Opening / closing body control device and pinching detection method

Abstract

To provide an opening / closing body control device and a pinching detection method, capable of achieving both suppression of erroneous pinch detection and high responsiveness.SOLUTION: A load estimation part 10 estimates a load generated in an opening / closing body 2 during an opening operation or a closing operation. A first filter 15 removes at least noise from a waveform of an estimated load F est obtained by the load estimation part 10. A second filter 16 removes a frequency lower than that removed by the first filter 15 from the waveform of the estimated load F est. An offset calculation part 17 calculates an offset value F offs of the estimated load F est based on an output of the first filter 15. A pinch determination part 19 executes pinch determination of the opening / closing body 2 based on outputs of the first filter 15 and the second filter 16. The pinch determination part 19 monitors whether pinching has started based on the output of the second filter 16, and executes the pinch determination based on the offset value F offs fixed when the start of the pinching is detected, and the output of the first filter 15.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an opening / closing member control device and a pinch detection method. [Background technology]

[0002] Conventionally, a door control device capable of detecting an object being caught between a door and a door pocket during a door opening operation is well known, as disclosed in Patent Document 1. Patent Document 1 describes a device that provides a drag estimating unit that estimates a drag that causes a fluctuation in the speed of the door, and detects an object being caught between the door and the door pocket when the drag estimated by the drag estimating unit exceeds a predetermined value. Patent Document 1 also describes estimating the drag using a dynamic model such as an equation of motion. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-206329 A Summary of the Invention [Problem to be solved by the invention]

[0004] For example, a method of pinching determination using a dynamic model is to set a threshold value for the resistance estimated by the dynamic model, and determine that pinching exists when the estimated resistance exceeds the threshold value. However, if sliding load fluctuations occur during door operation or the device is deteriorated, these factors will cause fluctuations in the door speed. When door speed fluctuations occur, the estimated resistance will include a value that includes the aforementioned factors, so an error will occur between the estimated resistance and the resistance caused by pinching. This could result in a false pinching detection.

[0005] To reduce this error, for example, a method of filtering the calculated resistance is considered. However, this method causes a delay due to filtering, which may delay the detection of pinching. Therefore, the current situation is that the above-mentioned problem cannot be solved by the simple method of simply filtering the calculated resistance.

[0006] An object of the present invention is to provide an opening / closing body control device and a pinch detection method that can achieve both suppression of erroneous pinch detection and high responsiveness. [Means for solving the problem]

[0007] The opening / closing body control device (1) that solves the above problem includes a load estimation unit (10) that estimates a load acting on an opening / closing body (2) during an opening or closing operation, a first filter (15) that removes at least noise from a waveform of an estimated load (Fest) obtained by the load estimation unit, a second filter (16) that removes from the waveform of the estimated load a frequency lower than that removed by the first filter, an offset calculation unit (17) that calculates an offset value (Foffs) of the estimated load based on an output of the first filter, and a pinch determination unit (19) that performs a pinch determination on the opening / closing body based on the outputs of the first filter and the second filter, and the pinch determination unit monitors whether pinch has started based on the output of the second filter, and performs a pinch determination based on the offset value fixed when the start of pinch is detected and the output of the first filter.

[0008] The pinch detection method for solving the above problem is a method for detecting pinch, in which an object is pinched in an opening / closing body (2) during an opening or closing operation, by a computer, and includes the steps of: estimating a load acting on the opening / closing body (2) during an opening or closing operation; removing at least noise from a waveform of the estimated load (Fest) using a first filter (15); removing from the waveform of the estimated load using a second filter (16) frequencies lower than those removed by the first filter; calculating an offset value (Foffs) of the estimated load based on the output of the first filter; monitoring whether pinch has started based on the output of the second filter; fixing the offset value when the start of pinch is detected based on the output of the second filter; and performing a pinch determination based on the fixed offset value and the output of the first filter.

