Opening / closing control device

Abstract

To provide an opening / closing control device capable of accurately detecting pinching while suppressing an increase in cost.SOLUTION: An opening / closing control device includes a door opening / closing motor M1 that drives a door D supported in an opening / closing manner on a vehicle body B in an opening and closing direction, and a control device 9 that controls the door opening / closing motor M1. The control device 9 includes a motor control unit 92 that can adjust an advance angle of the door opening / closing motor M1, a pulse encoder 45 that outputs a pulse signal, a pulse detection unit 91 that can detect a rotation speed of the door opening / closing motor M1 by pulse detection based on a pulse signal output from the pulse encoder 45, and a pinching detection unit 96 that detects pinching of the door D. The pinching detection unit 96 detects pinching of the door D when the rotation speed of the door opening / closing motor M1 becomes equal to or less than a threshold value while the motor control unit 92 is controlling the advance angle of the door opening and closing motor M1.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a switching control device. [Background technology]

[0002] Conventionally, there is known a vehicle opening / closing body control device that detects pinching based on the current value flowing through a motor, as in Patent Document 1. However, there has been a problem with the accuracy of pinching detection because the current value is unstable immediately after the door starts moving from the closed or fully open position, and when the fully open latch device for holding the door in the fully open position engages with the striker, due to the motor starting up or an increase in load.

[0003] In addition, there is a system that addresses the above problem by detecting pinching using a pulse signal from a rotation angle sensor when the door is in the fully open or fully closed region, and detecting pinching using a current value when the door is in the intermediate region, as in Patent Document 2. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7192587 [Patent Document 2] Patent No. 6291663 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technique disclosed in Patent Document 2 requires both a current sensor and a rotation angle sensor, which poses a problem of increased costs.

[0006] The present invention provides an opening / closing control device that is capable of detecting entrapment with high accuracy while suppressing increases in cost. [Means for solving the problem]

[0007] The present invention relates to a motor that drives an opening / closing body supported on a vehicle body so as to be openable and closable in an opening / closing direction; A switching control device comprising: a control device for controlling the motor, The control device includes: a motor control unit capable of adjusting a lead angle of the motor; A pulse encoder that outputs a pulse signal; a pulse detection unit capable of detecting the number of rotations of the motor or the opening / closing speed of the opening / closing body by pulse detection based on a pulse signal output from the pulse encoder; A pinching detection unit that detects pinching of the opening / closing body, The entrapment detection unit detects entrapment of the opening-closing body when the rotation speed of the motor or the opening-closing speed of the opening-closing body becomes equal to or lower than a threshold value while the motor control unit is performing advance angle control of the motor. Effect of the Invention

[0008] According to the present invention, pinching can be detected with high accuracy even without a current sensor. [Brief description of the drawings]

[0009] [Figure 1] 1 is a side view of a vehicle to which an opening / closing control device according to an embodiment of the present invention is applied. [Diagram 2] FIG. 2 is a block diagram showing the configuration of a control device 9. [Diagram 3] 1 is an explanatory diagram showing the opening and closing area of ​​a door D. FIG. [Figure 4] FIG. 4 is an explanatory diagram showing the rotational speed fluctuation and torque fluctuation (load fluctuation) when pinching occurs. [Diagram 5] FIG. 4 is a flowchart showing a control procedure during a door opening operation. [Figure 6] FIG. 4 is a flowchart showing a control procedure during a door closing operation. [Figure 7] FIG. 11 is a flowchart showing a first example of a lead-angle setting process. [Figure 8]FIG. 11 is a flowchart showing a second example of the lead-angle setting process. [Figure 9] FIG. 11 is a flowchart showing a third example of the lead-angle setting process. [Figure 10] FIG. 11 is a flowchart showing a fourth example of a lead-angle setting process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the present invention will be described below with reference to Figures 1 to 10. The drawings are to be viewed in the direction of the symbols, and in the following description, front, rear, left, right, up and down are indicated according to the direction as seen by the driver, and in the drawings, the front of the vehicle body B of the vehicle V is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0011] As shown in Fig. 1, a vehicle sliding door (hereinafter, referred to as "door") D is supported so as to be openable and closable in the front-rear direction by guide rails G1, G2, G3 fixed to the side of a vehicle body B and facing in the front-rear direction. The door D can be moved from a fully closed position, in which the boarding / alighting opening provided on the side of the vehicle body B is closed, to a fully open position, in which the door D moves slightly outward from the outer surface of the vehicle body B and moves rearward along the side of the vehicle body B, by manual operation or by electric operation by the power of a door opening / closing motor M1 of a door opening / closing drive device PSD described later, and can also be moved in the opposite direction, from the fully open position to the fully closed position.

