Opening / closing control device

Abstract

Provided is an opening and closing control device capable of detecting pinching with high precision while suppressing an increase in cost. An opening / closing control device is provided with a door opening / closing motor (M1) for driving a door (D), which is openably / closably supported by a vehicle body (B), in the opening / closing direction, and a control device (9) for controlling the door opening / closing motor (M1), the control device comprising: a motor control unit (92) capable of adjusting the advance angle of the door opening / closing motor; a pulse encoder (45) that outputs a pulse signal; a pulse detection unit (91) capable of detecting the rotational speed of the door opening / closing motor by means of pulse detection on the basis of the pulse signal output from the pulse encoder; and a clamping detection part (96) for detecting clamping of the door. When the rotation speed of the door opening / closing motor is equal to or less than a threshold value during the advance angle control of the door opening / closing motor by the motor control unit, the clamping detection unit detects the occurrence of clamping of the door.

Description

Technical Field

[0001] The invention relates to an opening and closing control device. Background Art

[0002] Conventionally, in a vehicle opening and closing body control device, there is known a technique for detecting pinching based on the current value flowing through a motor, as in Patent Document 1. However, there is a problem in the accuracy of pinching detection because the current value increases due to the start of the motor or an increase in load, and thus becomes unstable after a door movement such as an operation from a closed position or a fully open position, and when a fully open latch device for holding the door in a fully open position engages with a striker.

[0003] In addition, as described in Patent Document 2, there is also a technology that addresses the above-mentioned problem in the following manner: when the door is in the fully open side area or the fully closed side area, the entrapment is detected based on the pulse signal of the rotation angle sensor; when the door is in the middle area, the entrapment is detected based on the current value.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 7192587

[0007] Patent Document 2: Japanese Patent No. 6291663 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] However, the technology of Patent Document 2 has a problem in that the cost increases because both a current sensor and a rotation angle sensor are required.

[0010] The present invention provides an opening and closing control device capable of detecting pinching with high accuracy while suppressing cost increase.

[0011] Solutions for solving problems

[0012] The present invention is an opening and closing control device, comprising a motor and a control device for controlling the motor, wherein the motor drives an opening and closing body supported on a vehicle body in an opening and closing direction.

[0013] The control device has:

[0014] a motor control unit capable of adjusting the lead angle of the motor;

[0015] A pulse encoder, which outputs a pulse signal;

[0016] a pulse detection unit capable of detecting the rotation speed of the motor or the opening and closing speed of the opening and closing body by pulse detection based on the pulse signal output from the pulse encoder; and

[0017] a pinching detection unit for detecting pinching of the opening and closing body,

[0018] When the rotation speed of the motor or the opening and closing speed of the opening and closing body becomes below a threshold value while the motor control unit is performing lead angle control of the motor, the pinching detection unit detects pinching of the opening and closing body.

[0019] Effects of the Invention

[0020] According to the present invention, pinching can be detected with high accuracy even without a current sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a side view of a vehicle to which the opening and closing control device according to one embodiment of the present invention is applied.

[0022] Figure 2 It is a block diagram showing the structure of the control device 9.

[0023] Figure 3 1 and 2 are explanatory diagrams showing the opening and closing areas of the door D.

[0024] Figure 4 It is an explanatory diagram showing a rotation speed variation and a torque variation (load variation) when pinching occurs.

[0025] Figure 5 It is a flowchart showing the control process during the door opening action.

[0026] Figure 6 1 is a flow chart showing the control process during the door closing operation.

[0027] Figure 7 : is a flowchart showing a first example of the lead angle setting process.

[0028] Figure 8 : is a flowchart showing a second example of the lead angle setting process.

[0029] Fig. 9 : is a flowchart showing a third example of the lead angle setting process.

[0030] Fig.10 : is a flowchart showing a fourth example of the lead angle setting process. DETAILED DESCRIPTION

[0031] Below, refer to Figures 1 to 10In the following description, the front and rear, left and right, and top and bottom follow the directions observed from the driver's perspective, and in the drawings, the front of the vehicle body B of the vehicle V is represented as Fr, the rear is represented as Rr, the left is represented as L, the right is represented as R, the top is represented as U, and the bottom is represented as D.