[0009] According to this configuration, the estimated load obtained by the load estimation unit is converted into a waveform that prioritizes ensuring gain by being filtered by the first filter. The estimated load obtained by the load estimation unit is converted into a waveform that prioritizes reducing errors in the estimated load by being filtered by the second filter. Then, the presence or absence of pinching is determined using the outputs of the first filter and the second filter. If the presence or absence of pinching is determined using a waveform that prioritizes ensuring gain, the responsiveness of the pinching determination is improved. If the presence or absence of pinching is determined using a waveform in which errors in the estimated load are reduced, a determination result with low false detections can be obtained. Therefore, it is possible to achieve both suppression of false detection of pinching and high responsiveness. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a configuration of an opening / closing member control device according to an embodiment; [Diagram 2] FIG. 1 is an explanatory diagram showing an overview of a model. [Diagram 3] FIG. 4A is a waveform diagram showing an output of a first filter, and FIG. 4B is a waveform diagram showing an output of the first filter after offset removal. [Figure 4] FIG. 13(a) is a waveform diagram showing an output of a second filter, and (b) is a waveform diagram showing an example of detection of the start of pinching. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, one embodiment of the present disclosure will be described. (Opening and closing body control device 1) As shown in FIG. 1, a vehicle having an opening / closing body 2 is equipped with an opening / closing body control device 1 that controls the operation of the opening / closing body 2. The opening / closing body control device 1 includes an opening / closing control unit 3 that manages the operation of the opening / closing body control device 1. The opening / closing control unit 3 controls an actuator 5 by a drive circuit 4 based on an operation signal Sa input from the outside, thereby opening or closing the opening / closing body 2. Examples of the opening / closing body 2 include a window provided in a door, a sunroof provided in the roof of the vehicle body, and a sliding door that moves parallel to the vehicle body to open and close the entrance and exit of the vehicle. The actuator 5 is, for example, a motor 6.

[0012] (Pinch detection function) 1, the opening / closing body control device 1 has a pinch detection function (pinch detection device 9) that detects whether pinching has occurred in the opening / closing body 2 during operation of the opening / closing body 2. The pinch detection device 9 in this example detects, for example, whether the opening / closing body 2 pinches an object during operation. Note that the pinch to be detected may be, for example, pinch that occurs when an object is pinched between the opening / closing body 2 and a frame (not shown) when the opening / closing body 2 is in a closing operation, or pinch that occurs when the opening / closing body 2 entangles an object when the opening / closing body 2 is in an opening operation.

[0013] The pinch detector 9 includes a load estimator 10 that estimates the load acting on the opening / closing body 2 during an opening or closing operation. The load estimator 10 estimates a motor voltage value v from a voltage detector 11 that detects a voltage applied to the motor 6. i The motor angular velocity ω is input from the speed calculation unit 12 that detects the rotational speed of the motor 6. The motor voltage value v iand the motor angular velocity ω are used in the load estimator 10 to estimate the load.

[0014] The load estimation unit 10 has a model P for estimating the pinching load generated in the opening / closing body 2. The model P in this example includes, for example, a motor model P1 and an inverse model P2. -1 The motor model P1 includes, for example, a motor voltage value v i This is a model that estimates the angular velocity (estimated angular velocity ωest) of the motor 6 by inputting the above. -1 is a model that estimates the load acting on the opening / closing body 2 by inputting, for example, the difference between the estimated angular velocity ωest output from the motor model P1 and the motor angular velocity ω output from the velocity calculation unit 12, i.e., the angular velocity caused by an external force (external force angular velocity ω').

[0015] As shown in FIG. 2, the model P uses a predetermined physical formula to express the relationship between the input and output of the opening / closing body 2, which is the object of control. For example, when an input "x" is input to the model Pk (forward model) to obtain an output "y", the inverse model P2 -1 If the output "y" of the model Pk is input as an input value to the inverse model P2, the input "x" to the model Pk can be estimated. -1 By putting

[0016] As shown in Fig. 1, the load estimation unit 10 includes a difference calculation unit 14 that calculates the difference between the estimated angular velocity ωest, which is the output of the motor model P1, and the motor angular velocity ω, which is the actual value measured by the velocity calculation unit 12. The difference calculation unit 14 calculates the calculated difference, i.e., the external force angular velocity ω', which is the angular velocity generated by the external force, using the inverse model P2 -1 The output is the inverse model P2. -1 inputs the external force angular velocity ω' and calculates the estimated load Fest as its output.