[0012] In addition, in order to guide and support the door D so that it can move slightly outward from the outer surface of the vehicle body B and rearward along the side surface of the vehicle body B when the door D is opened, the front part of the guide rail G2 is curved toward the inside of the vehicle and the part behind the curved part is formed straight, as shown in Fig. 3. The other guide rails G1 and G3 are formed in a similar shape.

[0013] At the rear end portion within the door D, there are provided a fully closed latch device DL1 for holding the door D in a fully closed position, and a door closer device DC for closing the door D from a half-open position to a fully closed position.

[0014] The fully-closed latch device DL1 includes an engagement mechanism. The engagement mechanism includes a latch (not shown) that can engage with a fully-closed striker (not shown) fixed to an appropriate position on the rear edge of the opening at the entrance, and a ratchet (not shown) that can engage with the latch engaged with the fully-closed striker to prevent the latch from rotating in the opening direction. When the door D is closed, the fully-closed latch device DL1 holds the door D in the fully-closed position by rotating the latch through a half-latched state (corresponding to the half-open position of the door D) in which the latch slightly engages with the fully-closed striker, to a full-latched state (corresponding to the fully-closed position of the door D) in which the latch fully engages with the fully-opening striker.

[0015] The door closer device DC has a closer motor 61 for moving the door D from the half-open position to the fully-closed position by rotating the latch of the fully-closed latch device DL1 from the half-latched state to the fully-latched state. When the half-latch detection switch 51 provided in the fully-closed latch device DL1 detects the half-latched state of the latch, the door closer device DC drives the closer motor 61 to rotate the latch from the half-latch state to the fully-latch state. This allows the door D to move from the half-open position to the fully-closed position against the reaction force of the door seal. Note that the fully-closed latch device DL1 and the door closer device DC adopt known structures, so detailed explanations will be omitted.

[0016] A full-open latch device DL2 for holding the door D in a fully open position is provided at the lower front part of the door D. When the door D is opened, the full-open latch device DL2 engages with a full-open striker (not shown) fixed to the lower part of the vehicle body B, thereby holding the door D in the fully open position.

[0017] The fully closed latch device DL1 and the fully open latch device DL2 are released by the door opening operation of the outside handle OH provided on the outside of the door D and the inside handle (not shown) provided on the inside of the door D, and by a release electric actuator (not shown) connected to the fully closed latch device DL1 and the fully open latch device DL2, thereby disengaging from each striker, respectively, to enable the door D to be opened and closed.

[0018] The door opening / closing drive device PSD includes a door opening / closing motor M1 arranged on a side of the vehicle body B and capable of forward and reverse rotation, a rotating drum M2 capable of forward and reverse rotation via a reducer that reduces the rotation of the door opening / closing motor M1, a cable M3 that is looped around the rotating drum M2 so as to be able to be wound up and unwound, is routed along a guide rail G2, and is connected to a rear end of the door D, and an electromagnetic clutch 44 that can interrupt a power transmission path between the door opening / closing motor M1 and the rotating drum M2. Based on the operation of a handle switch 11 that is linked to the opening and closing operation of the outside handle OH and the inside handle, and an operation switch 12 that is provided near the driver's seat or on a portable wireless remote control switch, the door opening / closing drive device PSD operates the electromagnetic clutch 44 to a connected state and rotates (forward or reverse) the door opening / closing motor M1, transmitting the rotation to the door D via the electromagnetic clutch 44, the rotating drum M2, and the cable M3 to operate the door D in an opening or closing direction. Furthermore, when the electromagnetic clutch 44 is in a disengaged state, there is no resistance to the reverse rotation of the reduction gear and the door opening / closing motor M1, and the door D can be opened and closed manually.

