Opening / closing body control device

Abstract

To improve the precision of control over the opening / closing speed of an opening / closing body which opens and closes an opening part of a vehicle body.SOLUTION: An opening / closing body control device 10 comprises: a rotary sensor 12 which outputs a first pulse signal and a second pulse signal having a phase difference δ from the first pulse signal; an edge detection part 24 which detects pulse edges of the pulse signals; a speed update part 25 which measures and updates an opening / closing speed at predetermined update timing based upon the pulse signals, and a motor control part 26 which controls a motor 11 according to the updated opening / closing speed. The speed update part 25 performs two-pulse update processing to set, as update timing, timing when at least one of a first leading edge E1u and a first trailing edge E1d is detected and timing when at least one of a second leading edge E2u and a second trailing edge E2d is detected.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to an opening / closing control device.

Background Art

[0002] Patent Document 1 discloses a control device that feedback-controls the opening / closing speed of a sliding door for a vehicle driven by a motor. The control device inputs a rotation pulse signal of the motor, measures the rotation pulse period, and controls the motor according to the measurement result. The pulse period can be converted into the opening / closing speed. The opening / closing speed of the sliding door changes between fully open and fully closed. At high speed, the pulse period is measured in synchronization with the rising edge of the rotation pulse signal. At low speed, the pulse period is measured in synchronization with both the rising edge and the falling edge of the rotation pulse signal, thereby maintaining the measurement frequency and thus the control accuracy.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is still room for improvement in the control accuracy of the opening / closing speed of the opening / closing body.

[0005] An object of the present invention is to improve the control accuracy of the opening / closing speed of the opening / closing body.

Means for Solving the Problems

[0006] One aspect of the present invention is an opening / closing control device that controls the operation of an opening / closing body that opens and closes an opening of a vehicle body, including: a motor that outputs a rotational driving force for driving the opening / closing body; a rotation sensor that outputs two pulse signals, a first pulse signal and a second pulse signal having a phase difference with respect to the rotation of the motor, at a cycle corresponding to the rotation of the motor; an edge detection unit that detects, as pulse edges of the pulse signals, 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; a speed update unit that measures and updates the opening / closing speed of the opening / closing body based on at least one of the first pulse signal and 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. The speed update unit executes a two-pulse update process of setting, as the update timing, a timing at which at least one of the first rising edge and the first falling edge is detected and a timing at which at least one of the second rising edge and the second falling edge is detected.

[0007] According to the above configuration, the rotation sensor can output a first pulse signal and a second pulse signal having a phase difference, and the opening / closing control device can execute a two-pulse update process. In the two-pulse update process, the update timing for measuring and updating the opening / closing speed is synchronized with the detection timing of the pulse edges of the first pulse signal and the detection timing of the pulse edges of the second pulse signal. Compared with the case where the opening / closing speed is updated in synchronization with only the pulse edge of a single pulse signal, the measurement frequency of the opening / closing speed and thus the control accuracy are improved.

Effect of the Invention

[0008] 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 Drawings

[0009]

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MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings. In the drawings, the same or corresponding elements are denoted by the same reference numerals throughout the drawings, and redundant detailed descriptions are omitted.

[0011] FIG. 1 shows a part of a vehicle to which the opening / closing control device 10 (see FIG. 2) according to the present embodiment is applied. The opening / closing control device 10 controls the operation of an opening / closing body 5 that opens and closes an opening 2 of the vehicle body 1. The opening / closing body 5 is attached to the vehicle body 1 so as to be displaceable between a fully closed position where the opening 2 is fully closed and a fully open position where the opening 2 is fully opened. The operation of the opening / closing body 5 includes an opening operation of displacing toward the fully open position and a closing operation of displacing toward the fully closed position. The opening / closing body 5 is driven by a drive mechanism 6 having a motor 11 (see FIG. 2).

[0012] For example, the opening 2 is provided at the rear part of the vehicle body 1 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 attached to the vehicle body 1 by 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 configured as a rod body that expands and contracts according to the rotation direction of the motor 11 (see FIG. 2), and has one end pivotally supported by the vehicle body 1 and the other end pivotally supported by the opening / closing body 5. The opening / closing body 5 performs an opening operation in response to the extension of the rod body and a closing operation in response to the contraction of the rod body.

[0013] Note that the opening / closing body 5 is provided with a latch mechanism 7 that detachably holds a striker 3 provided on the vehicle body 1. By the action of the latch mechanism 7, the opening / closing body 5 can be held in the fully closed position.

[0014] Referring to FIG. 2, the opening / closing control device 10 includes, in addition to the motor 11 described above, a rotation sensor 12, a start command output unit 13, and a controller 20. The opening / closing control device 10 may include a motor that drives the latch mechanism 7 and a sensor that detects the state of the latch mechanism 7.

