CONTROL DEVICE FOR AN OPENING / CLOSING BODY

Abstract

A control device for an opening / closing body includes: a rotation sensor that outputs a first pulse signal and a second pulse signal having a phase difference from the first pulse signal; an edge detection unit that detects a pulse edge of the pulse signal; a speed update unit that measures and updates an opening / closing speed based on a pulse signal at a predetermined update timing; and a motor control unit that controls the motor according to the updated opening / closing speed. The speed update unit performs two-pulse update processing in which a timing at which at least one of a first rising edge and a first falling edge is detected and a timing at which at least one of a second rising edge and a second falling edge is detected are set as the update timing.

Description

CROSS REFERENCE TO RELATED APPLICATIONThis application claims priority to Japanese Patent Application No. 2023-219706 filed on Dec. 26, 2023, the entire contents of which are incorporated herein by reference.TECHNICAL FIELD OF APPLICATIONThe present invention relates to a control device for an opening / closing body.PRIOR ARTJP H11-343773 A discloses a control device that performs feedback control of an opening / closing speed of a vehicle slide door driven by a motor. The control device inputs a angular momentum signal of the motor, measures a rotational momentum cycle of the motor, and controls the motor according to a measurement result. The pulse cycle may be converted into an opening / closing speed. The opening / closing speed of the sliding door switches between a fully opened state and a fully closed state. At high speeds, the pulse cycle is measured synchronously with the rising edge of a rotary pulse signal. At low speeds, the pulse cycle is measured synchronously with both the leading and trailing edges of the angular momentum signal, thereby maintaining the measurement frequency and hence control accuracy.SUMMARYThe control accuracy of the opening / closing speed of the opening / closing body is still in need of improvement.The present invention aims to improve the control accuracy of an opening / closing speed of an opening / closing body.An aspect of the present invention is an opening / closing body control device that controls an operation of an opening / closing body that opens and closes an opening of a vehicle body, the opening / closing body control device comprising: a motor that generates a rotational driving force for driving the opening / closing body; a rotation sensor that outputs a first pulse signal and a second pulse signal having a phase difference from the first pulse signal in a cycle corresponding to the rotation of the motor; a slope detection unit that detects a first rising edge and a first falling edge of the first pulse signal and a second rising edge and a second falling edge of the second pulse signal as pulse slopes of the pulse signals; a rotation speed updating unit that measures and updates an opening / closing speed of the opening / closing body based on the first pulse signal and / or the second pulse signal at a predetermined update timing; and a motor control unit that controls the motor according to the updated opening / closing speed, wherein the rotation speed updating unit performs two-pulse update processing in which, as the update timing, a timing at which the first rising edge and / or the first falling edge is detected and a timing at which the second rising edge and / or the second falling edge is detected are set.According to the above configuration, the rotation sensor can output the first pulse signal and the second pulse signal having the phase difference, and the opening / closing body control device can execute the two-pulse update processing. In the two-pulse update processing, the update timing for measuring and updating the opening / closing speed is synchronized with the detection timing of the pulse edge of the first pulse signal and the detection timing of the pulse edge of the second pulse signal. As compared with a case where the opening / closing speed is synchronized only with the pulse edge of the single pulse signal, the measurement frequency of the opening / closing speed and the control accuracy are improved.According to the present invention, the control accuracy of the opening / closing speed of the opening / closing body can be improved.BRIEF DESCRIPTION OF THE FIGURESThe following are shown: FIG. 1 is a perspective view showing a part of a vehicle to which an opening / closing body control device according to an embodiment is mounted; FIG. 2 is a block diagram showing a control device for an opening / closing body according to the embodiment; FIG. 3 is a schematic illustration of a motor and a rotation sensor; FIG. 4 is a view taken along an arrow IV-IV in FIG. 3 ; FIG. 5 is an explanatory diagram of a phase difference and an arrangement angle difference; FIG. 6A is a graph showing a first pulse signal and a second pulse signal; FIG. 6B is a graph showing a first pulse signal and a second pulse signal; FIG. 7 is a diagram showing a temporal change of the opening / closing speed; FIG. 8 is a flowchart showing processing executed by a control unit; FIG. 9 is a flowchart showing processing of updates at high speed performed by a control unit; FIG. 10 is a flowchart illustrating processing of low-speed updates executed by the control unit according to a first embodiment; FIG. 11 is a graph showing a pulse signal during the execution of the processing of updates at high speed; FIG. 12 is a graph showing a pulse signal during execution of processing of updates at low speed according to the first embodiment; FIG. 13 is a flowchart showing processing of low-speed updates according to a modification; FIG. 14 is a flowchart showing processing of low-speed updates according to a second embodiment; FIG. 15 is a graph showing a pulse signal during execution of processing of updates at low speed according to the second embodiment; and FIG. 16 is a diagram showing an example of the placement of a rotation sensor.DETAILED DESCRIPTIONHereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the same or corresponding elements in the drawings are denoted by the same reference numerals, so that overlapping in the detailed description is avoided.FIG. 1 shows a part of a vehicle to which an opening / closing body control device 10 (see FIG. 2 ) according to an embodiment is attached. An opening / closing body control device 10 controls the operation of an opening / closing body 5 that opens and closes an opening 2 of a vehicle body 1. The opening / closing body 5 is mounted on the vehicle body 1 so as to be slidable between a fully closed position in which the opening 2 is fully closed and a fully open position in which the opening 2 is fully open. The operation of the opening / closing body 5 includes an opening operation in which it shifts toward the fully opened position and a closing operation in which it shifts toward the fully closed position. The opening / closing body 5 is driven by a drive mechanism 6 including a motor 11 (see FIG. 2 ).The opening 2 is provided at the rear part of the vehicle body 1, for example, to open the passenger compartment or the cargo compartment, the opening / closing body 5 is a back door, and