[0032] like Figure 1 As shown, a sliding door (hereinafter referred to as "door") D of a vehicle is supported by guide rails G1, G2, and G3 facing the front-rear direction and fixed to the side of the vehicle body B in a manner that allows it to be opened and closed in the front-rear direction. The door D can be moved from a fully closed position to a fully open position by manual operation based on manual operation and electric operation based on the power of a door opening and closing motor M1 of a door opening and closing drive device PSD described later, or can be moved from a fully open position to a fully closed position in the opposite direction to the above, wherein the fully closed position is a position in which a boarding and alighting door provided on the side of the vehicle body B is closed, and the fully open position is a position in which the door is moved slightly outward from the outer side of the vehicle body B and moved backward along the side of the vehicle body B.

[0033] In addition, if Figure 3 As shown, the front portion of the guide rail G2 is bent toward the vehicle interior, and the portion behind the bent portion is formed into a straight line, so that the guide rail G2 guides and supports the door D in such a manner that when the door D is opened, the door D can move slightly outward from the outer side of the vehicle body B and move backward along the side of the vehicle body B. The other guide rails G1 and G3 are also formed into the same shape.

[0034] A fully closed latch device DL1 for holding the door D in a fully closed position and a door closing device DC for closing the door D from a half-open position to a fully closed position are provided at a rear end portion inside the door D.

[0035] The fully closed latch device DL1 is provided with an engagement mechanism. The engagement mechanism includes: a latch (not shown in the figure), which can be engaged with a fully closed striker (not shown in the figure) fixed at an appropriate position of the rear edge of the opening of the boarding and alighting entrance; and a ratchet (not shown in the figure), which can prevent the latch from rotating in the opening direction by engaging with the latch engaged with the fully closed striker. Regarding the fully closed latch device DL1, when the door D is closed, the latch rotates from a semi-latch state (equivalent to the slightly open door position of the door D) in which the fully closed striker is slightly engaged to a fully latch state (equivalent to the fully closed position of the door D), whereby the fully closed latch device DL1 keeps the door D in the fully closed position.

[0036] The door closing device DC has a closing motor 61, which is used to move the door D from the slightly open door position to the fully closed position by rotating the latch of the fully closed latch device DL1 from the half-latch state to the fully latch state. The door closing device DC is driven by the closing motor 61 to rotate the latch from the half-latch state to the fully latch state when the half-latch detection switch 51 provided in the fully closed latch device DL1 detects the half-latch state of the latch. In this way, the door D can overcome the reaction force of the door seal and move from the slightly open door position to the fully closed position. In addition, the fully closed latch device DL1 and the door closing device DC adopt a well-known structure, so the detailed description is omitted.

[0037] A full-open latch device DL2 for holding the door D in the fully-open position is provided at the lower front portion of the door D. The full-open latch device DL2 engages with a full-open striker (not shown) fixed to the lower portion of the vehicle body B when the door D is opened, thereby holding the door D in the fully-open position.

[0038] By the door opening operation of the outside handle OH of the door D arranged on the outside of the vehicle and the inside handle (not shown in the figure) arranged on the inside of the vehicle, and the releasing action performed by the release electric actuator (not shown in the figure) connected to the full-closed latch device DL1 and the full-open latch device DL2, the full-closed latch device DL1 and the full-open latch device DL2 are disengaged from each striker respectively, thereby enabling the opening and closing actions of the door D.

[0039] The door opening and closing drive device PSD includes: a door opening and closing motor M1, which is arranged on the side of the vehicle body B and can rotate forward and reverse; a rotating drum M2, which can rotate forward and reverse by means of a speed reducer for reducing the rotation of the door opening and closing motor M1; a cable M3, which is wound around the rotating drum M2 in a manner that can be wound and sent out, and is laid along the guide rail G2 and connected to the rear end of the door D; and an electromagnetic clutch 44, which can connect or disconnect the power transmission path between the door opening and closing motor M1 and the rotating drum M2. The door opening and closing drive device PSD is based on the operation of the handle switch 11 linked to the opening and closing operation of the outside handle OH and the inside handle and the operation switch 12 such as a portable wireless remote control switch provided near the driver's seat, and the electromagnetic clutch 44 is operated in a connected state and the door opening and closing motor M1 rotates (forward or reverse), and the rotation is transmitted to the door D via the electromagnetic clutch 44, the rotating drum M2 and the cable M3, so that the door D moves in the opening direction or the closing direction. When the electromagnetic clutch 44 is in the disconnected state, the door D can be opened and closed by manual operation without receiving resistance from the speed reducer or the reverse rotation of the door opening and closing motor M1 .