[0015] In this embodiment, a pair of drive mechanisms 6 are used to drive one opening / closing body 5. Each drive mechanism 6 has a set consisting of one motor 11 and one rotation sensor 12. Since the two sets are configured similarly to each other, only one set will be described. Note that only one of the pair of drive mechanisms 6 may have the set of the motor 11 and the rotation sensor 12. In that case, the other drive mechanism 6 does not have the set of the motor 11 and the rotation sensor 12 and is driven by the motor 11 of one drive mechanism 6.

[0016] The start command output unit 13 outputs a command to start the operation of the opening / closing body 5 according to the operation of the user. The start command output unit 13 may be constituted by a button-type switch attached to the opening / closing body 5 or the vehicle cabin and manually operated by the user. The start command output unit 13 may be constituted by a button-type switch equipped on an electronic key and manually operated by the user. The electronic key is carried by the user and is configured to be capable of wireless communication with the controller 20. The start command output unit 13 may be constituted by a human sensor (for example, an infrared sensor or a capacitance sensor, etc.) provided on the opening / closing body 5 or the vehicle body 1 in the vicinity thereof and detecting the contact or approach of the user. The operation of the user includes an act of intentionally entering a part of the body (for example, a fingertip or a toenail) within the detection range of the human sensor.

[0017] Referring to FIG. 3, the set of the motor 11 and the rotation sensor 12 is built in the housing member 6a of the drive mechanism 6. The output shaft 11a of the motor 11 is supported by the housing member 6a so as to be rotatable in both directions around its central axis A11. The output shaft 11a projects from both sides in the axial direction (the horizontal direction in FIG. 3) of the housing 11b of the motor 11. On one side in the axial direction (the left side in FIG. 3) as viewed from the housing 11b, the output shaft 11a outputs a rotational driving force for driving the opening / closing body 5. On the other side in the axial direction (the right side in FIG. 3) as viewed from the housing 11b, a part of the rotation sensor 12 is attached to the output shaft 11a.

[0018] Referring to FIGS. 3 and 4, the rotation sensor 12 includes a detected object 30 fixed to the output shaft 11a, a circuit board 40 fixed to the housing member 6a of the drive mechanism 6, and a first detection element 41 and a second detection element 42 mounted on the circuit board 40.

[0019] The detected object 30 is constituted by a ring-shaped permanent magnet fixed to the outer peripheral surface of the other end of the output shaft 11a and rotates integrally with the output shaft 11a. A plurality of magnetic poles 31 to 34 are arranged at equal angles around the central axis A11, and the N pole and the S pole are alternately arranged in the circumferential direction. Each of the magnetic poles 31 to 34 is partially annular when viewed in the axial direction, and their central angles θ are equal to each other. The central angle θ is a value obtained by dividing 360 degrees by the number of poles P (θ = 360° / P). The number of poles P is an even number due to the alternating arrangement of the N pole and the S pole. The number of pairs p of the N pole and the S pole is half of the number of poles P (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.

[0020] The circuit board 40 is disposed on the other side in the axial direction of the output shaft 11a (the right side in FIG. 3) and is slightly separated from the output shaft 11a in the axial direction. The surface of the circuit board 40 is substantially orthogonal to the axial direction and faces one side in the axial direction (the left side in FIG. 3). The first detection element 41 and the second detection element 42 are mounted on this surface at positions radially separated from the central axis A11 and face the detected object 30 in the axial direction. Both the first detection element 41 and the second detection element 42 are Hall ICs.

[0021] While the output shaft 11a is rotating, the first detection element 41 outputs a signal of low level L when facing the N pole and a signal of high level H when facing the S pole. The first detection element 41 outputs a first pulse signal such that the signal level is switched the same number of times as the number of poles P during one rotation of the motor 11. The second detection element 42 also outputs a second pulse signal in the same manner as the first detection element 41. Hereinafter, when the first pulse signal and the second pulse signal are described without distinction, they are simply referred to as "pulse signals".

[0022] As shown in FIGS. 6A and 6B, the pulse signal is a rectangular wave and includes pulse edges that appear at the timing when the signal level switches. The pulse edges are generated when the boundaries Q1 to Q4 of the magnetic poles (see also FIG. 5) pass through the detection element. The pulse edges include a rising edge indicating a transition from a low level L to a high level H and a falling edge indicating a transition from a high level H to a low level L. In one pulse signal, each time the motor 11 and the object 30 to be detected rotate by a rotation angle corresponding to the central angle θ, the rising edge and the falling edge appear alternately.

[0023] Hereinafter, the pulse edge of the first pulse signal is referred to as the "first pulse edge", the rising edge of the first pulse signal is referred to as the "first rising edge E1u", and the falling edge of the first pulse signal is referred to as the "first falling edge E1d". The pulse edge of the second pulse signal is referred to as the "second pulse edge", the rising edge of the second pulse signal is referred to as the "second rising edge E2u", and the falling edge of the second pulse signal is referred to as the "second falling edge E2d".