the drive mechanism 6 is a pair of spindle drive mechanisms provided in the vehicle width direction. The back door is rotatably fixed to the vehicle body 1 by a hinge connection, and its rotation axis extends in the vehicle width direction at the upper edge of the opening 2. each spindle drive mechanism is formed as a rod body that extends and contracts according to the rotation direction of the motor 11 (see FIG. 2 ) and that has one end portion pivotally supported on the vehicle body 1 and the other end portion pivotally supported on the opening / closing body 5. The opening / closing body 5 performs an opening operation corresponding to the extension of the rod body and a closing operation corresponding to the contraction of the rod body.The opening / closing body 5 is provided with a lock mechanism 7 that detachably holds the striker 3 provided in the vehicle body 1. By the action of the lock mechanism 7, the opening / closing body 5 can be held in the fully closed position.As shown in FIG. 2, the opening / closing body control device 10 includes, in addition to the above-described motor 11, a rotation sensor 12, a start command output unit 13, and a control unit 20.In the present embodiment, a pair of driving mechanisms 6 are used to drive an opening / closing body 5. Each drive mechanism 6 has a set of a motor 11 and a rotation sensor 12, and since the two sets are similarly configured, only one set will be described here. Note that only one of the two driving mechanisms 6 may have a set of the motor 11 and the rotation sensor 12. In this case, the other driving mechanism 6 does not have a set of the motor 11 and the rotation sensor 12, and is driven by the motor 11 of the one driving mechanism 6.The start command output unit 13 outputs a command to start the operation of the opening / closing body 5 according to the operation by the user. The start command output unit 13 may be configured by a button-type switch that is attached to the opening / closing body 5 or the passenger compartment and manually operated by the user. The start command output unit 13 may be configured by a button switch that is attached to an electronic key and manually operated by a user. The electronic key is carried by the user and is configured to wirelessly communicate with the controller 20. The start command output unit 13 may be configured by a human sensor (e.g., an infrared sensor, a capacitance sensor, or the like) that is disposed near the opening / closing body 5 or the vehicle body 1 and detects contact or approach of a user. The user's operation is to intentionally place a body part (e.g., a fingertip or a toe) in the detection range of the human sensor.In FIG. 3, a set of the motor 11 and the rotation sensor 12 is incorporated in the case member 6 aof the drive mechanism 6. The output shaft 11 aof the motor 11 is supported by the housing member 6 aso as to be rotatable in both directions about the central axis A 11. The output shaft 11 aprotrudes from the housing 11 bof the motor 11 on both sides in the axial direction (the lateral direction in FIG. 3 ). On the one side (left side in FIG. 3 ) in the axial direction as viewed from the housing 11 b, the output shaft 11 aoutputs a rotational driving force for driving the opening / closing body 5. On the other side in the axial direction (right side in FIG. 3 ) as viewed from the housing 11 b, a part of the rotation sensor 12 is fixed to the output shaft 11 a.As shown in FIGS. 3 and 4, the rotation sensor 12 includes an object to be detected 30 fixed to the output shaft 11 a, a circuit board 40 fixed to the case member 6 aof the drive mechanism 6, and a first detection element 41 and a second detection element 42 mounted on the circuit board 40.The object to be detected 30 is configured by an annular permanent magnet that is fixed to the outer circumferential surface of the other end portion of the output shaft 11 aand rotates integrally with the output shaft 11 a. The plurality of magnetic poles 31- 34 are arranged at equal angles about the central axis A 11, and the N poles and the S poles are alternately arranged in the circumferential direction. Each magnetic pole 31- 34 has a partial ring shape as viewed in the axial direction, and the central angles θ thereof are equal. The central angle θ is a value resulting from dividing 360 degrees by the number of poles P (θ=3604 / P). The number of poles P is an even number because of the alternating arrangement of the N poles and the S poles. The number p of pairs of the N pole and the S pole is half the number P of the poles (p=1 / 2P). For example, when the number of poles P is 4, the number of pairs p is 2 and the central angle θ is 90 degrees.The circuit board 40 is disposed on the other side (right side in FIG. 3 ) in the axial direction of the output shaft 11 a, and is slightly spaced from the output shaft 11 ain the axial direction. The surface of the circuit board 40 is substantially orthogonal to the axial direction and is directed to one side (the left side in FIG. 3 ) in the axial direction. The first detection element 41 and the second detection element 42 are mounted on the surface at positions separated from the central axis A 11 in the radial direction, and face the object 30 to be detected in the axial direction. Each of the first detection element 41 and the second detection element 42 is a Hall IC.While the output shaft 11a is rotating, the first detecting element 41 outputs a low-level L signal when facing the N pole and outputs a high-level H signal when facing the S pole. The first detection element 41 outputs the first pulse signal by switching the signal level by the same number as the number of P poles while the motor 11 makes one rotation. Similarly to the first detection element 41, the second detection element 42 also outputs a second pulse signal. Hereinafter, when the first pulse signal and the second pulse signal are described without distinction, they are simply referred to as "pulse signals".As shown in FIGS. 6A and 6B, the pulse signal is a square wave and includes a pulse edge that appears at the time when the signal level is switched. The pulse edge is generated when the magnetic pole boundaries Q 1 to Q 4 (see also FIG. 5 ) pass through the sensing element. The pulse edge includes a rising edge indicating the switching from the low level L to the high level H and a falling edge indicating the switching from the high level H to the low level L. In a pulse signal, the rising edge and the falling edge appear alternately each time the motor 11 and the object to be detected 30 rotate by the rotation angle corresponding to the central angle θ.Hereinafter, the pulse edge of the first pulse signal is referred to as "first pulse edge", the rising edge of the first pulse signal is referred to as "first rising edge E 1 u", and the falling edge of the first pulse signal is referred to as "first falling edge E 1 d". The pulse edge of the second pulse signal is referred to as "second pulse edge", the rising edge of the second pulse signal is referred to as "second rising edge E2u", and the falling edge of the second pulse signal is referred to as "second falling edge E2d".The rotation sensor 12 outputs two pulse signals, a first pulse signal and a second pulse signal, in a cycle T corresponding to the rotation (more specifically, the rotation angle and the rotation speed) of the motor 11. The "cycle" of the pulse signal is a time interval between two adjacent rising edges or between two adjacent falling edges of the first pulse signal or the second pulse signal. In other words, the cycle T is a time that passes while the motor 11 rotates by a rotation angle that is twice the value of the central angle θ, i.e., a value resulting from dividing 360 degrees by the number of pairs p (2θ=3604 / p). The number of pairs p is the number of cycles corresponding to one revolution of the motor 11. When the number of poles P is 4, 2 of the number of pairs p is the number of cycles corresponding to one revolution of the motor 11.The second pulse signal has a phase difference δ from the first pulse signal. In the present specification, "having the phase difference δ" means that the timing at which the pulse edge appears is shifted between the first pulse signal and the second pulse signal. Therefore, the first pulse edge and the second pulse edge appear alternately. The "phase difference δ" is a rotation angle of the motor 11 and the object to be detected 30 between a certain pulse edge and a pulse edge immediately before the certain pulse edge, or a rotation angle of the motor 11 and the object to be detected 30 between a certain pulse edge and a pulse edge immediately after the certain pulse edge. There are two phase differences δ: a first phase difference δ 1 and a second phase difference δ 2. The sum of the first phase difference δ 1 and the second phase difference δ 2 is an angle interval between two adjacent pulse edges of the pulse signal and is equal to the central angle θ (θ=δ1+δ2). The phase difference δ is larger than 0 degrees and smaller than the central angle θ (0°<δ<θ).In FIG. 5, for convenience of description of the phase difference δ, unlike FIG. 4, the first detection element 41 is located at the position 12:00 together with the boundary Q 1, and the first pulse edge appears. The second detection element 42 is shifted from the first detection element 41 by an arrangement angle difference φ about the central axis A 11.The arrangement angle difference φ may be defined as a value obtained by multiplying the central angle θ by a non-integer coefficient. When an integer part of the coefficient is a and a fraction thereof is b, the arrangement angle difference φ is expressed by an expression: φ=(a+b) θ. When the arrangement angle difference φ is a non-integer multiple of the central angle θ when the first detection element 41 faces the boundary Q 1, the second detection element 42 is located between two boundaries Q 2 and Q 3 adjacent in the circumferential direction. Here, of the two boundaries Q 2 and Q 3, a side near the first sensing element 41 is referred to as a "proximal boundary Q 2", and a side far from the first sensing element 41 is referred to as a "distal boundary Q 3".The angle between the first detection element 41 and the proximal boundary Q 2 corresponds to the product of the integer part a and the central angle θ. The first phase difference δ 1 is an angle between the proximal boundary Q 2 and the second detection element 42 and corresponds to a product of the fraction b and the central angle θ (δ 1=bθ). The sum of these two angles corresponds to the angle between the first detection element 41 and the second detection element 42, i.e., the arrangement angle difference φ (aθ+bθ=φ). The second phase difference δ 2 is an angle between the second detection element 42 and the distal boundary Q 3, and corresponds to a value obtained by subtracting the first phase difference δ 1 from the central angle θ (δ 2=θ-δ 1=(1-b)θ).When the arrangement angle difference φ is an even multiple of the central angle θ (a is an even number in the above equation and b is zero), the second pulse signal is completely synchronized with the first pulse signal, the timings at which the pulse edges occur match, and the directions in which the signal levels are switched match. When the arrangement angle difference φ is an odd multiple of the central angle θ (a is an odd number and b is zero in the above equation), the direction in which the signal levels are switched is opposite, but the timings at which the pulse edges appear coincide with each other. As described above, when the arrangement angle difference φ is an integer multiple of the central angle θ, there is no phase difference (φ≠aθ).When the arrangement angle difference φ is defined as a minor angle (0°<φ<180°), the integer part a is an integer smaller than the number of pairs p (a<p). When the integer part a is 0, the arrangement angle difference φ is smaller than the central angle θ (φ=bθ, 0°<φ<θ), and the first detection element 41 and the second detection element 42 physically approach each other on the circuit board 40. In order to facilitate mounting on the circuit board 40, the integer part a is preferably an integer of 1 or more (1≤a<p). That is, the arrangement angle difference φ is preferably larger than the central angle θ (φ>θ).When the fraction b has a value close to 0 or 1, the two pulse signals are nearly synchronized and have no phase difference δ. In order to significantly generate the phase difference δ, the fraction b preferably satisfies, for example, 1 / 3≤b≤2 / 3.FIG. 6A shows the first pulse signal and the second pulse signal output from the rotation sensor 12 when the motor 11 and the object to be detected 30 illustrated in FIG. 5 rotate in the counterclockwise direction R 1 at a constant speed. In the case of this direction of rotation, the first rising edge E1u appears when the first detection element 41 is opposite the boundary Q1. Thereafter, when the object to be detected 30 rotates by the second phase difference δ 2, the second detection element 42 faces the boundary Q 3, and the second rising edge E 2 uappears. When the object to be detected 30 rotates by the first phase difference δ 1, the first detection element 41 faces the boundary Q 2, and the first falling edge E 1 dappears. Thereafter, similarly, each time the object to be detected 30 alternately rotates by the angle of the first phase difference δ 1 or the second phase difference δ 2, the pulse edge repeatedly appears in the order of the first rising edge E 1 u, the second rising edge E 2 u, the first falling edge E 1 d, the second falling edge E 2 d, and the first rising edge E 1 u...FIG. 6B shows the first pulse signal and the second pulse signal output from the rotation sensor 12 when the motor 11 and the object to be detected 30 illustrated in FIG. 5 rotate at a constant speed in the clockwise direction R 2. In this rotational direction, the first falling edge E 1 doccurs when the first detection element 41 is opposite the boundary Q 1. Thereafter, when the object to be detected 30 rotates by the first phase difference δ 1, the second detection element 42 faces the boundary Q 2, and the second rising edge E 2 uappears. Thereafter, when the object to be detected 30 rotates by the second phase difference δ 2, the first detection element 41 faces the boundary Q 4, and the first rising edge E 1 uappears. Thereafter, similarly, each time the object to be detected 30 alternately rotates by the angle of the second phase difference δ 2 or the first phase difference δ 1, the pulse edge repeatedly