[0040] Furthermore, during the closing operation of the door D, the door opening and closing motor M1 is driven while the door D moves from the fully open position to the slightly open door position, and the door opening and closing motor M1 stops driving while the door D moves from the slightly open door position to the fully closed position by the driving of the closing motor 61. That is, during the closing operation of the door D, the driving source for moving the door D from the fully open position to the slightly open door position is the door opening and closing motor M1, and the driving source for moving the door D from the slightly open door position to the fully closed position is the closing motor 61.

[0041] The rotating drum M2 is provided with a pulse encoder 45, which detects the rotation angle of the rotating drum M2 with high resolution and outputs a pulse signal corresponding to the rotation. In addition, the rotating drum M2 is connected to the door D via the cable M3 and rotates substantially synchronously with the opening and closing action of the door D. Therefore, detecting the rotation speed and rotation angle of the rotating drum M2 is substantially equivalent to detecting the opening and closing speed of the door D and the position of the door D. Therefore, in the following description, it is assumed that the pulse encoder 45 outputs a pulse signal corresponding to the movement of the door D.

[0042] The pulse encoder 45 outputs a pulse signal corresponding to the opening and closing direction, opening and closing speed, and movement amount of the door D. The pulse signal is sent to the control device 9 provided at an appropriate position of the vehicle body B.

[0043] Next, refer to Figure 2 The block diagram shown illustrates the control device 9 and the electrical components connected to the control device 9.

[0044] The control device 9 is electrically connected to a vehicle-mounted battery (not shown), and controls driving elements of the electrical components in a centralized manner through program control by a microcomputer. The control device 9 includes: a pulse detection unit 91, which calculates the opening and closing speed, moving direction and current position of the door D by pulse detection based on the pulse signal output from the pulse encoder 45; a motor control unit 92, which controls the door opening and closing motor M1; a clutch control unit 93, which is used to control the electromagnetic clutch 44; a tilt detection unit 94, which detects the tilt of the vehicle body B; a closing control unit 95, which is used to control the closing motor 61 of the door closing device DC; a clamping detection unit 96, which detects the contact and clamping of the body or other obstacles to the door D; an actuator control unit (not shown), which controls the release electric actuator connected to the full-closed latch device DL1 and the full-open latch device DL2; a drive circuit unit 97, which is turned on or off based on the control of the motor control unit 92, the clutch control unit 93 and the closing control unit 95; and a drive determination unit 98, which determines the drive of the door D based on the opening operation signal of the handle switch 11, the operation switch 12 and the output of the half-latch detection switch 51.

[0045] The pulse detection unit 91 includes a door speed calculation unit 911 that calculates the opening and closing speed of the door D or the rotation speed of the door opening and closing motor M1 based on the pulse width of the pulse signal output from the pulse encoder 45 according to the opening and closing action of the door D; a door movement direction detection unit 912 that detects the movement direction of the door D based on the phase relationship of the two-phase pulse signal; and a door position calculation unit 913 that counts the pulse signal output from the pulse encoder 45 and detects the current position of the door D based on the count value obtained by the counting. In addition, the rotation speed of the door opening and closing motor M1 is the motor rotation speed per unit time, so the rotation speed of the door opening and closing motor M1 is sometimes referred to as the rotation speed of the door opening and closing motor M1.

[0046] like Figure 3 As shown, the opening and closing action area of ​​the door D includes the fully closed side area L1, the middle area L2 and the fully open side area L3, and which area of ​​each area L1 to L3 the door D is located in is identified based on the number of pulses obtained by counting the pulse signal output from the pulse encoder 45 by the door position calculation unit 913. In addition, the fully closed side area L1 refers to the area between the slightly open door position (corresponding to the half-latch state of the fully closed latch device DL1) and the slightly open door approach position of the door D that performs the opening and closing action along the guide rail G2 (it is a deceleration area before the door D reaches the slightly open door position when the door D performs the closing action, which is equivalent to the curved parts G11, G21, G31 of the front parts of the guide rails G1, G2, G3). The fully open side region L3 refers to the region between the fully open position (the position where the fully open latch device DL2 is fully engaged with the fully open striker) and the fully open approach position (the rear end of the straight portion of the guide rails G1, G2, and G3, the position where the fully open latch device DL2 begins to contact the fully open striker when the door D is opened). The intermediate region L2 refers to the region between the fully closed side region L1 and the fully open side region L3.