[0017] The pinch detection device 9 includes a first filter 15 and a second filter 16 having different frequency characteristics. The first filter 15 and the second filter 16 are, for example, digital filters. The first filter 15 removes at least noise from the waveform of the estimated load Fest obtained by the load estimation unit 10. The first filter 15 performs the minimum noise removal necessary to prevent a decrease in gain. The second filter 16 removes frequencies lower than those removed by the first filter 15 from the waveform of the estimated load Fest obtained by the load estimation unit 10. The second filter 16 has a higher degree of removal of low frequencies than the first filter 15 in order to suppress errors.

[0018] The pinch detection device 9 includes an offset calculation unit 17 that calculates an offset value Foffs of the estimated load Fest based on the output of the first filter 15. The offset value Foffs includes an error caused by, for example, a change in speed due to a sliding load fluctuation or deterioration of the device when the opening / closing body 2 is in operation. Therefore, even if pinch does not actually occur, a load caused by a sliding load fluctuation or deterioration of the device may be detected, and this may be detected as pinch.

[0019] The pinch detection device 9 includes a difference calculation unit 18 that calculates the difference between the first estimated load F1est output from the first filter 15 and an offset value Foffs that is an output from the offset calculation unit 17. The difference calculation unit 18 calculates a post-offset removal estimated load Fk by removing the offset value Foffs from the first estimated load F1est.

[0020] The pinch detection device 9 includes a pinch determination unit 19 that performs pinch determination for the opening-closing body 2 based on the outputs of the first filter 15 and the second filter 16. The pinch determination unit 19 in this example inputs the second estimated load F2est from the second filter 16, and inputs the offset-removed estimated load Fk from the difference calculation unit 18. The pinch determination unit 19 determines whether or not there is pinch by the opening-closing body 2, using the second estimated load F2est and the offset-removed estimated load Fk.

[0021] In this example, the pinch determination unit 19 monitors whether or not pinch has started based on the output (second estimated load F2est) of the second filter 16. When the pinch determination unit 19 determines that pinch has started, it causes the offset calculation unit 17 to fix the offset value Foffs. The pinch determination unit 19 executes pinch determination based on the offset value Foffs fixed when pinch start is detected and the output (first estimated load F1est) of the first filter 15. That is, after the offset value Foffs is fixed, the pinch determination unit 19 executes pinch determination based on the post-offset removal estimated load Fk input from the difference calculation unit 18.

[0022] Next, the operation of the opening / closing body control device 1 (entrapment detection method) of this embodiment will be described. (Model P details) Motor model P1 and inverse model P2 shown in FIG. -1 The motor model P1 and the inverse model P2 are expressed by converting the voltage equation and the equation of motion into a state space representation and then into a transfer function. -1 is expressed, for example, by the following equations (1) to (3). Note that the symbols in the equations are parameters related to the entire motor. Also, "'" represents differentiation. Li'+Ri=v i -K b ω …(1) K t i=Jω'+Cω+GF w …(2) ω m '=-(1 / τ)ω m +(1 / τ)ω …(3) Moreover, the meanings of the symbols in the formulas (1) to (3) are as follows. R: Internal resistance L: Inductance K b : Back electromotive force coefficient K t : Torque constant J: Moment of inertia C: Damping coefficient i: Current v i : Motor voltage value ω: Motor angular velocity F w : External force acting on the window G: Conversion factor τ: time constant ω m : Angular velocity used in model calculation In this way, the load estimation unit 10 converts the state space expression related to the motor 6 that is the power source of the opening / closing body 2 into a transfer function expression to obtain a model P (motor model P1, inverse model P2 -1 ) is used to estimate the load acting on the opening / closing body 2.

[0023] (Pinch detection operation) As shown in FIG. 1, the pinch detector 9 detects the motor voltage value v i and the motor angular velocity ω input from the velocity calculation unit 12. The entrapment detection device 9 of this example sequentially executes, for example, while the power supply to the vehicle is turned on.

[0024] In this example, the load estimation unit 10 estimates the motor voltage value v i In particular, the load estimator 10 calculates the estimated angular velocity ωest by substituting the above-mentioned equations (1) to (3) into the motor model P1 constructed based on the above-mentioned equations (1) to (3). Specifically, the load estimator 10 calculates the estimated angular velocity ωest by using the following equation (4). ωest=P1×v i …(4) The load estimation unit 10 outputs the calculated estimated angular velocity ωest to the difference calculation unit 14. The difference calculation unit 14 calculates an external force angular velocity ω' by taking the difference between the estimated angular velocity ωest input from the motor model P1 and the motor angular velocity ω input from the velocity calculation unit 12. The external force angular velocity ω' corresponds to, for example, an angular velocity generated in the opening-closing body 2 due to an external force applied to the opening-closing body 2. The difference calculation unit 14 calculates the calculated external force angular velocity ω' by taking the difference between the estimated angular velocity ωest input from the motor model P1 and the motor angular velocity ω input from the velocity calculation unit 12. -1 Output to.