[0019] In addition, in the closing operation of the door D, the door opening / closing motor M1 is driven during the period when the door D moves from the fully open position to the half-open position, and is stopped during the period when the door D moves from the half-open position to the fully closed position by the driving of the closer motor 61. In other words, in the closing operation of the door D, the driving source that moves the door D from the fully open position to the half-open position is the door opening / closing motor M1, and the driving source that moves the door D from the half-open position to the fully closed position is the closer motor 61.

[0020] The rotating drum M2 is provided with a pulse encoder 45 that detects the rotation angle of the rotating drum M2 with high resolution and outputs a pulse signal corresponding to the rotation. Since the rotating drum M2 is connected to the door D via a cable M3 and rotates substantially in synchronization with the opening and closing operation of the door D, detecting the rotation speed and rotation angle of the rotating drum M2 is substantially the same as detecting the opening and closing speed and position of the door D. Therefore, in the following description, the pulse encoder 45 will be described as outputting a pulse signal corresponding to the movement of the door D.

[0021] The pulse encoder 45 outputs a pulse signal corresponding to the opening / closing direction, opening / closing speed, and movement amount of the door D. The pulse signal is transmitted to a control device 9 installed in an appropriate position of the vehicle body B.

[0022] Next, the control device 9 and each of the electrical elements connected to the control device 9 will be described with reference to the block diagram shown in FIG.

[0023] The control device 9 is electrically connected to an on-board battery (not shown), and controls all of the driving elements of the electric elements through program control by a microcomputer. The control device 9 includes a pulse detection unit 91 which calculates the opening / 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 / closing motor M1, a clutch control unit 93 which controls the electromagnetic clutch 44, an inclination detection unit 94 which detects the inclination of the vehicle body B, a closer control unit 95 which controls the closer motor 61 of the door closer device DC, an entrapment detection unit 96 which detects contact or entrapment of a body or other obstacle with the door D, an actuator control unit (not shown) which controls the release electric actuators connected to the full-close latch device DL1 and the full-open latch device DL2, a drive circuit unit 97 which is turned on / off based on the control of the motor control unit 92, the clutch control unit 93 and the closer control unit 95, and a drive circuit unit 97 which determines whether the door D is driven based on the open operation signals of the handle switch 11 and the operation switch 12 and the output of the half-latch detection switch 51.

[0024] The pulse detection unit 91 includes a door speed calculation unit 911 which calculates the opening / closing speed of the door D or the rotation speed of the door opening / closing motor M1 based on the pulse width of a pulse signal output from the pulse encoder 45 in response to the opening / closing operation of the door D, a door movement direction detection unit 912 which 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 which counts the pulse signals output from the pulse encoder 45 and detects the current position of the door D based on the counted value. Note that the rotation speed of the door opening / closing motor M1 is the number of motor rotations per unit time, and therefore the rotation speed of the door opening / closing motor M1 may be referred to as the number of rotations of the door opening / closing motor M1.