[0024] The rotation sensor 12 outputs two pulse signals, a first pulse signal and a second pulse signal, at a period T corresponding to the rotation of the motor 11 (more specifically, the rotation angle and the rotation speed). The "period" of the pulse signal is the time interval between two adjacent rising edges or two adjacent falling edges in the first pulse signal or the second pulse signal. In other words, the period T is the time elapsed while the motor 11 rotates by a rotation angle corresponding to a value obtained by dividing twice the central angle θ, that is, 360 degrees, by the number of pairs p (2θ = 360° / p). The number of pairs p is the number of periods corresponding to one rotation of the motor 11. When the number of poles P is 4, twice the number of pairs p is the number of periods corresponding to one rotation of the motor 11.

[0025] The second pulse signal has a phase difference δ from the first pulse signal. In this book, "having a phase difference δ" means that the timings at which the pulse edges appear in the first pulse signal and the second pulse signal are shifted. Therefore, the first pulse edge and the second pulse edge appear alternately. The "phase difference δ" is the rotation angle of the motor 11 and the detected object 30 between a certain pulse edge and the pulse edge immediately before it, or the rotation angle of the motor 11 and the detected object 30 between a certain pulse edge and the pulse edge immediately after it. The phase difference δ has two types: the first phase difference δ1 and the second phase difference δ2. The sum of the first phase difference δ1 and the second phase difference δ2 is the angular interval between two adjacent pulse edges of the pulse signal, which is equal to the central angle θ (θ = δ1 + δ2). The phase difference δ is greater than 0 degrees and less than the central angle θ (0° < δ < θ).

[0026] In FIG. 5, for the convenience of explaining the phase difference δ, different from FIG. 4, the first detection element 41 is at the 12 o'clock position together with the boundary Q1, and the first pulse edge appears. The second detection element 42 is displaced by an arrangement angle difference φ around the central axis A11 with respect to the first detection element 41.

[0027] The arrangement angle difference φ can be defined as a value obtained by multiplying the central angle θ by a non-integer coefficient. Let the integer part of the coefficient be a and the decimal part be b, then the arrangement angle difference φ is represented by the formula: 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 Q1, the second detection element 42 is located between two adjacent boundaries Q2, Q3 in the circumferential direction. Here, among the two boundaries Q2, Q3, the side closer to the first detection element 41 is referred to as the "proximal boundary Q2", and the side farther from the first detection element 41 is referred to as the "distal boundary Q3".

[0028] The angle between the first detection element 41 and the proximal boundary Q2 corresponds to the product of the integer part a and the central angle θ. The first phase difference δ1 is the angle between the proximal boundary Q2 and the second detection element 42 and corresponds to the product of the fractional part b and the central angle θ (δ1 = 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 δ2 is the angle between the second detection element 42 and the distal boundary Q3 and corresponds to the value obtained by subtracting the first phase difference δ1 from the central angle θ (δ2 = θ - δ1 = (1 - b)θ).

[0029] If the arrangement angle difference φ is an even multiple of the central angle θ (a is even and b is zero in the above formula), the second pulse signal is completely synchronized with the first pulse signal, the timings at which the pulse edges appear coincide with each other, and the directions in which the signal levels switch coincide with each other. If the arrangement angle difference φ is an odd multiple of the central angle θ (a is odd and b is zero in the above formula), although the directions in which the signal levels switch are opposite, the timings at which the pulse edges appear coincide with each other. Thus, when the arrangement angle difference φ is an integer multiple of the central angle θ, the phase difference disappears (φ ≠ aθ).

[0030] When the arrangement angle difference φ is defined as a minor angle (0° < φ < 180°), the integer part a is an integer less than the number of pairs p (a < p). If the integer part a is 0, the arrangement angle difference φ is less than the central angle θ (φ = bθ, 0° < φ < θ), and the first detection element 41 and the second detection element 42 are physically close to each other on the circuit board 40. For the convenience of 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).

[0031] If the fractional part b is a value close to 0 or 1, the two pulse signals are more or less synchronized rather than having a phase difference δ. In order to significantly generate the phase difference δ, the fractional part b preferably satisfies, for example, 1 / 3 ≤ b ≤ 2 / 3. That is, the phase difference δ (the first phase difference δ1 and the second phase difference δ2) is preferably within the range from 1 / 3 times the central angle θ to 2 / 3 times the central angle θ.

[0032] FIG. 6A shows a first pulse signal and a second pulse signal output from the rotation sensor 12 when the motor 11 and the object 30 shown in FIG. 5 rotate at a constant speed in the counterclockwise direction R1. In this case of the rotation direction, when the first detection element 41 faces the boundary Q1, a first rising edge E1u appears. Then, when the object 30 rotates by the second phase difference δ2, the second detection element 42 faces the boundary Q3, and a second rising edge E2u appears. Then, when the object 30 rotates by the first phase difference δ1, the first detection element 41 faces the boundary Q2, and a first falling edge E1d appears. Thereafter, similarly, every time the object 30 rotates alternately by an angle of the first phase difference δ1 or the second phase difference δ2, pulse edges repeatedly appear in the order of the first rising edge E1u, the second rising edge E2u, the first falling edge E1d, the second falling edge E2d, the first rising edge E1u...