[0025] The load estimation unit 10 estimates the external force angular velocity ω′ calculated by the difference calculation unit 14 using an inverse model P2 -1The estimated load Fest is calculated by substituting the load estimator 10 with the load estimator 10. For example, when an external force is applied to the opening / closing body 2, the estimated load Fest includes a load generated due to the external force. The load estimator 10 calculates the estimated load Fest using the following formula (5). Fest=P2 -1 ×(ω-ωest) …(5) Then, the load estimator 10 outputs the calculated estimated load Fest to the first filter 15 and the second filter 16. In this way, the load estimator 10 of this example uses the inverse model P2 -1 The output of the above is output to the first filter 15 and the second filter 16 as the estimated load Fest.

[0026] The first filter 15 calculates the first estimated load F1est by filtering the input estimated load Fest. The first filter 15 in this example is expressed by the following formula (6). Note that τ 1 s is the time constant set in the first filter 15. Q 1 (s)=1 / {(τ 1 s+1)(τ 1 s+1)} …(6) Moreover, the first estimated load F1est is calculated by the following formula (7). F1est=Fest×Q 1 (s) …(7) 3(a) shows a load waveform S1 of the first estimated load F1est output from the first filter 15. In the figure, the load waveform S1 when the opening / closing body 2 rises in a closing operation is shown. In the figure, an ideal waveform S0 when the opening / closing body 2 rises without sliding load fluctuation or deterioration, etc. occurring in the opening / closing body 2 is shown by a dashed line.

[0027] However, if a sliding load fluctuation occurs during the operation of the opening / closing body 2 or the device is deteriorated, when the opening / closing body 2 switches from stopped to rising, a large load is detected due to the sliding load fluctuation or device deterioration, even though no pinching has occurred (time t0). As the load increases, the rising speed of the opening / closing body 2 decreases, whereas the load gradually increases. During the rise, the load suddenly changes significantly at the timing when pinching actually occurs (time t1).

[0028] As can be seen from this figure, the advantage of the first filter 15 is, for example, that the gain reduction due to filtering is small. However, since the load waveform S1 includes loads caused by sliding load fluctuations and device deterioration, etc., it is shifted from the actual load by the amount of the offset value Foffs. Therefore, it can be seen that the disadvantage of the first filter 15 is that the offset (error) of the estimated load Fest is large. Note that the equation for the first filter 15 is not limited to equation (6), and any equation that can satisfy the above-mentioned advantages may be used.

[0029] As shown in FIG. 1, the second filter 16 calculates the second estimated load F2est by filtering the input estimated load Fest. The second filter 16 in this example is expressed by the following formula (8). Note that τ 2 s is the time constant set in the second filter 16 . Q 2 (s)=1 / {(τ 2 s+1)(τ 2 s+1)} …(8) Moreover, the second estimated load F2est is calculated by the following formula (9). F2est=Fest×Q 2 (s) …(9) FIG. 4(a) shows the load waveform S2 of the second estimated load F2est output from the second filter 16. Also in the figure, the load waveform S2 when the opening / closing body 2 rises is shown, and the ideal waveform S0 is shown by a dashed line. As can be seen from this figure, the advantage of the second filter 16 is, for example, that the error of the estimated load is small. On the other hand, the disadvantage of the second filter 16 is that after the actual pinching occurs, a large deviation occurs between the estimated load and the actually measured load due to a decrease in gain. Note that the equation of the second filter 16 is not limited to equation (8) and may be any equation that satisfies the above-mentioned advantages.

[0030] 1, the first filter 15 outputs the calculated first estimated load F1est to the offset calculation unit 17 and the difference calculation unit 18. In addition, the second filter 16 outputs the calculated second estimated load F2est to the entrapment determination unit 19.