appears in the order of the first rising edge E 1 u, the second falling edge E 2 d, the first falling edge E 1 d, the second rising edge E 2 u, and the first rising edge E 1 u...The order of occurrence of the four kinds of pulse edges (first rising edge E 1 u, first falling edge E 1 d, second rising edge E 2 u, and second falling edge E 2 d) depends on the rotation direction of the object 30 to be detected and the motor 11. Conversely, the rotational direction may be determined based on the difference in appearance order. This determination cannot be made when the arrangement angle difference φ is an integer multiple of the central angle θ.Moreover, whether the phase difference δ between the occurrence of the second pulse edge and the occurrence of the first pulse edge is the first phase difference δ 1 or the second phase difference δ 2 depends on the rotational direction. The same applies to the phase difference δ from the occurrence of the first pulse edge to the occurrence of the second pulse edge.When the fraction b is 0.5, the first phase difference δ 1 and the second phase difference δ 2 are equal (δ 1=δ 2=θ / 2) at a half value of the central angle θ. The phase difference δ between the occurrence of the second pulse edge and the occurrence of the first pulse edge and the phase difference δ between the occurrence of the first pulse edge and the occurrence of the second pulse edge are unified to a half value of the central angle θ regardless of the rotational direction. Since it is not necessary to distinguish between the first phase difference δ 1 and the second phase difference δ 2, the method for updating the opening / closing speed to be described later can be simplified (see the modification).For example, when the number of poles P is 4, the integer part a is 1, and the arrangement angle difference φ may be set in a range of 90 degrees to 180 degrees (90°<φ<180°). This achieves a simple implementation. The arrangement angle difference φ is preferably in a range of 120 degrees to 150 degrees (120°≤φ≤ 150°). Thereby, the phase difference δ is significantly generated (30°≤δ≤ 60°). When the arrangement angle difference φ is 135 degrees (φ= 135°), the phase difference δ is equalized (δ1=δ2= 45°).For example, when the number of poles P is 6, the integer part a may be set to 1 or 2, and the arrangement angle difference φ may be set in a range of 60° to 120° or in a range of 120° to 180° (60°<φ<120°, 120°<φ<180°). The arrangement angle difference φ is preferably in the range of 80° to 100°, or in the range of 140° to 160° (80°≤φ≤100°, 140°≤φ≤15°), and the phase difference δ is significantly generated (20°≤δ≤40°). When the arrangement angle difference φ is 90 degrees or 150 degrees (φ=90°, 150°), the phase difference δ is equalized (δ1=δ2= 30°).Returning to FIG. 2, the control unit 20 includes, for example, a central processing unit (CPU) or a micro processing unit (MPU) that realizes a predetermined function in cooperation with software. The controller 20 may be configured by a hardware circuit such as a dedicated electronic circuit realizing a predetermined function or a reconfigurable electronic circuit, or may be configured by various semiconductor integrated circuits. Examples of the various semiconductor integrated circuits include a microcomputer, a digital signal processor (DSP), a field programmable gate array (FPGA), and an application specific integrated circuit (ASIC), in addition to a CPU and an MPU. In addition, the controller 20 may include a storage device such as a random access memory (RAM) and a read only memory (ROM).The controller 20 includes a storage unit 21, an input unit 22, a target value setting unit 23, an edge detection unit 24, a rotation speed updating unit 25, and a motor control unit 26.The storage unit 21 can be realized by the above-described storage device. The storage unit 21 temporarily or permanently stores a program for controlling the opening / closing operation of the opening / closing body 5 and the information used for the program.The input unit 22 is connected to the rotation sensor 12 and the start command output unit 13. The input unit 22 detects pulse signals (a first pulse signal and a second pulse signal) output from the rotation sensor 12. The input unit 22 acquires the start command output from the start command output unit 13.When the start command is detected by the input unit 22, the target value setting unit 23 sets the target value Vs of the opening / closing speed of the opening / closing body 5. The target value setting unit 23 sets the target value Vs with reference to a map or table stored in the storage unit 21 in advance.The edge detection unit 24 detects a pulse edge of the pulse signal detected by the input unit 22. The edge detection unit 24 detects a first rising edge E 1 uand a first falling edge E 1 dof the first pulse signal and a second rising edge E 2 uand a second falling edge E 2 dof the second pulse signal as pulse edges of the pulse signals. When the pulse edge is detected by the edge detection unit 24, the storage unit 21 temporarily stores the timing at which the pulse edge is detected.When the start command and the pulse signal are detected by the input unit 22, the rotation speed updating unit 25 measures the opening / closing speed of the opening / closing body 5 based on the first pulse signal and / or the second pulse signal at a predetermined update timing, and updates the measurement value Vm of the opening / closing speed. The rotation speed updating unit 25 includes a timing setting unit 25 a, a cycle calculation unit 25 b, and a rotation speed calculation unit 25 c. Details will be described later.The motor control unit 26 controls the motor 11 depending on the updated opening / closing speed. Specifically, each time the opening / closing speed is updated by the rotation speed updating unit 25, the motor control unit 26 performs feedback control so that the measured value Vm of the opening / closing speed of the opening / closing body 5 corresponds to the target value Vs. For example, the motor control unit 26 changes the operation command value for the motor 11 based on the deviation between the measured value Vm and the target value Vs. As the operation command value, for example, a current value or a duty ratio of the current supplied to the motor 11 may be used. Thus, the update timing of the opening / closing speed is also the change timing of the operation command value.Note that the "opening / closing speed of the opening / closing body 5" to be controlled is not limited to the displacement speed (e.g., the rotation speed (rad / s or deg / s) of the back door) of the opening / closing body 5 itself, and may be another speed that can be associated with the displacement speed from the viewpoint of geometry and mechanics. Examples of such other speeds are the rotational speed of the motor 11 (rps, rad / s or deg / s) and the operating speed of the drive mechanism 6 (e.g., the expansion / contraction speed (mm / s) of the spindle drive mechanism). In the present embodiment, the target value setting unit 23 rsets the target value Vs of the rotational speed (U / min) of the motor 11 as an example of the "opening / closing speed of the opening / closing body 5". Similarly, the rotation speed updating unit 25 derives the measurement