energization state is set by the door holding control, the control device energizes the two phases according to the rotational position of the rotor relative to the stator.

[0124] According to (4), the intermittent feeling of the movement of the door during the door holding control can be reduced, thereby achieving improved operability of the door during the door holding control.

[0125] (5) The door opening and closing device according to any one of (1) to (4), wherein:

[0126] The control device changes the magnitude of the holding force according to the open / closed position during the door holding control.

[0127] According to (5), when opening and closing the door, the user can be provided with a natural operating feeling similar to that in the case where a conventional limit link is provided, and the user can open and close the door without feeling any discomfort.

[0128] (6) The door opening and closing device according to (5), wherein:

[0129] The prescribed range is a range from a first position to a second position and includes a prescribed position between the first position and the second position,

[0130] The control device increases the holding force as the opening and closing position approaches the predetermined position, and decreases the holding force as the opening and closing position moves away from the predetermined position.

[0131] According to (6), it is possible to prevent the following situation: when the door opening and closing position changes from being outside the prescribed range to being within the prescribed range or from being within the prescribed range to being outside the prescribed range, the holding force changes sharply and exerts a large impact on the hand of the user operating the door. Therefore, when the door is opened and closed, the user can be provided with the same natural operating feeling as when the existing limit link is provided, and the user can open and close the door without feeling any discomfort.

[0132] (7) The door opening and closing device according to (5), wherein:

[0133] The predetermined range is a range from the first position to the second position and includes a predetermined position between the first position and the second position.

[0134] The control device makes the holding force when the opening and closing position is the prescribed position smaller than the maximum value of the holding force when the opening and closing position is included in the range from the first position to the prescribed position and the maximum value of the holding force when the opening and closing position is included in the range from the prescribed position to the second position.

[0135] According to (7), the holding force can inform the user that the opening and closing position is located in the vicinity of the predetermined position within the predetermined range.

[0136] Description of Reference Numerals

[0137] 11: electric motor (motor); 100: door opening and closing device; 111: door position sensor; 120: control device; D: side door (door); L1, L2, L3: coils; RT: rotor; ST: stator.

Claims

1. A door opening and closing device, comprising: A motor that generates a driving force for the door in the opening and closing direction of the door; a door position sensor that detects an open or closed position of the door; and a control device that controls the motor based on the open / closed position detected by the door position sensor, in, The motor includes a stator and a rotor, the stator having at least three-phase coils, the rotor being rotatable relative to the stator, and the motor generates the driving force by rotating the rotor relative to the stator. When the opening / closing position is within a predetermined range, the control device performs door holding control to generate a holding force for holding the opening / closing position as the driving force. In the door holding control, the control device energizes at least two phases of the motor to brake the rotation of the rotor, thereby generating the holding force.

2. The door opening and closing device according to claim 1, wherein: When the open / close position becomes outside the predetermined range during the door holding control, the control device ends the door holding control.

3. The door opening and closing device according to claim 1, wherein: When the acceleration in the opening and closing direction of the door is smaller than a predetermined value and the opening and closing position is within the predetermined range, the control device performs the door holding control. When the acceleration is equal to or greater than the predetermined value, the control device does not perform the door holding control regardless of the opening and closing position.

4. The door opening and closing device according to claim 1, wherein: When the two-phase energization state is set by the door holding control, the control device energizes the two phases according to the rotational position of the rotor relative to the stator.

5. The door opening and closing device according to any one of claims 1 to 4, wherein: The control device changes the magnitude of the holding force according to the open / closed position during the door holding control.

6. The door opening and closing device according to claim 5, wherein: The prescribed range is a range from a first position to a second position and includes a prescribed position between the first position and the second position, The control device increases the holding force as the opening and closing position approaches the predetermined position, and decreases the holding force as the opening and closing position moves away from the predetermined position.

7. The door opening and closing device according to claim 5, wherein: The prescribed range is a range from a first position to a second position and includes a prescribed position between the first position and the second position, The control device makes the holding force when the opening and closing position is the prescribed position smaller than the maximum value of the holding force when the opening and closing position is included in the range from the first position to the prescribed position and the maximum value of the holding force when the opening and closing position is included in the range from the prescribed position to the second position.

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