[0031] The offset calculation unit 17 calculates an offset value Foffs included in the input first estimated load F1est. In this example, the offset calculation unit 17 repeatedly executes a process of finding the average value of a plurality of load values ​​(first estimated load F1est) going back from the present to the past as the offset value Foffs in units of a control period of the computer. Specifically, the offset calculation unit 17 calculates the offset value Foffs by the following formula (10). In formula (10), "m" and "n" indicate the order in which the offset values ​​Foffs were measured, and the magnitude relationship is expressed by m. <nとする。

[0032]

number

[0033] The offset calculation unit 17 outputs the calculated offset value Foffs to the difference calculation unit 18. The difference calculation unit 18 calculates the post-offset removal estimated load Fk based on the first estimated load F1est input from the first filter 15 and the offset value Foffs input from the offset calculation unit 17. Specifically, the difference calculation unit 18 subtracts the offset value Foffs from the first estimated load F1est to calculate the difference therebetween as the post-offset removal estimated load Fk.

[0034] 3(b) shows a load waveform S3 of the estimated load Fk after offset removal. As can be seen from the figure, the estimated load Fk after offset removal has a waveform whose value is lowered by the amount of the offset value Foffs. Moreover, the estimated load Fk after offset removal before the offset value Foffs is fixed has a load value close to "0". The difference calculation unit 18 outputs the calculated estimated load Fk after offset removal to the pinch determination unit 19.

[0035] The pinch determination unit 19 executes pinch determination based on the second estimated load F2est input from the second filter 16 and the post-offset removal estimated load Fk input from the difference calculation unit 18. Specifically, the pinch determination unit 19 executes pinch start determination using the second estimated load F2est and pinch determination using the post-offset removal estimated load Fk.

[0036] As shown in FIG. 4B, the pinch determination unit 19 of this example monitors the start of pinch by comparing the second estimated load F2est input from the second filter 16 with the pinch start determination threshold Et. If pinch does not occur, the load is low, so the second estimated load F2est does not exceed the pinch start determination threshold Et. On the other hand, if pinch occurs, the load switches to a high state, so the second estimated load F2est also increases accordingly. Therefore, the pinch determination unit 19 determines that pinch has started when the second estimated load F2est exceeds the pinch start determination threshold Et.

[0037] When the pinch determination unit 19 detects the start of pinch, it fixes the offset value Foffs calculated by the offset calculation unit 17. Specifically, when the pinch determination unit 19 detects the start of pinch, it outputs a command to fix the offset value to the offset calculation unit 17, thereby causing the offset calculation unit 17 to fix the current offset value Foffs. As a result, after the offset value Foffs is fixed, the post-offset removal estimated load Fk input from the difference calculation unit 18 to the pinch determination unit 19 changes in accordance with the increase in the first estimated load F1est.

[0038] As shown in FIG. 3(b), after the offset value Foffs is fixed, the pinch determination unit 19 compares the estimated load Fk after the offset is removed with the pinch determination threshold Es to determine whether or not pinch has occurred. The pinch determination threshold Es is set to a value greater than the pinch start determination threshold Et (Es>Et). When the estimated load Fk after the offset is removed is equal to or less than the pinch determination threshold Es, the pinch determination unit 19 determines that pinch has not occurred. Therefore, the normal operation of the opening / closing body 2 continues.

[0039] On the other hand, when the post-offset removal estimated load Fk exceeds the pinch determination threshold Es, the pinch determination unit 19 determines that pinch has occurred. At this time, the pinch determination unit 19 outputs a notification of pinch occurrence to the opening / closing control unit 3. When the opening / closing control unit 3 receives the notification of pinch occurrence from the pinch determination unit 19, it operates the actuator 5 in the opposite direction to reverse the opening / closing body 2. Therefore, for example, the opening / closing body 2 that is rising starts to descend, and the state in which an object is pinched by the opening / closing body 2 is resolved.

[0040] As described above, the pinch determination unit 19 operates the opening / closing body 2 normally when the second estimated load F2est input from the second filter 16 is equal to or less than the pinch start determination threshold Et. Furthermore, when the offset value Foffs is fixed, the pinch determination unit 19 operates the opening / closing body 2 normally for a period during which the post-offset removal estimated load Fk is equal to or less than the pinch determination threshold Es. On the other hand, when the offset value Foffs is fixed, the pinch determination unit 19 operates the opening / closing body 2 in the reverse direction when the post-offset removal estimated load Fk exceeds the pinch determination threshold Es. This makes it possible to optimally raise or lower the opening / closing body 2.