value Vm of the rotation speed (rps) of the motor 11 as an example of the "opening / closing speed of the opening / closing body 5".As shown in FIG. 7, the target value Vs is variably set depending on the time elapsed from the start time of the control t 1. The target value Vs gradually increases from the zero value during the cycle from the start time t 1 to the first intermediate time t 2. The target value Vs is maintained at a constant value during a cycle from the first intermediate time t2 to the second intermediate time t3. The target value Vs gradually decreases to a zero value during a cycle from the second intermediate time point t 3 to the end time point of the control t 4.As indicated by the two-dot chain line, in a case where the update timing (the change timing of the operation command value) is synchronized only with the pulse edge of the first pulse signal, there is a possibility that the update frequency decreases and the measured value Vm does not satisfactorily follow the target value Vs when the opening / closing speed is low. Therefore, in the present embodiment, when the opening / closing speed is below the predetermined threshold Vt, more update timings are ensured. This improves the control accuracy at low speeds. The opening / closing speed to be compared with the threshold value Vt may be the measured value Vm or the target value Vs.The processing executed by the controller 20 will be described below with reference to FIGS. 8 to 12. The flow shown in Figs. 8 to 10 starts when the input unit 22 receives the start command, and is repeated at predetermined control intervals (e.g., 10 milliseconds) until the operation of the opening / closing body 5 is completed. In the present embodiment, a case where the first phase difference δ 1 and the second phase difference δ 2 have different values from each other will be described. Unless otherwise stated, the number of poles P is four.As shown in FIG. 8, the input unit 22 acquires the pulse signals sequentially output from the rotation sensor 12 (step S 1). The target value setting unit 23 refers to the map stored in the storage unit 21, and sets the target value Vs of the opening / closing speed depending on the time elapsed from the start time t 1 of the control (step S 2). The rotation speed updating unit 25 determines whether the opening / closing speed is equal to or higher than the threshold Vt (step S 3). When the opening / closing speed is equal to or higher than the threshold Vt (S 3: YES), the rotation speed updating unit 25 performs high-speed update processing (S 10). When the opening / closing speed is less than the threshold Vt (S 3: NO), the rotation speed updating unit 25 executes the low-speed update processing (S 30).In each of the high speed update processing (S 10) illustrated in FIG. 9 and the low speed update processing (S 30) illustrated in FIG. 10, the rotation speed update unit 25 measures the opening / closing speed, updates the measured value Vm of the opening / closing speed, and then returns to the flow illustrated in FIG. 8 when the current time is the update time. When the current time is out of the update timing, the flow returns to the flow illustrated in FIG. 8 without updating the opening / closing speed by the rotation speed update unit 25.When the opening / closing speed is updated (S 4: YES), the motor control unit 26 performs feedback control to change the operation command value of the motor 11 based on the deviation between the measured value Vm and the target value Vs updated this time (step S 5).Next, the control unit 20 determines whether or not the operation of the opening / closing body 5 is completed (step S 6). When the operation of the opening / closing body 5 is not completed (S 6: NO), the process returns to step S 1, and the operation is repeated. When the opening / closing speed has not been updated (S 4: NO), step S 5 is skipped, and the process proceeds to step S 6. When the operation of the opening / closing body 5 is completed (S 6: YES), the process ends.The target value Vs and the measurement value Vm to follow the target value Vs gradually increase from the zero value, are maintained constant at a relatively high speed, and gradually decrease to the zero value in the cycle from the start of the operation to the completion of the operation. In response to this, first, the update processing is executed at a low speed (S 30), then the update processing is executed at a high speed (S 10), and finally, the update processing is executed again at a low speed (S 30).The high speed update processing (S 10) and the low speed update processing (S 30) will be described below in this order.Referring to FIGS. 9 and 11, in the high-speed update processing (S 10), the rotation speed update unit 25 executes "one-pulse update processing" in which only one of the first pulse signal and the second pulse signal is used to measure and update the opening / closing speed. The update processing includes a timing setting process for setting an update timing and a measurement process for measuring an opening / closing speed at the set update timing. In the present embodiment, in the high-speed update processing (S 10), the one-pulse method is applied to both the timing adjustment processing and the measurement processing.First, the rotation speed updating unit 25 performs a one-pulse timing process related only to the rising or falling edge of the first pulse signal or the second pulse signal to set the update timing.Specifically, the timing setting unit 25 asets the detection timing of one of the four kinds of pulse edges (first rising edge E 1 u, first falling edge E 1 d, second rising edge E 2 u, and second falling edge E 2 d) as the update timing (step S 11). In the present embodiment, as a simple example, the first rising edge detection timing E 1 uis set as an update timing.Next, the edge detection unit 24 determines whether or not the first rising edge E 1 uis detected in the current processing flow (step S 12). That is, the edge recognition unit 24 determines whether the current time point is the update time point. When the current time is not the update time (S 12: NO), the process returns to the flow illustrated in FIG. 8, skips step S 5, and proceeds to step S 6.When the current time is the update timing (S 12: YES), the rotation speed update unit 25 executes one-pulse measurement processing for measuring the opening / closing speed with reference to only one of the first pulse signal and the second pulse signal. In the present embodiment, the first pulse signal is used in the time setting process, and the first pulse signal is also used in the measurement process.More specifically, the cycle calculation unit 25 bcalculates the last cycle T(n- 1) (step S 21). The last cycle T(n-1) is a time interval (seconds) between the previous update time tr(n-1) and the last update time tr(n).Next, the cycle calculation unit 25 breads the past cycle T(n- 2) from the storage unit 21 (step S 22). The past cycle T(n-2) is a time interval (seconds) from the update time tr(n-2) which is the second before to the previous update time tr(n-1), and is a cycle T immediately before the last cycle T(n-1). The past cycle T(n-2) is the last cycle T(n-1) calculated at the previous update timing tr(n-1), and is stored in the storage