[0025] 3, the opening / closing operation area of ​​the door D includes a fully closed side area L1, an intermediate area L2, and a fully open side area L3, and which area the door D is in among the areas L1 to L3 is recognized by the door position calculation unit 913 based on the number of pulses counted by the pulse signal output from the pulse encoder 45. The fully closed side area L1 refers to an area between the half-open position (corresponding to the half-latched state of the fully closed latch device DL1) of the door D that opens and closes along the guide rail G2 and the position just before the half-open position (this is a deceleration area before the door D reaches the half-open position during the closing operation of the door D, and corresponds to the curved parts G11, G21, and G31 at the front of the guide rails G1, G2, and 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 pre-fully open position (the position at the rear end of the straight parts of the guide rails G1, G2, G3 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.

[0026] The target speed of the door D is preset and stored in the storage area of ​​the control device 9 so as to be low speed in the fully closed side region L1 and the fully open side region L3 and high speed in the intermediate region L2. Therefore, the fully closed side region L1 and the fully open side region L3 can be defined as low speed regions, and the intermediate region L2 can be defined as a high speed region.

[0027] The motor control unit 92 includes a PWM control unit 921 that controls the door opening / closing motor M1 using PWM (Pulse Width Modulation), and an advance angle adjustment unit 922 that adjusts the advance angle of the door opening / closing motor M1.

[0028] The PWM control unit 921 performs PWM control of the door opening / closing motor M1 based on a control procedure (see Figs. 5 and 6) described later to open and close the door D. If the pinching detection unit 96 detects pinching during the opening and closing operation of the door D, the PWM control unit 921 performs reverse control of the door opening / closing motor M1 to release the pinched state of the door D.

[0029] The door opening / closing motor M1 is a brushless motor that can be controlled by advancing the phase of the motor control signal, and the lead angle adjustment unit 922 changes the motor characteristics of the door opening / closing motor M1 by adjusting the lead angle (see FIG. 4). In this specification, a control state in which the lead angle is made larger than in normal control and the motor characteristics of the door opening / closing motor M1 are high rotation / low torque type is referred to as lead angle control. In other words, normal control is control that does not perform lead angle control that sets the lead angle to zero, and has low rotation / high torque type motor characteristics compared to the motor characteristics during lead angle control.

[0030] The pinching detection unit 96 detects pinching of the door D when the rotation speed of the door opening / closing motor M1 (or the rotation speed of the door opening / closing motor M1, the opening / closing speed of the door D) drops below a threshold speed (threshold value). The pinching detection unit 96 can detect pinching of the door D during both advance angle control and normal control of the door opening / closing motor M1. During advance angle control, the torque change with respect to the change in the rotation speed of the door opening / closing motor M1 becomes small, and the change in the rotation speed of the door opening / closing motor M1 associated with the torque fluctuation at the time of pinching occurrence becomes large. This improves the response of pinching detection, so that not only can pinching be detected with high accuracy even without a current sensor, but the pinching load at the time of pinching detection can be reduced. The opening / closing control device may be equipped with a current sensor. Hereinafter, the specific principle will be described with reference to FIG. 4.

[0031] Figure 4 shows the rotational speed variation and torque variation (load variation) of the door opening / closing motor M1 when pinching occurs. As shown in this figure, when pinching occurs at point A (load Ta, rotational speed Na) during the operation of the door D, the rotational speed of the door opening / closing motor M1 decreases. When the door opening / closing motor M1 is in the advance angle control, when the load increases from Ta to Tb, the rotational speed drops to Nb2 (threshold speed), and pinching is detected (point B2). On the other hand, during normal control, when the load increases from Ta to Tb, the rotational speed only drops to Nb1 (Nb1 < Nb2), so pinching is not detected (point B1). That is, during normal control, when the load increases from Ta to Tc and the rotational speed drops to Nb2, pinching is detected (point C).

[0032] The inclination detection unit 94 detects the inclination angle of the vehicle body B based on, for example, the detection signal of the G-sensor 46 (acceleration sensor). In a vehicle V equipped with an existing acceleration sensor, the existing acceleration sensor may be used also as the G-sensor 46.