[0041] In this example, by using the first filter 15 and the second filter 16 having different frequency characteristics, the first filter 15 obtains an output that prioritizes gain assurance, and the second filter 16 obtains an output that prioritizes error suppression. If pinching is determined using the gain-prioritized output obtained from the first filter 15, responsiveness of the pinching determination is ensured. Also, if pinching is determined using the output obtained from the second filter 16 that prioritizes error reduction of the estimated load Fest, high detection accuracy is ensured. In this way, the presence or absence of pinching by the opening / closing body 2 is determined by the output that reflects the respective advantages of the first filter 15 and the second filter 16. Therefore, it is possible to achieve both suppression of erroneous pinching detection and high responsiveness.

[0042] (Effects of the embodiment) According to the configuration of the above embodiment, the following effects can be obtained. (1) The opening / closing body control device 1 includes a load estimation unit 10, a first filter 15, a second filter 16, an offset calculation unit 17, and a pinch determination unit 19. The load estimation unit 10 estimates a load acting on the opening / closing body 2 during an opening operation or a closing operation. The first filter 15 removes at least noise from the waveform of the estimated load Fest obtained by the load estimation unit 10. The second filter 16 removes from the waveform of the estimated load Fest a frequency lower than that removed by the first filter 15. The offset calculation unit 17 calculates an offset value Foffs of the estimated load Fest based on the output of the first filter 15. The pinch determination unit 19 performs pinch determination of the opening / closing body 2 based on the outputs of the first filter 15 and the second filter 16. In particular, the pinch determination unit 19 monitors whether pinch has started based on the output of the second filter 16, and performs pinch determination based on the offset value Foffs fixed when pinch start is detected and the output of the first filter 15.

[0043] According to this configuration, the estimated load Fest obtained by the load estimation unit 10 is converted into a waveform that prioritizes gain assurance by being filtered by the first filter 15. Also, the estimated load Fest obtained by the load estimation unit 10 is converted into a waveform that prioritizes reducing the error of the estimated load Fest by being filtered by the second filter 16. Then, the presence or absence of pinching is determined using the outputs of the first filter 15 and the second filter 16. If the presence or absence of pinching is determined using a waveform that prioritizes gain assurance, the responsiveness of the pinching determination is improved. Also, if the presence or absence of pinching is determined using a waveform in which the error of the estimated load Fest is reduced, a determination result with low erroneous detection can be obtained. Therefore, it is possible to achieve both suppression of erroneous pinching detection and high responsiveness.

[0044] (2) When the output of the second filter 16 exceeds the pinch start determination threshold Et, the pinch determination unit 19 determines that pinch has started and causes the offset calculation unit 17 to fix the offset value Foffs, and when the difference between the fixed offset value Foffs and the output of the first filter 15 exceeds the pinch determination threshold Es after the offset value Foffs is fixed, it determines that pinch has occurred. With this configuration, the start of pinch can be detected by a simple method of setting a predetermined threshold for the output of the second filter 16. Also, the presence of pinch can be detected by a simple method of setting a predetermined threshold for the difference between the output of the first filter 15 and the offset value Foffs.

[0045] (3) The load estimation unit 10 estimates the load acting on the opening-closing body 2 by using a model P obtained by converting a state space expression related to the operation of the motor 6, which is the power source of the opening-closing body 2, into a transfer function expression. According to this configuration, the load acting on the opening-closing body 2 can be detected with high accuracy by using the model P.

[0046] (4) Model P consists of motor model P1 and inverse model P2 -1 The motor model P1 includes a motor voltage value v from a voltage detection unit 11 that detects the voltage applied to the motor 6. i The angular velocity of motor 6 is estimated by inputting the inverse model P2 -1 The load estimator 10 estimates the load acting on the opening / closing body 2 by inputting the difference between the estimated angular velocity ωest output from the motor model P1 and the motor angular velocity ω output from a speed calculator 12 that calculates the rotational speed of the motor 6. ... -1 The output of the motor model P1 is output as the estimated load Fest to the first filter 15 and the second filter 16. According to this configuration, the angular velocity (external force angular velocity ω') caused by the external force is obtained with high accuracy by calculating the difference between the estimated angular velocity ωest obtained by the motor model P1 and the actual motor angular velocity ω. Then, this angular velocity (external force angular velocity ω') is input to the inverse model P2. -1 By applying this method, the load caused by the external force can be estimated with high accuracy.