unit 21. Therefore, the cycle calculation unit 25 bdoes not need to recompute the past cycle T(n- 2).Next, the cycle calculation unit 25b calculates a rotation speed calculation cycle T' (step S23). The rotation speed calculation cycle T' is an average value of the last cycle T(n-1) and the past cycle T(n-2) (T'=(T(n-1)+T(n-2) / 2)). The average value may be calculated by a weighted average obtained by increasing the weighting of the last cycle T(n-1). The average value is not limited to the arithmetic mean, and may be calculated by other methods such as the geometric mean.Subsequently, the rotation speed calculation unit 25 cderives the measurement value Vm of the opening / closing speed based on the rotation speed calculation cycle T' (step S 24). Specifically, the measurement value Vm is calculated as a value resulting from dividing the reciprocal of the rotation speed calculation cycle T' by the number of pairs p (Vm=(1 / T') / p). As described above, the number of pairs p is equal to the number of cycles corresponding to one revolution of the motor 11.The rotation speed calculation cycle T' is a time (in seconds) required for the motor 11 to rotate by a rotation angle corresponding to twice the value of the central angle θ, i.e., a value resulting from dividing 360 degrees by the number of pairs p in the vicinity of the present time. By multiplying the speed calculation cycle T' by the number of pairs p, it is possible to estimate the time (in seconds) required for the motor 11 to rotate one revolution at a time. The measured value Vm is obtained as a reciprocal of the estimated value (T' × p), i.e., the number of revolutions (rps or Hz) of the motor 11 per unit time in the vicinity of the present time.When the measurement value Vm is derived in this manner, the rotation speed updating unit 25 updates the measurement value Vm. To return to the flow shown in FIG. 8, the feedback control is executed using the updated measurement value Vm (step S 5).As shown in FIGS. 10 and 12, in the low-speed update processing (S 30), the rotation speed update unit 25 executes "two-pulse update processing" related to both the first pulse signal and the second pulse signal to measure and update the opening / closing speed. In the present embodiment, the two-pulse method is applied to both the time setting operation and the measurement operation in the low-speed update processing (S 30).The rotation speed updating unit 25 refers to both the first pulse signal and the second pulse signal to set the update timing. Specifically, the timing setting unit 25 asets the detection timing of at least one of the first rising edge E 1 uand the first falling edge E 1 dand the detection timing of at least one of the second rising edge E 2 uand the second falling edge E 2 das the update timing (step S 31). In the present embodiment, as a simple example, the detection timings of all four of the first rising edge E 1 u, the first falling edge E 1 d, the second rising edge E 2 u, and the second falling edge E 2 dare set as update timings.Next, the edge detection unit 24 determines whether one of the four pulse edges has been detected in the current processing flow (step S 32). That is, the edge detection unit 24 determines whether or not the current time is the update time tr(n). When the current time is not the update time tr(n) (S 32: NO), the process returns to the flow illustrated in FIG. 8, skips step S 5, and proceeds to step S 6.When the current time is the update time tr(n) (S 32: YES), the rotation speed update unit 25 measures the opening / closing speed based on both the first pulse signal and the second pulse signal. Here, the pulse edge detected at the current time, i.e., at the last update time tr(n), is referred to as a "last edge E(n)".More specifically, the cycle calculation unit 25b sets the start edge E'(n) (step S41), and calculates the last edge interval τ(n) (step S42). The last edge interval τ(n) is a time interval from the time point (hereinafter, referred to as a start time point tr'(n)) at which the start edge E'(n) is detected to the current time point (in other words, the time point at which the last edge is detected, in other words, the last update time point tr(n)).The start time tr'(n) is a start point of the last edge interval τ(n). The start edge E'(n) is a pulse edge recognized in the past, within a predetermined number of edges, from the last edge E(n) among the four kinds of pulse edges recognized sequentially by the edge recognition unit 24. The predetermined number of edges is one, for example. In this case, the start edge E'(n) is a pulse edge detected immediately before the last edge E(n).When the predetermined number of edges is 1, the interval of the last edge τ(n) is a time required for the motor 11 to rotate by a rotation angle corresponding to the phase difference δ between the last edge E(n) and the pulse edge that appears immediately before the last edge E(n). When the fraction b is not 0.5, the phase difference δ becomes one of the first phase difference δ 1 and the second phase difference δ 2 having different values from each other and which are applied is determined according to the rotational direction and whether the last edge E(n) is the first pulse edge or the second pulse edge.Therefore, the cycle calculation unit 25 bsets the phase difference δ corresponding to the last edge E(n) to the first phase difference δ 1 or the second phase difference δ 2 depending on the rotation direction of the motor 11 and whether or not the last edge E(n) is the first pulse edge (steps S 43, S 44 a, and S 44 b).For example, when the rotational direction in FIG. 5 is counterclockwise in direction R 1 (S 43: YES), the first pulse edge is associated with the first phase difference δ 1, while the second pulse edge is associated with the second phase difference δ 2 (step S 44 a). When the rotational direction in FIG. 5 is clockwise R 2 (S 43: NO), the first pulse edge is associated with the second phase difference δ 2, while the second pulse edge is associated with the first phase difference δ 1 (step S 44 b).Subsequently, the cycle calculation unit 25b calculates a rotation speed calculation cycle T' (step S45). The rotation speed calculation cycle T' is a cycle T (time required for the motor 11 to rotate by a rotation angle corresponding to twice the value of the central angle θ, i.e., a value obtained by dividing 360 degrees by the number of pairs p) estimated based on the ratio between the phase difference δ and the last edge interval τ(n). The rotation speed calculation cycle T' is obtained by multiplying the last edge interval τ(n) by a value obtained by dividing the rotation angle by the phase difference δ (T'=τ(n)×(360 / p) / δ). In the division by the phase difference δ, the first phase difference δ 1 or the second phase difference δ 2 set in steps S 44 aand S 44 bis applied to the phase difference δ.Next, the rotation speed calculation unit 25c derives the measurement value Vm of the opening / closing speed based on the rotation speed calculation cycle T' in the same manner as in the one-pulse method (step S46). The measured value Vm is calculated as a value resulting from dividing the reciprocal of the rotational speed calculation cycle T' by the number of pairs p (Vm=(1 / T') / p). The measured value Vm is