[0047] In addition, the target speed of the door D is preset to be a low speed in the fully closed side region L1 and the fully open side region L3 and a high speed in the middle region L2, and is stored in the storage area of ​​the control device 9. Therefore, the fully closed side region L1 and the fully open side region L3 can be defined as a low speed region, and the middle region L2 can be defined as a high speed region.

[0048] The motor control unit 92 includes a PWM control unit 921 that performs PWM (Pulse Width Modulation) control on the door opening and closing motor M1 , and a lead angle adjustment unit 922 that adjusts the lead angle of the door opening and closing motor M1 .

[0049] The PWM control unit 921 is based on a control process described later (see Figure 5 , Figure 6) to perform PWM control on the door opening and closing motor M1 to open and close the door D. In addition, when the pinching detection unit 96 detects pinching during the opening and closing of the door D, the PWM control unit 921 performs reverse control on the door opening and closing motor M1 to release the pinching state of the door D.

[0050] The door opening and closing motor M1 is a brushless motor that can be controlled by advancing the phase of the motor control signal. The lead angle adjustment unit 922 changes the motor characteristics of the door opening and closing motor M1 by adjusting the lead angle (see Figure 4 ). In addition, in this specification, the control state in which the lead angle is increased relative to the normal control and the motor characteristics of the door opening and closing motor M1 are made high rotation-low torque type is referred to as the lead angle control. In other words, the normal control is a control in which the lead angle is made zero without the lead angle control, and relative to the motor characteristics when the lead angle control is performed, the normal control has the motor characteristics of the low rotation-high torque type.

[0051] The entrapment detection unit 96 detects the entrapment of the door D when the rotation speed of the door opening and closing motor M1 (or the rotation speed of the door opening and closing motor M1, the opening and closing speed of the door D) drops beyond the threshold speed (threshold value). The entrapment detection unit 96 can detect the entrapment of the door D during any of the control processes of the lead angle control and the normal control of the door opening and closing motor M1. Moreover, when in the process of the lead angle control, the torque change relative to the rotation speed change of the door opening and closing motor M1 becomes smaller, and the rotation speed change of the door opening and closing motor M1 accompanied by the torque change when the entrapment occurs becomes larger. As a result, the responsiveness of the entrapment detection is improved. Therefore, even without a current sensor, not only can the entrapment be detected with high accuracy, but the entrapment load during the entrapment detection can also be reduced. In addition, the opening and closing control device may also include a current sensor. Below, refer to Figure 4 Explain its specific principles.

[0052] Figure 4 The figure shows the rotation speed change and torque change (load change) of the door opening and closing motor M1 when pinching occurs. As shown in the figure, when pinching occurs at point A (load Ta, rotation speed Na) during the operation of the door D, the rotation speed of the door opening and closing motor M1 decreases. When the door opening and closing motor M1 is in the process of lead angle control, at the time point when the load increases from Ta to Tb, the rotation speed decreases to Nb2 (threshold speed), and pinching is detected (point B2). On the other hand, when it is in the process of normal control, at the time point when the load increases from Ta to Tb, the rotation speed only decreases to Nb1 (Nb1<Nb2), so pinching is not detected (point B1). That is, when it is in the process of normal control, pinching is detected at the time point when the load increases from Ta to Tc and the rotation speed decreases to Nb2 (point C).

[0053] The inclination detection unit 94 detects the inclination angle of the vehicle body B based on a detection signal of the G sensor 46 (acceleration sensor), for example. In the vehicle V including an existing acceleration sensor, the existing acceleration sensor may also be used as the G sensor 46 .