[0047] (5) The offset calculation unit 17 repeatedly executes a process of finding an average value of a plurality of load values ​​(first estimated load F1est) going back from the present to the past as the offset value Foffs in units of a control period of the computer, and fixes the offset value Foffs at the time when the start of pinching is detected. With this configuration, even if the offset value Foffs suddenly changes, it is possible to correct the output of the first filter 15 by the offset value Foffs that is not affected by this change. This further contributes to improving the accuracy of pinching determination.

[0048] (Other embodiments) This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0049] The first filter 15 is, for example, Q 1 (s)-Q 2 (s) and Q 1 (s)+Q 2 Similarly, the second filter 16 may be Q 1 (s)-Q 2 (s) and Q 1 (s)+Q 2 (s) may also be used. When averaging the offset values ​​Foffs, it is not necessary to average consecutive values, but it is also possible to average a predetermined number of thinned values, for example.

[0050] The method of pinch start determination is not limited to the method of comparing the load (second estimated load F2est) with the pinch start determination threshold Et. For example, a method of integrating the load and determining whether the load exceeds a specified value may be used. This also applies to pinch start determination in which the offset-removed estimated load Fk is compared with the pinch start determination threshold Es.

[0051] The offset value Foffs is not limited to being calculated by the arithmetic mean, and may be calculated by using, for example, a weighted average, a geometric mean, or a harmonic mean. In other words, the average value is not limited to the arithmetic mean value, and includes the various average values ​​described above.

[0052] The estimated load is not limited to being calculated by a method using the model P, and may be calculated by a method using general equations (voltage equation, equation of motion), for example. The pinch detection function may be applied only to the opening operation, or only to the closing operation, or may be applied to both the opening operation and the closing operation.

[0053] The load estimation unit 10, the first filter 15, the second filter 16, the offset calculation unit 17, and the pinch determination unit 19 may be configured as follows: [1] one or more processors that operate according to a computer program (software), or [2] a combination of such a processor and one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC) that executes at least some of the various processes (steps). The processor includes a CPU and a memory such as a RAM and a ROM, and the memory stores program code or instructions that are configured to cause the CPU to execute the processes. The memory (computer-readable medium) includes any available medium that can be accessed by a general-purpose or dedicated computer. Alternatively, instead of a computer including the processor, a processing circuit configured by one or more dedicated hardware circuits that execute all of the various processes may be used.

[0054] The load estimation unit 10, the first filter 15, the second filter 16, the offset calculation unit 17, and the entrapment determination unit 19 may be configured from independent processors, or may be constructed from a processor that shares some of its functions. In this way, the load estimation unit 10, the first filter 15, the second filter 16, the offset calculation unit 17, and the entrapment determination unit 19 are not limited to being independent functional blocks, and may be configured from one functional block, or may be configured from a functional block that shares some of its functions.

[0055] Although the present disclosure has been described with reference to the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the scope of equivalents. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure.

[0056] Next, the features of the present invention will be described as follows. [1] The opening / closing body control device of the present disclosure includes a load estimation unit (10) that estimates a load acting on an opening / closing body (2) during an opening or closing operation, a first filter (15) that removes at least noise from a waveform of an estimated load (Fest) obtained by the load estimation unit, a second filter (16) that removes from the waveform of the estimated load a frequency lower than that removed by the first filter, an offset calculation unit (17) that calculates an offset value (Foffs) of the estimated load based on an output of the first filter, and a pinch determination unit (19) that performs a pinch determination on the opening / closing body based on outputs of the first filter and the second filter, and the pinch determination unit monitors whether pinch has started based on the output of the second filter, and performs a pinch determination based on the offset value fixed when the start of pinch is detected and the output of the first filter.

[0057] [2] The opening / closing body control device described in [1] above, wherein the pinch determination unit determines that pinch has started when the output of the second filter exceeds a pinch start determination threshold (Et) and causes the offset calculation unit to fix the offset value, and determines that pinch has occurred when, after the offset value is fixed, the difference between the fixed offset value and the output of the first filter exceeds a pinch determination threshold (Es).