obtained from the number of revolutions (rps or Hz) of the motor 11 per unit time.When the measurement value Vm is derived in this manner, the rotation speed updating unit 25 updates the measurement value Vm. To return to the flow shown in FIG. 8, the feedback control is executed using the updated measurement value Vm (step S 5).In the opening / closing body control device 10 having the above configuration, the rotation sensor 12 may output the first pulse signal and the second pulse signal having the phase difference δ. The rotation speed updating unit 25 of the control unit 20 performs two-pulse update processing related to both the first pulse signal and the second pulse signal in the update processing of measurement and update of the opening / closing speed. More specifically, in the time setting method, the rotation speed updating unit 25 sets, as the update timing, the timing at which at least one of the first rising edge E 1 uand the first falling edge E 1 dis detected and the timing at which at least one of the second rising edge E 2 uand the second falling edge E 2 dis detected. When the opening / closing speed of the opening / closing body 5 is less than the threshold Vt, the rotation speed updating unit 25 executes the two-pulse update processing.In the two-pulse update processing, the update timing for measuring and updating the opening / closing speed is synchronized with the detection timing of the pulse edge of the first pulse signal and the detection timing of the pulse edge of the second pulse signal. The measurement frequency of the opening / closing speed is improved as compared with the case where the opening / closing speed is synchronized only with the pulse edge of the one-shot pulse signal. Therefore, as shown in FIG. 7, the measured value Vm favorably follows the target value Vs, and the control accuracy is improved.In the present embodiment, the target value Vs is gradually increased or decreased when the opening / closing speed is below the threshold value Vt, and the opening / closing body 5 is accelerated or decelerated. The control accuracy of the acceleration and deceleration of the opening / closing body 5 can be improved, and the opening / closing body 5 can be smoothly operated according to the control target.FIG. 13 is a flowchart of the update processing at a low speed (S 30) according to a modification. When the fraction b is 0.5, regardless of whether the last edge E(n) is the first pulse edge or the second pulse edge, and regardless of the rotational direction of the motor 11, the angular interval between the last edge E(n) and the immediately preceding pulse edge is a half value of the central angle θ (δ=δ1=δ2=θ / 2).Therefore, in this modification, steps S 43, S 44 a, and S 44 b(see also FIG. 10 ) are omitted. In step S45, the equation for calculating the rotation speed calculation cycle T' can be simplified. A four times value of the compensated phase difference δ corresponds to a rotation angle of one cycle. Therefore, the rotation speed calculation cycle T' can be easily derived by multiplying the last edge interval τ(n) by four (T'=4τ(n)).Next, a second embodiment will be described with reference to Figs. 14 to 16. Also in the present embodiment, the update processing differs between the low speed and the high speed. In the low-speed update processing, the two-pulse method is applied to both the timing adjustment processing and the measurement processing. The content of the measurement processing is different from that of the first embodiment. The second embodiment will be described below with the focus on the difference from the first embodiment.As illustrated in FIG. 14, in the measurement process, the cycle calculation unit 25 bsets the start edge E'(n) in the same manner as in the first embodiment (see steps S 41 and S 42 in FIG. 10 ) (step S 51), and calculates the last edge interval τ(n) (step S 52). Also in the present embodiment, the start edge E'(n) is a pulse edge detected in the past by a predetermined number of edges from the last edge E(n). As an example, the predetermined number of edges is one, and the start edge E'(n) is a previous pulse edge of the last edge E(n).Next, the cycle calculation unit 25b sets the past corresponding edge E(n-p) (step S53), sets the past start edge E'(n-p) (step S54), and calculates the past edge interval τ(n-p) (step S55). The past corresponding edge E(n-p) is a pulse edge detected in the past by a predetermined number of cycles from the last update timing. The predetermined number of cycles corresponds to, for example, the number of cycles corresponding to one revolution of the motor 11, i.e., the number of pairs p. When the number of poles P is, for example, four, the predetermined number of cycles is two.Next, the cycle calculation unit 25 bcalculates the past cycle T(n-p) (step S 56). For example, the past cycle T(n-p) is a time required for the motor 11 to rotate by a rotation angle corresponding to one cycle from the past start edge E'(n-p). The cycle calculation unit 25 breads the detection timing tr' (n-p) of the past start edge E' (n-p) and the detection timing (past cycle calculation completion timing T(n-p)) of the pulse edge one cycle after the detection timing tr' (n-p) from the storage unit 21, and calculates the past cycle T(n-p) from the differences of the two detection timings.Next, the cycle calculation unit 25b calculates a rotation speed calculation cycle T' (step S57). In the present embodiment, the rotation speed calculation cycle T' is calculated by multiplying the ratio (τ(n) / τ(n-p)) of the last edge interval τ(n) to the past edge interval τ(n-p) by the past cycle T(n-p) (T'=(τ(n) / τ(n-p))×T(n-p)).Subsequently, the rotation speed calculation unit 25 cderives the measurement value Vm of the opening / closing speed based on the rotation speed calculation cycle T' (step S 58). The measurement value Vm is calculated as a value obtained by dividing the reciprocal of the rotation speed calculation cycle T' by the number of pairs p (Vm=(1 / T') / p). The measured value Vm is obtained from the number of revolutions (rps or Hz) of the motor 11 per unit time.As described above, the past start edge E'(n-p) is a pulse edge detected in the past by the predetermined number of edges from the past corresponding edge E(n-p). The predetermined number of edges is the same as the number of edges taken into account in the determination of the start edge E'(n). Since, in this example, the starting edge E'(n) is set to the previous pulse edge of the last edge E(n), the last starting edge E'(n-p) is also set to the previous pulse edge of the last corresponding edge E(n-p).The past edge interval τ(n-p) is a time interval (seconds) between the past start time tr'(n-p) and the past correspondence time tr(n-p).The past corresponding edge E(n-p) is a pulse edge detected in the past by one rotation of the motor 11 from the detection timing of the last edge E(n). That is, the last edge E(n) and the past corresponding edge E(n-p) are pulse edges that appear when the same one of the first detection element 41 and the second detection element 42 faces the same boundary among the boundaries Q 1 to Q 4 of the plurality of magnetic poles 31- 34 provided in the object 30 to be detected.The start edge E'(n) and the past start edge E'(n-p) are