[0033] As shown in Figure 2, the inclination detection unit 94 sends the detected inclination angle of the vehicle body B to the advance angle adjustment unit 922 of the motor control unit 92. The advance angle adjustment unit 922 changes the advance angle of the door opening / closing motor M1 based on the inclination angle of the vehicle body B. That is, since the torque required for opening and closing the door D varies depending on the inclination angle of the vehicle body B, by switching the motor characteristics of the door opening / closing motor M1 according to the required torque, it is possible to appropriately control both the opening / closing operation of the door D and the pinching detection.

[0034] Specifically, the door D of this embodiment is a sliding door that opens and closes in the front-rear direction. When the door D operates against its own weight when the door D operates in an upward inclination direction, the required torque is large, and when the door D operates in a downward inclination direction, the door operates according to its own weight, so the required torque is small. For example, when the vehicle body B is inclined downward from the front, the torque required for the opening operation of the door D is large and the torque required for the closing operation of the door D is small compared to when the front-rear inclination angle is 0. Also, when the vehicle body B is inclined downward from the rear, the torque required for the opening operation of the door D is small and the torque required for the closing operation of the door D is large compared to when the front-rear inclination angle is 0. In addition, when the door D is opened and closed, if advance angle control is always performed, the torque of the door opening and closing motor M1 may be insufficient when the vehicle body B is inclined at a time when the required torque is large, and the opening and closing operation of the door D may not be performed smoothly. Therefore, the advance angle adjustment unit 922 changes the advance angle of the door opening and closing motor M1 based on the inclination angle of the vehicle body B.

[0035] The above also applies to the back door, and when the vehicle body B is tilted downward at the front, the direction of operation of the door D is an upward incline, and when the vehicle body B is tilted downward at the rear, the direction of operation of the door D is a downward incline. Also, for the side door, the same can be considered by saying that when the vehicle body B is tilted downward at the rear, the direction of operation of the door D is an upward incline, and when the vehicle body B is tilted downward at the front, the direction of operation of the door D is a downward incline.

[0036] In the following description, the inclination angle at which the operating direction of the door D is inclined upwards with respect to the front-to-rear inclination angle of 0, in other words, the inclination angle at which the required torque increases, is defined as positive. That is, a positive inclination angle means that the front of the door D is inclined downwards during the opening operation of the door D, and that the rear of the door D is inclined downwards during the closing operation of the door D.

[0037] For example, when the inclination angle of the vehicle body B is equal to or smaller than a first set value a (a>0), the advance angle adjustment unit 922 performs advance angle control by setting the advance angle to a first value α°, and when the inclination angle of the vehicle body B is greater than the first set value a, the advance angle adjustment unit 922 performs normal control by setting the advance angle to 0°. In this manner, in an 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 pinching load of the door D is reduced by performing advance angle control, and in an 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 operation of the door D is smoother by performing normal control.

[0038] The advance angle adjustment unit 922 may gradually decrease the advance angle as the inclination angle of the vehicle body B increases. For example, when the inclination angle of the vehicle body B is equal to or smaller than a first set value a (a>0), the advance angle adjustment unit 922 performs advance angle control by setting the advance angle to a first value α°, when the inclination angle of the vehicle body B is equal to or smaller than a second set value b (b>a) that is greater than the first set value a and is greater than the first set value a, the advance angle adjustment unit 922 performs advance angle control by setting the advance angle to a second value β° (β°<α°) that is smaller than the first value α°, and when the inclination angle of the vehicle body B is greater than the second set value b, the advance angle adjustment unit 922 performs normal control. In this way, a more appropriate advance angle can be applied based on the inclination angle of the vehicle body B. Note that the necessary torque may be calculated based on the movement direction of the door D and the inclination angle of the vehicle body B, and the advance angle may be adjusted based on the calculated necessary torque.

[0039] The drive determination unit 98, which is 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 as inputs.

[0040] A drive circuit section 97, which is the output side of the control device 9, is electrically connected to the door opening / closing motor M1, the electromagnetic clutch 44, and the closer motor 61.