[0058] [3] The opening / closing body control device described in [1] or [2] above, wherein the load estimation unit estimates the load acting on the opening / closing body using a model (P) obtained by converting a state space representation related to the operation of a motor (6) that powers the opening / closing body into a transfer function representation.

[0059] [4] The model detects the motor voltage value (v i a motor model (P1) that estimates the angular velocity of the motor by inputting an estimated angular velocity (ωest) output from the motor model and a motor angular velocity (ω) output from a speed calculation unit (12) that calculates the rotational speed of the motor, and an inverse model (P2) that estimates the load acting on the opening / closing body by inputting a difference between the estimated angular velocity (ωest) output from the motor model and the motor angular velocity (ω) output from a speed calculation unit (12) that calculates the rotational speed of the motor. -1 ) and the load estimation unit outputs an output of the inverse model to the first filter and the second filter as the estimated load.

[0060] [5] The opening / closing body control device described in any one of [1] to [4] above, wherein the offset calculation unit repeatedly executes a process of calculating the average value of multiple load values ​​going back from the present to the past as the offset value at each control period of the computer, and fixes the offset value at the point in time when the start of pinching is detected. [Explanation of symbols]

[0061] 1...opening / closing body control device, 2...opening / closing body, 6...motor, 10...load estimation section, 11...voltage detection section, 12...speed calculation section, 15...first filter, 16...second filter, 17...offset calculation section, 19...pinch determination section, Fest...estimated load, Foffs...offset value, Es...pinch determination threshold, Et...pinch start determination threshold, P...model, P1...motor model, P2 -1 …inverse model, v i ...motor voltage value, ω...motor angular velocity, ωest...estimated angular velocity.

Claims

1. A load estimation unit (10) that estimates a load acting on an opening / closing body (2) during an opening operation or a closing operation; a first filter (15) for removing at least noise from the waveform of the estimated load (Fest) obtained by the load estimation unit; a second filter (16) for removing frequencies lower than those removed by the first filter from the waveform of the estimated load; an offset calculation unit (17) that calculates an offset value (Foffs) of the estimated load based on an output of the first filter; a pinch determination unit (19) that performs pinch determination of the opening / closing body based on outputs of the first filter and the second filter, The pinch determination unit monitors whether pinch has started based on the output of the second filter, and performs pinch determination based on the offset value fixed when the start of pinch is detected and the output of the first filter.

2. The opening / closing body control device according to claim 1, wherein the pinch determination unit determines that pinch has started when the output of the second filter exceeds a pinch start determination threshold (Et) and causes the offset calculation unit to fix the offset value, and determines that pinch has occurred when, after the offset value is fixed, the difference between the fixed offset value and the output of the first filter exceeds a pinch determination threshold (Es).

3. The opening / closing body control device according to claim 1, wherein the load estimation unit estimates the load acting on the opening / closing body using a model (P) obtained by converting a state space representation relating to the operation of a motor (6) that powers the opening / closing body into a transfer function representation.

4. The model is A motor voltage value (v ｉ ) to estimate the angular velocity of the motor; An inverse model (P2) that estimates the load acting on the opening / closing body by inputting the difference between the estimated angular velocity (ωest) output from the motor model and the motor angular velocity (ω) output from a velocity calculation unit (12) that calculates the rotational speed of the motor. －１ ) and The opening / closing member control device according to claim 3 , wherein the load estimating unit outputs an output of the inverse model to the first filter and the second filter as the estimated load.

5. The opening / closing body control device according to claim 1, wherein the offset calculation unit repeatedly executes a process of calculating the average value of multiple load values ​​going back from the present to the past as the offset value at each control period of the computer, and fixes the offset value at the point in time when the start of pinching is detected.

6. A method for detecting an object being caught in an opening / closing body (2) during an opening or closing operation, comprising the steps of: A step of estimating a load acting on the opening / closing body (2) during an opening operation or a closing operation; A step of removing at least noise from the waveform of the estimated load (Fest) obtained by a first filter (15); removing, from the waveform of the estimated load, frequencies lower than those removed by the first filter, by a second filter (16); Calculating an offset value (Foffs) of the estimated load based on an output of the first filter; monitoring whether or not pinching has started based on an output of the second filter; fixing the offset value when a start of pinching is detected based on an output of the second filter; and performing a pinch determination based on the fixed offset value and the output of the first filter.

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