pulse edges detected in the past by the same predetermined number of edges from each of the last edge E(n) and the past corresponding edge E(n-p). Therefore, the start edge E'(n) and the past start edge E'(n-p) are also pulse edges that appear when the same of the first detection element 41 and the second detection element 42 faces the same boundary among the boundaries Q 1 to Q 4 of the plurality of magnetic poles 31- 34 provided in the object 30 to be detected.Referring to FIG. 16, the central angles of the respective magnetic poles 31- 34 of the rotation sensor 12 are ideally equal. However, in reality, the central angles θ 1, θ 2, θ 3, and θ 4 of the magnetic poles 31- 34 vary. As described above, in determining the past edge interval τ(n-p), the last edge interval τ(n) and the past edge interval τ(n-p) are times required for the motor 11 to rotate the same phase portion in the object 30 to be detected.The cycle calculation unit 25 bcalculates the rotation speed calculation cycle T' by applying the relationship between the past edge interval τ(n-p) and the past cycle T(n-p) to the relationship between the last edge interval τ(n) and the rotation speed calculation cycle T'. The last edge interval τ(n) and the past edge interval τ(n-p) are times required for the motor 11 to rotate by the same rotation angle even when the magnetic pole 31- 34 of the rotation sensor 12 changes. Therefore, the rotation speed calculation cycle T', which is the cycle of the pulse signal in the vicinity of the present point, can be accurately estimated from the past cycle T(n-p).The above configuration can be changed as appropriate within the scope of the present invention.In each of the above embodiments, the processing of the two-pulse measurement is performed at all update timings in the low-speed update processing (S 30). However, the processing of the one-pulse measurement (see FIG. 9 ) may be performed at some update timings, and the processing of the two-pulse measurement (see FIGS. 10, 13, and 14 ) may be performed at the remaining update timings.In each of the above embodiments, the two-pulse timing setting process is performed in the low-speed update processing (S 30), and the one-pulse timing setting process is performed in the high-speed update processing (S 10). However, the two-pulse timing setting process may be performed in the high-speed update processing (S 10).In some of the above-described measurement methods, the detection timing of the last pulse edge, the last edge interval, or the last cycle is used to calculate the rotation speed calculation cycle T'. Accordingly, when such past data does not exist at the beginning of the control start, exception processing is performed.The opening 2 may be provided at a side portion of the vehicle body 1 to open the passenger compartment, and the opening / closing body 5 may be a side door. The opening 2 may open a cargo room or an engine room, and the opening / closing body 5 may be a deck lid or a hood in addition to a door. The axis of rotation of the opening / closing body 5 can extend both in the direction of the vehicle height and in the direction of the vehicle width. The displacement of the opening / closing body 5 can be effected not only by rotation but also by sliding. The drive mechanism 6 is not limited to the spindle drive mechanism, and may be appropriately changed to be suitable for the operation of the opening / closing body 5 according to the aspect of the opening 2, the position of the opening / closing body 5, and the displacement aspect of the opening / closing body 5.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2023-219706

[0001] JP H11-343773 A

[0003]

Claims

An opening / closing body control device that controls an operation of an opening / closing body that opens and closes an opening of a vehicle body, the opening / closing body control device comprising: a motor that generates a rotational driving force for driving the opening / closing body; a rotation sensor that outputs a first pulse signal and a second pulse signal having a phase difference from the first pulse signal in a cycle corresponding to the rotation of the motor; a edge detection unit that detects a first rising edge and a first falling edge of the first pulse signal and a second rising edge and a second falling edge of the second pulse signal as pulse edges of the pulse signals; a rotation speed updating unit that measures and updates an opening / closing speed of the opening / closing body based on the first pulse signal and / or the second pulse signal at a predetermined update timing; and a motor control unit that controls the motor according to the updated opening / closing speed, wherein the rotation speed updating unit performs two-pulse update processing in which, as the update timing, a timing at which the first rising edge and / or the first falling edge is detected and a timing at which the second rising edge and / or the second falling edge is detected are set.The control device for an opening / closing body according to claim 1, wherein the rotation speed updating unit executes the two-pulse update processing when the opening / closing speed measured by the rotation speed updating unit is less than a predetermined value.The control device for an opening / closing body according to claim 1 or 2, wherein when the pulse edge detected at the time of the last update is defined as a last edge, defining an edge past by a predetermined number of edges as a start edge, from the last edge among the pulse edges sequentially detected by the edge detection unit, setting a time as a start time at which the edge detection unit detects the start edge, and setting a period between the start time and the last update time as a latest edge interval, the speed update unit measures the latest edge interval at the latest update time during the execution of the two-pulse update processing, and measures the opening / closing speed based on the latest edge interval.The control device for an opening / closing body according to claim 3, wherein in a case where, as a cycle of the pulse signal, an interval between two adjacent rising edges or two adjacent falling edges in the first pulse signal or the second pulse signal is defined, defining the pulse edge detected at the past update timing as a past corresponding edge a predetermined number of cycles away from the last update timing, defining a past pulse edge as a past start edge by the same number of edges as the predetermined number of edges from the past corresponding edge among the pulse edges sequentially detected by the edge detection unit, defining a timing at which the past start edge is detected by the edge detection unit as a past start timing, defining a period between the past start time and the past update time as a past edge interval, the speed update unit measures the last edge interval and the past edge interval at the latest update time during the execution of the two-pulse update processing, and measures the opening / closing speed based on a ratio between the last edge interval and the past edge interval.The opening / closing body control device according to claim 4, wherein the predetermined number of cycles corresponds to a number of cycles of one rotation of the motor.

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