[0041] Next, the opening and closing control performed by the control device 9 will be described with reference to the flowcharts shown in FIGS.

[0042] As shown in FIG. 5, when the control device 9 receives an open 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 an advance angle setting process (see FIGS. 7 to 10) described later based on the inclination angle (S103).

[0043] Next, the control device 9 starts the opening operation of the door D (S104), and determines whether or not the rotation speed of the door opening / closing motor M1 becomes smaller than the threshold value Nb2 during the opening operation of the door D (S105). If the determination result of step S105 is YES, the control device 9 determines that an object is pinched in the door D, and controls the door opening / closing motor M1 to rotate in the opposite direction (S106). If the determination result of step S105 is NO, the control device 9 stops the opening operation of the door D when the door D reaches the fully open position (S107).

[0044] As shown in FIG. 6, when the control device 9 receives a 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 an advance angle setting process (see FIGS. 7 to 10) described later based on the inclination angle (S203).

[0045] Next, the control device 9 starts the closing operation of the door D (S204), and judges whether the rotation speed of the door opening / closing motor M1 or the closer motor 61 becomes smaller than the threshold value Nb2 during the closing operation of the door D (S205). If the judgment result of step S205 is YES, the control device 9 judges that an entrapment has occurred in the door D, and controls the door opening / closing motor M1 or the closer motor 61 to rotate in the opposite direction (S206). If the judgment result of step S205 is NO, the control device 9 stops the closing operation of the door D when the door D reaches the fully closed position (S207).

[0046] Next, four examples of the advance angle setting process performed by the control device 9 will be described with reference to the flowcharts shown in FIGS.

[0047] In a first example of the lead angle setting process shown in Fig. 7, the control device 9 judges whether or not the tilt angle of the vehicle body B is greater than a first set value a (a>0) (S301). If the judgment result of step S301 is NO, the control device 9 sets the lead angle to α° and performs lead angle control (S302). If the judgment result of step S301 is YES, the control device 9 sets the lead angle to 0° and performs normal control (S303).

[0048] In a second example of the lead angle setting process shown in FIG. 8, the control device 9 judges whether or not the inclination angle of the vehicle body B is greater than a first set value a (a>0) (S401). If the judgment result of step S401 is NO, the control device 9 performs lead angle control with the lead angle set to α°. If the judgment result of step S301 is YES, the control device 9 judges whether or not the inclination angle of the vehicle body B is greater than a second set value b (b>a) (S403). If the judgment result of step S403 is NO, the control device 9 performs lead angle control with the lead angle set to β° (β°<α°) (S404). If the judgment result of step S403 is YES, the control device 9 performs normal control with the lead angle set to 0° (S405).

[0049] In a third example of the lead angle setting process shown in FIG. 9, the control device 9 detects the inclination angle θ of the vehicle body B (S501), and then calculates the lead angle using a function formula f(θ) having a predetermined coefficient k and the inclination angle θ as variables (S502), and performs lead angle control or normal control based on the calculated lead angle. For example, the advance angle is calculated using the following function f(θ). f(θ)=30-k×θ However, if f(θ)≦0, then f(θ)=0; if f(θ)≧30, then f(θ)=30.

[0050] In a fourth example of the advance angle setting process shown in FIG. 10, the control device 9 detects the inclination angle θ of the vehicle body B (S601), and then selects an advance angle by referring to a preset map (S602), and performs advance angle control or normal control based on the selected advance angle.

[0051] (Modification) In an area where load fluctuations of the door D are likely to occur, the control device 9 can perform advance angle control by reducing the advance angle compared to an area where load fluctuations of the door D are unlikely to occur, or can perform normal control without performing advance angle control. For example, if the door D is a sliding door, the areas where load fluctuations of the door D are likely to occur are the fully closed side area L1, which is a deceleration area before the door reaches a half-open position, and the fully open side area L3, which is a latch engagement area before the door reaches a fully open position, and in these areas L1 and L3, it is possible to avoid erroneous detection of entrapment by performing advance angle control by reducing the advance angle, or by performing normal control without performing advance angle control.