[0054] like Figure 2 As shown, the tilt detection unit 94 sends the detected tilt angle of the vehicle body B to the lead angle adjustment unit 922 of the motor control unit 92. The lead angle adjustment unit 922 changes the lead angle of the door opening and closing motor M1 based on the tilt angle of the vehicle body B. That is, the torque required for opening and closing the door D varies depending on the tilt angle of the vehicle body B. Therefore, by switching the motor characteristics of the door opening and closing motor M1 according to the required torque, both the opening and closing action of the door D and the pinch detection can be appropriately controlled.

[0055] Specifically, the door D of the present embodiment is a sliding door that performs an opening and closing action in the front-to-back direction. When the action direction of the door D is tilted upward, the door D moves against the deadweight of the door, so the required torque becomes larger. When the action direction of the door D is tilted downward, the door D moves with the deadweight of the door, so the required torque becomes smaller. For example, when the vehicle body B is tilted forward and downward, the torque required for the opening action of the door D becomes larger, and the torque required for the closing action of the door D becomes smaller than when the front-to-back tilt angle is 0. In addition, when the vehicle body B is tilted backward and downward, the torque required for the opening action of the door D becomes smaller, and the torque required for the closing action of the door D becomes larger than when the front-to-back tilt angle is 0. Moreover, in such an opening and closing action of the door D, if the lead angle control is always performed, there is a possibility that the torque of the door opening and closing motor M1 is insufficient when the vehicle body B is tilted with the required torque becoming larger, so that the opening and closing action of the door D cannot be performed smoothly. Therefore, the lead angle adjustment unit 922 changes the lead angle of the door opening and closing motor M1 based on the tilt angle of the vehicle body B.

[0056] The above also applies to the rear tailgate. When the vehicle body B tilts downwardly forward, the door D tilts upwardly, and when the vehicle body B tilts downwardly rearward, the door D tilts downwardly. Also, at the side door, when the vehicle body B tilts downwardly rearward, the door D tilts upward, and when the vehicle body B tilts downwardly forward, the door D tilts downwardly, and the same consideration can be given.

[0057] In the following description, the case where the front-to-back tilt angle is 0 is used as a reference, and the tilt angle at which the movement direction of the door D tilts upward is set to be positive. In other words, the tilt angle at which the required torque becomes larger is set to be positive. That is, in the opening action of the door D, the case where the tilt angle is positive refers to the state of tilting forward and downward, and in the closing action of the door D, the case where the tilt angle is positive refers to the state of tilting backward and downward.

[0058] For example, when the inclination angle of the vehicle body B is less than the first set value a (a>0), the lead angle adjustment unit 922 sets the lead angle to the first value α° to perform lead angle control, and when the inclination angle of the vehicle body B is greater than the first set value a, the lead angle adjustment unit 922 sets the lead angle to 0° to perform normal control. In this way, in the area where the inclination angle of the vehicle body B is small, the opening and closing torque of the door D is small, so the clamping load of the door D is reduced by performing the lead angle control, and in the area where the inclination angle of the vehicle body B is large, the opening and closing torque of the door D is large, so the opening and closing action of the door D becomes smooth by performing the normal control.

[0059] The lead angle adjustment unit 922 may also reduce the lead angle in stages as the tilt angle of the vehicle body B increases. For example, when the tilt angle of the vehicle body B is less than the first set value a (a>0), the lead angle adjustment unit 922 sets the lead angle to the first value α° to perform lead angle control. When the tilt angle of the vehicle body B is greater than the first set value a and the tilt angle of the vehicle body B is less than the second set value b (b>a) greater than the first set value a, the lead angle adjustment unit 922 sets the lead angle to the second value β° (β°<α°) smaller than the first value α° to perform lead angle control. When the tilt angle of the vehicle body B is greater than the second set value b, the lead angle adjustment unit 922 performs normal control. In this way, a more appropriate lead angle can be applied based on the tilt angle of the vehicle body B. In addition, the required torque may be calculated based on the movement direction of the door D and the tilt angle of the vehicle body B, and the lead angle may be adjusted based on the calculated required torque.

[0060] The drive determination unit 98 as the input side of the control device 9 receives the open operation signals of the handle switch 11 and the operation switch 12 and the half latch signal of the half latch detection switch 51 .

[0061] The drive circuit unit 97 as the output side of the control device 9 is electrically connected to the door opening and closing motor M1 , the electromagnetic clutch 44 , and the closing motor 61 , respectively.