[0033] FIG. 6B shows a first pulse signal and a second pulse signal output from the rotation sensor 12 when the motor 11 and the object 30 shown in FIG. 5 rotate at a constant speed in the clockwise direction R2. In this case of the rotation direction, when the first detection element 41 faces the boundary Q1, a first falling edge E1d appears. Then, when the object 30 rotates by the first phase difference δ1, the second detection element 42 faces the boundary Q2, and a second rising edge E2u appears. Then, when the object 30 rotates by the second phase difference δ2, the first detection element 41 faces the boundary Q4, and a first rising edge E1u appears. Thereafter, similarly, every time the object 30 rotates alternately by an angle of the second phase difference δ2 or the first phase difference δ1, pulse edges repeatedly appear in the order of the first rising edge E1u, the second falling edge E2d, the first falling edge E1d, the second rising edge E2u, the first rising edge E1u...

[0034] Depending on the detected object 30 and thus the rotation direction of the motor 11, the order of appearance of four types of pulse edges (the first rising edge E1u, the first falling edge E1d, the second rising edge E2u, and the second falling edge E2d) is different. Conversely, based on the difference in the order of appearance, the rotation direction can be determined. When the arrangement angle difference φ is an integer multiple of the central angle θ, this determination cannot be made.

[0035] Also, depending on the rotation direction, the phase difference δ from the appearance of the second pulse edge to the appearance of the first pulse edge is different as to whether it is the first phase difference δ1 or the second phase difference δ2. The same applies to the phase difference δ from the appearance of the first pulse edge to the appearance of the second pulse edge.

[0036] When the fractional part b is 0.5, the first phase difference δ1 and the second phase difference δ2 become equal to half the value of the central angle θ (δ1 = δ2 = θ / 2). The phase difference δ from the appearance of the second pulse edge to the appearance of the first pulse edge and the phase difference δ from the appearance of the first pulse edge to the appearance of the second pulse edge are unified to half the value of the central angle θ regardless of the rotation direction. Since there is no need to distinguish between the first phase difference δ1 and the second phase difference δ2, the update process of the opening / closing speed described later can be simplified (see the modified example).

[0037] For example, if the number of poles P is 4, the integer part a is 1, and the arrangement angle difference φ can be set within the range of 90 degrees to 180 degrees (90° < φ < 180°). This enables convenience in implementation. The arrangement angle difference φ is preferably within the range of 120 degrees to 150 degrees (120° ≤ φ ≤ 150°). This significantly generates the phase difference δ (30° ≤ δ ≤ 60°). If the arrangement angle difference φ is 135 degrees (φ = 135°), the phase difference δ is equalized (δ1 = δ2 = 45°).

[0038] For example, if the number of poles P is 6, the integer part a can be set to 1 or 2, and the arrangement angle difference φ can be set within the range of 60 degrees to 120 degrees, or within the range of 120 degrees to 180 degrees (60° < φ < 120°, 120° < φ < 180°). The arrangement angle difference φ is preferably within the range of 80 degrees to 100 degrees, or within the range of 140 degrees to 160 degrees (80° ≤ φ ≤ 100°, 140° ≤ φ ≤ 160°), and a significant phase difference δ is generated (20° ≤ δ ≤ 40°). If the arrangement angle difference φ is 90 degrees or 150 degrees (φ = 90°, 150°), the phase difference δ is equalized (δ1 = δ2 = 30°).

[0039] Returning to FIG. 2, the controller 20 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit) that cooperates with software to realize a predetermined function. The controller 20 may be composed of a dedicated electronic circuit or a reconfigurable electronic circuit such as a hardware circuit designed to realize a predetermined function, or may be composed of various semiconductor integrated circuits. Examples of the various semiconductor integrated circuits include, in addition to the CPU and MPU, a microcomputer, a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit). Further, the controller 20 may include a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

[0040] The controller 20 includes a storage unit 21, an input unit 22, a target value setting unit 23, an edge detection unit 24, a speed update unit 25, and a motor control unit 26.

[0041] The storage unit 21 can be realized by the above storage device. The storage unit 21 temporarily or permanently stores a program for controlling the opening and closing operation of the opening and closing body 5 and information used in the program.

[0042] The input unit 22 is connected to the rotation sensor 12 and the start command output unit 13. The input unit 22 acquires the pulse signals (the first pulse signal and the 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.

[0043] When the start command is acquired 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 by referring to a map or a table prestored in the storage unit 21.

[0044] The edge detection unit 24 detects the pulse edges of the pulse signals acquired by the input unit 22. As the pulse edges of the pulse signals, the edge detection unit 24 detects the first rising edge E1u and the first falling edge E1d of the first pulse signal, and the second rising edge E2u and the second falling edge E2d of the second pulse signal. When a 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.