[0052] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or amended examples within the scope of the claims, and it is understood that these naturally fall within the technical scope of the present invention. For example, the present invention may be applied to a back door or a side door. Furthermore, the components in the above-mentioned embodiments may be arbitrarily combined within the scope of the invention.

[0053] This specification describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0054] (1) a motor (door opening / closing motor M1) that drives an opening / closing body (door D) supported on a vehicle body (vehicle body B) in an opening / closing direction; A control device (control device 9) that controls the motor, The control device includes: a motor control unit (motor control unit 92) capable of adjusting the advance angle of the motor; A pulse encoder (pulse encoder 45) that outputs a pulse signal; A pulse detection unit (pulse detection unit 91) capable of detecting the number of rotations of the motor or the opening / closing speed of the opening / closing body by pulse detection based on the pulse signal output from the pulse encoder; A pinching detection unit (pinching detection unit 96) that detects pinching of the opening / closing body, The entrapment detection unit detects entrapment of the opening / closing body when the rotation speed of the motor or the opening / closing speed of the opening / closing body becomes equal to or lower than a threshold value (threshold value Nb2) while the motor control unit is performing advance angle control of the motor.

[0055] According to (1), by controlling the motor advance angle, the torque change due to the change in the motor rotation speed or the change in the opening / closing speed of the opening / closing body is reduced. In other words, the responsiveness of the change in the motor rotation speed or the change in the opening / closing speed of the opening / closing body when pinching occurs is improved. This makes it possible to detect pinching with high accuracy even without a current sensor. In addition, the pinching load when pinching is detected can be reduced.

[0056] (2) The opening and closing control device according to (1), The entrapment detection unit detects entrapment of the opening / closing body when the motor rotation speed or the opening / closing speed of the opening / closing body becomes equal to or lower than the threshold value during normal control of the motor in which the motor control unit does not perform the advance angle control.

[0057] According to (2), by using the same threshold value for normal control and advance angle control of the motor, it is possible to avoid complicating the control. In addition, by using normal control and advance angle control separately, it is possible to perform appropriate pinch detection according to the situation.

[0058] (3) The opening and closing control device according to (1) or (2), The control device further includes an inclination detection unit (inclination detection unit 94) capable of detecting an inclination angle of the vehicle body, The motor control unit changes the advance angle based on the inclination angle.

[0059] According to (3), since the torque required to open and close the opening / closing body differs depending on the inclination angle, by switching the control of the motor according to the required torque, it is possible to appropriately control both the opening and closing operation of the opening / closing body and pinch detection.

[0060] (4) The opening and closing control device according to (3), In a situation where the operating direction of the opening / closing body is an upward incline, The opening / closing control device, wherein the motor control unit performs the advance angle control when the tilt angle is equal to or smaller than a set value (first set value a).

[0061] According to (4), since the opening and closing torque of the sliding door is small in the region where the inclination angle is small, the pinching load of the opening and closing body can be reduced by performing advance angle control.

[0062] (5) The opening and closing control device according to (3), In a situation where the operating direction of the opening / closing body is an upward incline, The motor control unit reduces the advance angle as the tilt angle increases.

[0063] According to (5), since the opening and closing torque of the sliding door is small in the area where the inclination angle is small, the pinching load of the opening and closing body is reduced by performing advance angle control, and since the opening and closing torque of the sliding door is large in the area where the inclination angle is large, the opening and closing operation of the opening and closing body is made smoother by performing normal control.

[0064] (6) The opening and closing control device according to (3), In a situation where the operating direction of the opening / closing body is an upward incline, The opening / closing control device, when the tilt angle is greater than a set value (second set value b), the motor control unit performs normal control of the motor without performing the advance angle control.