[0062] Next, based on Figure 5 and Figure 6 The flowchart shown explains the opening and closing control performed by the control device 9.

[0063] like Figure 5 As shown, when the control device 9 receives an on operation signal from the handle switch 11 or the operation switch 12 (S101), it detects the inclination angle of the vehicle body B (S102), and executes the lead angle setting process described later based on the inclination angle (see Figure 7 to Figure 10 )(S103).

[0064] Next, the control device 9 starts the opening action of the door D (S104), and determines whether the rotation speed of the door opening and closing motor M1 becomes less than the threshold value Nb2 during the opening action of the door D (S105). If the judgment result of step S105 is yes, the control device 9 determines that the door D is pinched and performs reverse control on the door opening and closing motor M1 (S106). In addition, if the judgment result of step S105 is no, the control device 9 stops the opening action of the door D in response to the door D reaching the fully open position (S107).

[0065] like Figure 6 As shown, when the control device 9 receives the closing operation signal from the handle switch 11 or the operation switch 12 (S201), it detects the inclination angle of the vehicle body B (S202), and executes the lead angle setting process described later based on the inclination angle (refer to Figure 7 to Figure 10 )(S203).

[0066] Next, the control device 9 starts the closing action of the door D (S204), and determines whether the rotation speed of the door opening and closing motor M1 or the closing motor 61 becomes less than the threshold value Nb2 during the closing action of the door D (S205). If the judgment result of step S205 is yes, the control device 9 determines that the door D is pinched, and performs reverse control on the door opening and closing motor M1 or the closing motor 61 (S206). In addition, if the judgment result of step S205 is no, the control device 9 stops the closing action of the door D in response to the door D reaching the fully closed position (S207).

[0067] Next, based on Figure 7 to Figure 10 The flowchart shown in FIG. 1 illustrates four examples of the lead angle setting process performed by the control device 9 .

[0068] exist Figure 7 In the first example of the lead angle setting process shown, the control device 9 determines whether the inclination angle of the vehicle body B is greater than the first set value a (a>0) (S301). If the determination result of step S301 is no, the control device 9 sets the lead angle to α° to perform lead angle control (S302). If the determination result of step S301 is yes, the control device 9 sets the lead angle to 0° to perform normal control (S303).

[0069] exist Figure 8In the second example of the lead angle setting process shown, the control device 9 determines whether the inclination angle of the vehicle body B is greater than the first set value a (a>0) (S401). When the judgment result of step S401 is no, the control device 9 sets the lead angle to α° to perform lead angle control. When the judgment result of step S301 is yes, the control device 9 determines whether the inclination angle of the vehicle body B is greater than the second set value b (b>a) (S403). When the judgment result of step S403 is no, the control device 9 sets the lead angle to β° (β°<α°) to perform lead angle control (S404). When the judgment result of step S403 is yes, the control device 9 sets the lead angle to 0° to perform normal control (S405).

[0070] exist Fig. 9 In the third example of the lead angle setting process shown, after the control device 9 detects the inclination angle θ of the vehicle body B (S501), it uses a function f(θ) with a specified coefficient k and the inclination angle θ as variables to calculate the lead angle (S502), and performs lead angle control or normal control based on the calculated lead angle.

[0071] For example, the lead angle is calculated using the following functional expression f(θ).

[0072] f(θ)=30-k×θ

[0073] In the case of f(θ)≤0, f(θ)=0, and in the case of f(θ)≥30, f(θ)=30

[0074] exist Fig.10 In the fourth example of the lead angle setting process shown, after detecting the inclination angle θ of the vehicle body B (S601), the control device 9 selects a lead angle by referring to a preset map (S602), and performs lead angle control or normal control based on the selected lead angle.

[0075] (Variation Example)

[0076] In the area where the load variation of the door D is likely to occur, the control device 9 can reduce the lead angle to perform the lead angle control or perform the normal control, compared with the area where the load variation of the door D is unlikely to occur, wherein the lead angle control is not performed in the normal control. For example, in the case where the door D is a sliding door, the area where the load variation of the door D is likely to occur is the fully closed side area L1 which is a deceleration area before reaching the slightly open door position and the fully open side area L3 which is a latch engagement area before reaching the fully open position. In these areas L1 and L3, the lead angle is reduced to perform the lead angle control or perform the normal control, wherein the lead angle control is not performed in the normal control, thereby avoiding the misdetection of the pinching.