[0045] When the start command and the pulse signals are acquired by the input unit 22, the speed update unit 25 measures the opening / closing speed of the opening / closing body 5 based on at least one of the first pulse signal and the second pulse signal at a predetermined update timing, and updates the measured value Vm of the opening / closing speed. The speed update unit 25 includes a timing setting unit 25a, a period calculation unit 25b, and a speed calculation unit 25c. Details will be described later.

[0046] The motor control unit 26 controls the motor 11 according to the updated opening / closing speed. Specifically, every time the opening / closing speed is updated by the speed update unit 25, the motor control unit 26 executes feedback control to make the measured value Vm of the opening / closing speed of the opening / closing body 5 coincide with 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. Examples of the operation command value include the current value of the current supplied to the motor 11 or the duty ratio. Thus, the update timing of the opening / closing speed is also the change timing of the operation command value.

[0047] Note that the "opening / closing speed of the opening / closing body 5" to be controlled is not limited to the displacement speed of the opening / closing body 5 itself (for example, the rotation speed of the back door (rad / s or deg / s)), and may be other speeds that can be associated with the displacement speed from the viewpoints of geometry and mechanism. Examples of such other speeds include the rotation speed of the motor 11 (rps, rad / s, or deg / s) and the operating speed of the drive mechanism 6 (for example, the extension / retraction speed of the spindle drive mechanism (mm / s)). In the present embodiment, the target value setting unit 23 sets a target value Vs of the rotation speed (rps) of the motor 11 as an example of the "opening / closing speed of the opening / closing body 5". Similarly, the speed update unit 25 also derives a measured 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".

[0048] Referring to FIG. 7, the target value Vs is variably set according to the time elapsed from the control start time t1. The target value Vs gradually increases from a zero value during the period from the control start time t1 to the first intermediate time t2. The target value Vs is maintained at a constant value during the period from the first intermediate time t2 to the second intermediate time t3. The target value Vs gradually decreases to a zero value during the period from the second intermediate time t3 to the control end time t4.

[0049] As shown by the two-dot chain line, when the update timing (the change timing of the operation command value) is synchronized only with the pulse edge of the first pulse signal, when the opening / closing speed is low, the update frequency may decrease and the measured value Vm may not follow the target value Vs well. Therefore, in the present embodiment, when the opening / closing speed is less than a predetermined threshold value Vt, more update timing is ensured. Thereby, the control accuracy at low speeds is improved. Note that the opening / closing speed to be compared with the threshold value Vt may be the measured value Vm or the target value Vs.

[0050] Next, with reference to FIGS. 8 to 12, the processing executed by the controller 20 will be described. The flows shown in FIGS. 8 to 10 start when the input unit 22 acquires a start command, and are repeated at a predetermined control cycle (for example, 10 milliseconds) until the operation of the opening / closing body 5 is completed. In the present embodiment, a case where the first phase difference δ1 and the second phase difference δ2 are different values from each other will be exemplified. Unless otherwise specified, the number of poles P is 4.

[0051] Referring to FIG. 8, the input unit 22 acquires the pulse signal sequentially output from the rotation sensor 12 (step S1). 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 according to the elapsed time from the control start time t1 (step S2). The speed update unit 25 determines whether the opening / closing speed is equal to or higher than the threshold value Vt (step S3). If the opening / closing speed is equal to or higher than the threshold value Vt (S3: YES), the speed update unit 25 executes the update process (S10) at high speed. If the opening / closing speed is less than the threshold value Vt (S3: NO), the speed update unit 25 executes the update process (S30) at low speed.

[0052] Also in the high-speed update process (S10) shown in FIG. 9 and in the low-speed update process (S30) shown in FIG. 10, if the current time is the update timing, the 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 shown in FIG. 8. If the current time is out of the update timing, it returns to the flow shown in FIG. 8 without updating the opening / closing speed by the speed update unit 25.

[0053] If the opening / closing speed has been updated (S4: YES), the motor control unit 26 executes feedback control to change the operation command value of the motor 11 based on the deviation between the currently updated measured value Vm and the target value Vs (step S5).

[0054] Next, the controller 20 determines whether or not the operation of the opening / closing body 5 has been completed (step S6). If the operation of the opening / closing body 5 has not been completed (S6: NO), the process returns to step S1 and the processing is repeated. If the opening / closing speed has not been updated (S4: NO), step S5 is skipped and the process proceeds to step S6. When the operation of the opening / closing body 5 is completed (S6: YES), the process ends.

[0055] The target value Vs and the measured value Vm to be followed therewith gradually increase from a zero value, are maintained constant at a relatively high speed, and gradually decrease to the zero value during the period from the start of the operation to the completion of the operation. Accordingly, first, the update process at low speed (S30) is executed, then the update process at high speed (S10) is executed, and finally, the update process at low speed (S30) is executed again.

[0056] Hereinafter, the update process at high speed (S10) and the update process at low speed (S30) will be described in this order.