[0065] According to (6), in the region where the inclination angle is large, the opening and closing torque of the sliding door is large, so by performing normal control, the opening and closing operation of the opening and closing body becomes smoother.

[0066] (7) The opening and closing control device according to (1) or (2), An opening / closing control device, wherein the motor control unit performs the advance angle control by reducing the advance angle in an area where load fluctuations on the opening / closing body are likely to occur, compared to an area where load fluctuations on the opening / closing body are unlikely to occur, or performs normal control of the motor without performing the advance angle control.

[0067] According to (7), in an area where load fluctuations in the opening / closing body are likely to occur, erroneous detection of entrapment can be avoided by performing advance angle control by reducing the advance angle, or by performing normal control.

[0068] (8) The opening and closing control device according to (7), The opening / closing body is a sliding door, An opening / closing control device, wherein the region in which load fluctuations in the opening / closing body are likely to occur includes a deceleration region before the door reaches a half-open position, and a latch engagement region before the door reaches a fully-open position.

[0069] According to (8), since load fluctuations are likely to occur in the deceleration region before the sliding door reaches the half-open position and in the latch engagement region before the sliding door reaches the fully-open position, false detection of entrapment can be avoided by performing normal control. [Explanation of symbols]

[0070] 45 Pulse Encoder 9 Control device 91 Pulse detection unit 92 Motor control unit 94 Tilt detection unit 96 Entrapment detection unit D Door B. Body M1 Door opening and closing motor Nb2 threshold

Claims

1. a motor that drives an opening / closing body supported on a vehicle body so as to be openable and closable in an opening / closing direction; A switching control device comprising: a control device for controlling the motor, The control device includes: a motor control unit capable of adjusting a lead angle of the motor; A pulse encoder that outputs a pulse signal; a pulse detection unit capable of detecting the number of rotations of the motor or the opening / closing speed of the opening / closing body by pulse detection based on a pulse signal output from the pulse encoder; A pinching detection unit that detects pinching of the opening / closing body, The entrapment detection unit detects entrapment of the opening / closing body when the motor rotation speed or the opening / closing speed of the opening / closing body becomes equal to or lower than a threshold value while the motor control unit is controlling the advance angle of the motor.

2. The opening and closing control device according to claim 1, The entrapment detection unit detects entrapment of the opening / closing body when the motor rotation speed or the opening / closing speed of the opening / closing body becomes equal to or lower than the threshold value during normal control of the motor in which the motor control unit does not perform the advance angle control.

3. The opening and closing control device according to claim 1 or 2, The control device further includes an inclination detection unit capable of detecting an inclination angle of the vehicle body, The motor control unit changes the advance angle based on the inclination angle.

4. The opening and closing control device according to claim 3, In a situation where the operating direction of the opening / closing body is an upward incline, The opening / closing control device, wherein the motor control unit performs the advance angle control when the tilt angle is equal to or smaller than a set value.

5. The opening and closing control device according to claim 3, In a situation where the operating direction of the opening / closing body is an upward incline, The motor control unit reduces the advance angle as the tilt angle increases.

6. The opening and closing control device according to claim 3, In a situation where the operating direction of the opening / closing body is an upward incline, The opening / closing control device, wherein the motor control unit performs normal control of the motor without performing the advance angle control when the inclination angle is greater than a set value.

7. The opening and closing control device according to claim 1 or 2, An opening / closing control device, wherein the motor control unit performs the advance angle control by reducing the advance angle in an area where load fluctuations on the opening / closing body are likely to occur, compared to an area where load fluctuations on the opening / closing body are unlikely to occur, or performs normal control of the motor without performing the advance angle control.

8. The opening and closing control device according to claim 7, The opening / closing body is a sliding door, An opening / closing control device, wherein the region in which load fluctuations in the opening / closing body are likely to occur includes a deceleration region before the door reaches a half-open position, and a latch engagement region before the door reaches a fully-open position.

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