[0077] Various embodiments have been described above with reference to the accompanying drawings, but it is self-evident that the present invention is not limited to the examples described. It is obvious that a person skilled in the art can think of various variations or modifications within the scope of the claims, and it should be understood that they also belong to the technical scope of the present invention. For example, the present invention can also be applied to a rear tailgate, and the present invention can also be applied to a side door. In addition, the various components in the above embodiments can be arbitrarily combined within the scope of the main purpose of the invention.

[0078] At least the following matters are described in this specification. In addition, although the components and the like corresponding to those in the above-mentioned embodiment are shown in parentheses, the present invention is not limited to these.

[0079] (1) An opening and closing control device comprising a motor (door opening and closing motor M1) and a control device (control device 9) for controlling the motor, wherein the motor drives an opening and closing body (door D) supported by a vehicle body (vehicle body B) in an opening and closing direction.

[0080] The control device has:

[0081] a motor control unit (motor control unit 92) capable of adjusting a lead angle of the motor;

[0082] A pulse encoder (pulse encoder 45) which outputs a pulse signal;

[0083] a pulse detection unit (pulse detection unit 91) capable of detecting the rotation speed of the motor or the opening and closing speed of the opening and closing body by pulse detection based on the pulse signal output from the pulse encoder; and

[0084] A pinching detection unit (pinching detection unit 96) for detecting pinching of the opening and closing body.

[0085] When the rotation speed of the motor or the opening and closing speed of the opening and closing body becomes below a threshold value (threshold value Nb2) during the process of the motor control unit performing lead angle control of the motor, the pinching detection unit detects pinching of the opening and closing body.

[0086] According to (1), by performing lead angle control on the motor, the torque change relative to the change in the motor speed or the change in the opening and closing speed of the opening and closing body becomes smaller. That is, the responsiveness of the change in the motor speed or the change in the opening and closing speed of the opening and closing body when pinching occurs is improved. Thus, pinching can be detected with high accuracy even without a current sensor. In addition, the pinching load during pinching detection can be reduced.

[0087] (2) The opening and closing control device according to (1), wherein:

[0088] When the rotation speed of the motor or the opening and closing speed of the opening and closing body becomes below the threshold value during the normal control of the motor by the motor control unit, the clamping detection unit detects the occurrence of clamping of the opening and closing body, wherein the lead angle control is not performed in the normal control of the motor.

[0089] According to (2), by using the same threshold value when performing normal control of the motor and when performing advanced angle control, it is possible to avoid complication of control. In addition, by using normal control and advanced angle control separately, it is possible to perform appropriate pinch detection according to the situation.

[0090] (3) The opening and closing control device according to (1) or (2), wherein:

[0091] The control device further includes a tilt detection unit (tilt detection unit 94) capable of detecting a tilt angle of the vehicle body.

[0092] The motor control unit changes the lead angle based on the tilt angle.

[0093] According to (3), the torque required for the opening and closing of the opening and closing body varies depending on the inclination angle. Therefore, by switching the control of the motor according to the required torque, both the opening and closing action of the opening and closing body and the pinch detection can be appropriately controlled.

[0094] (4) The opening and closing control device according to (3), wherein:

[0095] In a condition where the movement direction of the opening and closing body is inclined upward during the opening and closing movement, the motor control unit performs the lead angle control when the inclination angle is equal to or less than a set value (first set value a).

[0096] According to (4), the opening and closing torque of the sliding door is small in the region where the inclination angle is small, and therefore, the pinching load of the opening and closing body can be reduced by performing the advance angle control.

[0097] (5) The opening and closing control device according to (3), wherein:

[0098] In a condition where the movement direction of the opening and closing body is inclined upward during the opening and closing movement, the motor control unit reduces the lead angle as the inclination angle increases.

[0099] According to (5), the opening and closing torque of the sliding door is small in the area with a small inclination angle, so the clamping load of the opening and closing body is reduced by performing advance angle control. The opening and closing torque of the sliding door is large in the area with a large inclination angle, so the opening and closing action of the opening and closing body becomes smooth by performing normal control.