[0057] Referring to FIGS. 9 and 11, in the update process at high speed (S10), the speed update unit 25 executes a "one-pulse update process" that refers to only one of the first pulse signal and the second pulse signal for measurement and update of the opening / closing speed. The update process includes a timing setting process for setting the update timing and a measurement process for measuring the opening / closing speed at the set update timing. In the present embodiment, in the update process at high speed (S10), the one-pulse method is applied to both the timing setting process and the measurement process.

[0058] First, the speed update unit 25 executes a one-pulse method timing setting process that refers to only the rising edge or the falling edge of the first pulse signal or the second pulse signal for setting the update timing.

[0059] Specifically, the timing setting unit 25a sets the detection timing of any one of the four types of pulse edges (the first rising edge E1u, the first falling edge E1d, the second rising edge E2u, and the second falling edge E2d) as the update timing (step S11). In the present embodiment, as a mere example, the detection timing of the first rising edge E1u is set as the update timing.

[0060] Next, the edge detection unit 24 determines whether the first rising edge E1u has been detected in the current processing flow (step S12). That is, the edge detection unit 24 determines whether the current time is the update timing. If the current time is not the update timing (S12: NO), the flow returns to the flow shown in FIG. 8, skips step S5, and proceeds to step S6.

[0061] If the current time is the update timing (S12: YES), the speed update unit 25 executes a one-pulse type measurement process of measuring the opening and closing speed by referring to only one of the first pulse signal and the second pulse signal. In the present embodiment, the first pulse signal is referred to in the timing setting process, and the first pulse signal is also referred to in the measurement process.

[0062] Specifically, the period calculation unit 25b calculates the most recent period T(n - 1) (step S21). The most recent period T(n - 1) is the time interval (seconds) from the previous update timing tr(n - 1) to the latest update timing tr(n).

[0063] Next, the period calculation unit 25b reads the past period T(n - 2) from the storage unit 21 (step S22). The past period T(n - 2) is the time interval (seconds) from the update timing tr(n - 2) before the previous time to the previous update timing tr(n - 1), and is the period T one before the most recent period T(n - 1). The past period T(n - 2) is the most recent period T(n - 1) calculated at the previous update timing tr(n - 1) and is stored in the storage unit 21. Therefore, the period calculation unit 25b does not need to recalculate the past period T(n - 2).

[0064] Next, the cycle calculation unit 25b calculates a cycle T' for speed calculation (step S23). The cycle T' for speed calculation is the average value of the most recent 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 that increases the weighting of the most recent 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.

[0065] Next, the speed calculation unit 25c derives a measured value Vm of the opening / closing speed based on the cycle T' for speed calculation (step S24). Specifically, the measured value Vm is calculated as the value obtained by dividing the reciprocal of the cycle T' for speed calculation by the number of pairs p (Vm=(1 / T') / p). The number of pairs p is the same value as the number of cycles corresponding to one rotation of the motor 11, as described above.

[0066] The cycle T' for speed calculation is the time (seconds) required for the motor 11 to rotate by the rotation angle corresponding to twice the central angle θ, that is, 360 degrees divided by the number of pairs p, in the vicinity of the current time. By multiplying the cycle T' for speed calculation by the number of pairs p, the time (seconds) required for the motor 11 to make one rotation in the vicinity of the current time can be estimated. The measured value Vm is derived as the reciprocal of this estimated value (T'×p), that is, the number of rotations per unit time (rps or Hz) of the motor 11 in the vicinity of the current time.

[0067] When the measured value Vm is derived in this way, the speed update unit 25 updates the measured value Vm. Returning to the flow shown in FIG. 8, feedback control is executed using the updated measured value Vm (step S5).

[0068] Next, referring to FIGS. 10 and 12, in the update process at low speed (S30), the speed update unit 25 executes a "two-pulse update process" that refers to both the first pulse signal and the second pulse signal for measuring and updating the opening / closing speed. In the present embodiment, in the update process at low speed (S30), the two-pulse method is applied to both the timing setting process and the measurement process.

[0069] The speed update unit 25 refers to both the first pulse signal and the second pulse signal for setting the update timing. Specifically, the timing setting unit 25a sets at least one of the detection timings of the first rising edge E1u and the first falling edge E1d, and at least one of the detection timings of the second rising edge E2u and the second falling edge E2d as the update timing (step S31). In the present embodiment, as a mere example, the detection timings of all four of the first rising edge E1u, the first falling edge E1d, the second rising edge E2u, and the second falling edge E2d are set as the update timing.

[0070] Next, the edge detection unit 24 determines whether any one of the four pulse edges has been detected in the current processing flow (step S32). That is, the edge detection unit 24 determines whether the current time is the update timing tr(n). If the current time is not the update timing tr(n) (S32: NO), the flow returns to the flow shown in FIG. 8, skips step S5, and proceeds to step S6.

[0071] If the current time is the update timing tr(n) (S32: YES), the 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, that is, the latest update timing tr(n), is referred to as the "latest edge E(n)".