[0100] (6) The opening and closing control device according to (3), wherein:

[0101] When the movement direction is inclined upward during the opening and closing action of the opening and closing body, the motor control unit performs normal control of the motor when the inclination angle is greater than a set value (second set value b), wherein the lead angle control is not performed in the normal control of the motor.

[0102] According to (6), the opening and closing torque of the sliding door is large in the region where the inclination angle is large, and therefore, by performing normal control, the opening and closing action of the opening and closing body becomes smooth.

[0103] (7) The opening and closing control device according to (1) or (2), wherein:

[0104] In an area where the load change of the opening and closing body is likely to occur, the motor control unit reduces the lead angle to perform the lead angle control or performs normal control of the motor compared to an area where the load change of the opening and closing body is unlikely to occur, wherein the lead angle control is not performed in the normal control of the motor.

[0105] According to (7), by reducing the lead angle in the region where the load fluctuation of the opening and closing body is likely to occur, and performing lead angle control or performing normal control, it is possible to avoid erroneous detection of pinching.

[0106] (8) The opening and closing control device according to (7), wherein:

[0107] The opening and closing body is a sliding door,

[0108] The area where the load variation of the opening and closing body is likely to occur includes a deceleration area before reaching the slightly open door position and a latch engagement area before reaching the fully open position.

[0109] According to (8), load fluctuations are likely to occur in the deceleration region before the sliding door reaches the slightly opened position and in the latch engagement region before the sliding door reaches the fully opened position, so erroneous detection of pinching can be avoided by performing normal control.

[0110] Description of Reference Numerals

[0111] 45: pulse encoder; 9: control device; 91: pulse detection unit; 92: motor control unit; 94: tilt detection unit; 96: pinch detection unit; D: door; B: vehicle body; M1: door opening and closing motor; Nb2: threshold value.

Claims

1. An opening and closing control device, comprising a motor and a control device for controlling the motor, wherein the motor drives an opening and closing body supported on a vehicle body so as to be openable and closable in an opening and closing direction, The control device has: a motor control unit capable of adjusting the lead angle of the motor; A pulse encoder, which outputs a pulse signal; a pulse detection unit capable of detecting the rotation speed of the motor or the opening and closing speed of the opening and closing body by pulse detection based on the pulse signal output from the pulse encoder; as well as a pinching detection unit for detecting pinching of the opening and closing body, When the rotation speed of the motor or the opening and closing speed of the opening and closing body becomes below a threshold value while the motor control unit is performing lead angle control of the motor, the pinching detection unit detects pinching of the opening and closing body.

2. The opening and closing control device according to claim 1, wherein: When the rotation speed of the motor or the opening and closing speed of the opening and closing body becomes below the threshold value during the normal control of the motor by the motor control unit, the clamping detection unit detects the occurrence of clamping of the opening and closing body, wherein the lead angle control is not performed in the normal control of the motor.

3. The opening and closing control device according to claim 1 or 2, wherein: The control device further includes a tilt detection unit capable of detecting a tilt angle of the vehicle body. The motor control unit changes the lead angle based on the tilt angle.

4. The opening and closing control device according to claim 3, wherein: In a condition where the movement direction of the opening and closing body is inclined upward during the opening and closing movement, the motor control unit performs the lead angle control when the inclination angle is equal to or less than a set value.

5. The opening and closing control device according to claim 3, wherein: In a condition where the movement direction of the opening and closing body is inclined upward during the opening and closing movement, the motor control unit reduces the lead angle as the inclination angle increases.

6. The opening and closing control device according to claim 3, wherein: In a condition where the movement direction is tilted upward during the opening and closing movement of the opening and closing body, the motor control unit performs normal control of the motor when the tilt angle is greater than a set value, wherein the lead angle control is not performed in the normal control of the motor.

7. The opening and closing control device according to claim 1 or 2, wherein: In an area where the load change of the opening and closing body is likely to occur, the motor control unit reduces the lead angle to perform the lead angle control or performs normal control of the motor compared to an area where the load change of the opening and closing body is unlikely to occur, wherein the lead angle control is not performed in the normal control of the motor.

8. The opening and closing control device according to claim 7, wherein: The opening and closing body is a sliding door, The area where the load variation of the opening and closing body is likely to occur includes a deceleration area before reaching the slightly open door position and a latch engagement area before reaching the fully open position.

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