[0072] Specifically, the period calculation unit 25b sets the starting edge E'(n) (step S41) and calculates the latest edge interval τ(n) (step S42). The latest edge interval τ(n) is the time interval from the timing at which the starting edge E'(n) is detected (hereinafter, the starting timing tr'(n)) to the current time (in other words, the timing at which the latest edge is detected, and more specifically, the latest update timing tr(n)).

[0073] The starting timing tr´(n) is the starting point of the latest edge interval τ(n). The starting edge E´(n) is a pulse edge detected a predetermined number of edges in the past from the latest edge E(n) among the four types of pulse edges sequentially detected by the edge detection unit 24. The predetermined number of edges is, for example, 1. In that case, the starting edge E´(n) is the pulse edge detected immediately before the latest edge E(n).

[0074] When the predetermined number of edges is 1, the latest edge interval τ(n) is the time required for the motor 11 to rotate by the rotation angle corresponding to the phase difference δ between the latest edge E(n) and the pulse edge that appeared immediately before the latest edge E(n). When the fractional part b is not 0.5, the phase difference δ becomes either the first phase difference δ1 or the second phase difference δ2, which are different from each other. Which one is applied is determined according to the rotation direction and whether the latest edge E(n) is the first pulse edge or the second pulse edge.

[0075] Therefore, the period calculation unit 25b sets the phase difference δ corresponding to the latest edge E(n) to the first phase difference δ1 or the second phase difference δ2 according to the rotation direction of the motor 11 and whether the latest edge E(n) is the first pulse edge or not (steps S43, S44a, S44b).

[0076] For example, if the rotation direction is the counterclockwise direction R1 in FIG. 5 (S43: YES), the first pulse edge is associated with the first phase difference δ1, while the second pulse edge is associated with the second phase difference δ2 (step S44a). If the rotation direction is the clockwise direction R2 in FIG. 5 (S43: NO), the first pulse edge is associated with the second phase difference δ2, while the second pulse edge is associated with the first phase difference δ1 (step S44b).

[0077] Next, the period calculation unit 25b calculates a period T' for speed calculation (step S45). The period T' for speed calculation is an estimated period T (corresponding to the rotation angle required for the motor 11 to rotate by a rotation angle equivalent to twice the central angle θ, that is, the value obtained by dividing 360 degrees by the number of pairs p) based on the ratio of the phase difference δ and the latest edge interval τ(n). The period T' for speed calculation is obtained by multiplying the latest edge interval τ(n) by the value obtained by dividing the rotation angle by the phase difference δ (T' = τ(n) × (360 / p) / δ). When dividing by the phase difference δ, the first phase difference δ1 or the second phase difference δ2 set in steps S44a and S44b is applied to the phase difference δ.

[0078] Next, the speed calculation unit 25c derives a measured value Vm of the opening / closing speed based on the period T' for speed calculation in the same manner as in the 1-pulse method (step S46). The measured value Vm is calculated as the value obtained by dividing the reciprocal of the period T' for speed calculation by the number of pairs p (Vm = (1 / T') / p). The measured value Vm is derived as the rotational speed (rps or Hz) of the motor 11 per unit time.

[0079] When the measured value Vm is derived in this way, the speed update unit 25 updates the measured value Vm. When returning to the flow shown in FIG. 8, feedback control is executed using the updated measured value Vm (step S5).

[0080] In the opening / closing mechanism control device 10 having the above configuration, the rotation sensor 12 can output a first pulse signal and a second pulse signal having a phase difference δ from each other. The speed update unit 25 of the controller 20 executes a 2-pulse update process that refers to both the first pulse signal and the second pulse signal in the update process of measuring and updating the opening / closing speed. In particular, in the timing setting process, the speed update unit 25 sets, as the update timing, the timing at which at least one of the first rising edge E1u and the first falling edge E1d is detected and the timing at which at least one of the second rising edge E2u and the second falling edge E2d is detected. Further, the speed update unit 25 executes a 2-pulse update process when the opening / closing speed of the opening / closing body 5 is less than the threshold value Vt.

[0081] In the two-pulse update process, 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. Compared with the case where the opening / closing speed is updated synchronously only with the pulse edge of a single pulse signal, the measurement frequency of the opening / closing speed is improved. Therefore, as shown in FIG. 7, the measured value Vm can well follow the target value Vs, and the control accuracy is improved.

[0082] In this embodiment, when the opening / closing speed is less than the threshold value Vt, the target value Vs gradually increases or decreases, and the opening / closing body 5 accelerates or decelerates. 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 as per the control target.

[0083] FIG. 13 is a flowchart of the update process (S30) at low speed according to the modified example. If the fractional part b is 0.5, regardless of whether the latest edge E(n) is the first pulse edge or the second pulse edge, and regardless of the rotation direction of the motor 11, the angular interval between the latest edge E(n) and the immediately preceding pulse edge is half of the central angle θ (δ = δ1 = δ2 = θ / 2).

[0084] Therefore, in this modified example, steps S43, S44a, and S44b are omitted (see also FIG. 10). In step S45, the formula for calculating the speed calculation period T' can be simplified. Four times the equalized phase difference δ corresponds to the rotation angle for one cycle. Therefore, the speed calculation period T' can be derived simply by quadrupling the latest edge interval τ(n) (T' = 4τ(n)).

[0085] Next, referring to FIGS. 14 to 16, the second embodiment will be described. Also in this embodiment, the update process is made different for low speed and high speed. In the update process at low speed, the two-pulse method is applied to both the timing setting process and the measurement process. The content of the measurement process is different from that of the first embodiment. Hereinafter, the second embodiment will be described centering on the differences from the first embodiment.

[0086] As shown in FIG. 14, in the measurement process, similar to the first embodiment (see steps S41 and S42 in FIG. 10), the period calculation unit 25b sets the starting edge E'(n) (step S51) and calculates the latest edge interval τ(n) (step S52). Also in this embodiment, the starting edge E'(n) is a pulse edge detected a predetermined number of edges in the past from the latest edge E(n). As an example, the predetermined number of edges is 1, and the starting edge E'(n) is the pulse edge immediately before the latest edge E(n).

[0087] Next, the period calculation unit 25b sets the past corresponding edge E(n - p) (step S53), sets the past starting 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 a predetermined number of periods in the past from the latest update timing. The predetermined number of periods is, for example, the number of periods corresponding to one rotation of the motor 11, that is, the same as the number of pairs p. For example, when the number of poles P is 4, the predetermined number of periods is 2.

[0088] Next, the period calculation unit 25b calculates the past period T(n - p) (step S56). For example, the past period T(n - p) is the time required for the motor 11 to rotate by the rotation angle corresponding to one period starting from the past starting edge E'(n - p). The period calculation unit 25b reads the detection timing tr'(n - p) of the past starting edge E'(n - p) and the detection timing of the pulse edge after one period (past period end timing t(n - p)) from the storage unit 21, and calculates the past period T(n - p) from the difference between the two detection timings.

[0089] Next, the period calculation unit 25b calculates the period T' for speed calculation (step S57). In this embodiment, the period T' for speed calculation is calculated by multiplying the ratio of the latest edge interval τ(n) to the past edge interval τ(n - p) (τ(n) / τ(n - p)) by the past period T(n - p) (T' = (τ(n) / τ(n - p)) × T(n - p)).

[0090] Next, the speed calculation unit 25c derives the measured value Vm of the opening / closing speed based on the speed calculation period T´ (step S58). The measured value Vm is calculated as a value obtained by dividing the reciprocal of the speed calculation period T´ by the number of pairs p (Vm = (1 / T´) / p). The measured value Vm is derived as the rotation speed (rps or Hz) of the motor 11 per unit time.

[0091] As described above, the past start edge E´(n-p) is a pulse edge detected a predetermined number of edges in the past from the past corresponding edge E(n-p). This predetermined number of edges is the same as the number of edges considered when setting the start edge E´(n). In this example, since the start edge E´(n) is set to the pulse edge one before the latest edge E(n), the past start edge E´(n-p) is also set to the pulse edge one before the past corresponding edge E(n-p).

[0092] The past edge interval τ(n-p) is the time interval (seconds) from the past start timing tr´(n-p) to the past corresponding timing tr(n-p).

[0093] The past corresponding edge E(n-p) is a pulse edge detected a rotation of the motor 11 in the past from the detection timing of the latest edge E(n). That is, the latest 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 Q1 to Q4 of the plurality of magnetic poles 31 to 34 provided on the detected object 30.

[0094] The start edge E´(n) and the past start edge E´(n-p) are pulse edges detected a predetermined number of edges in the past from the latest edge E(n) and the past corresponding edge E(n-p), respectively. Therefore, the start edge E´(n) and the past start edge E´(n-p) are also 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 Q1 to Q4 of the plurality of magnetic poles 31 to 34 provided on the detected object 30.

[0095] Referring to FIG. 16, ideally, the central angles of the respective magnetic poles 31 to 34 of the rotation sensor 12 are equal to each other. However, in reality, there are variations in the central angles θ1, θ2, θ3, and θ4 of the magnetic poles 31 to 34. As described above, when the past edge interval τ(n - p) is determined, the latest edge interval τ(n) and the past edge interval τ(n - p) are the times required for the motor 11 to rotate through the same phase portion in the detected object 30.

[0096] The period calculation unit 25b calculates the period T' for speed calculation by applying the ratio relationship between the past edge interval τ(n - p) and the past period T(n - p) to the ratio relationship between the latest edge interval τ(n) and the period T' for speed calculation. The latest edge interval τ(n) and the past edge interval τ(n - p) are the times required for the motor 11 to rotate through the same rotation angle even if there are variations in the magnetic poles 31 to 34 of the rotation sensor 12. Therefore, the period T' for speed calculation, which is the period of the pulse signal near the current time, can be accurately estimated from the past period T(n - p).

[0097] The above configuration can be appropriately changed within the scope of the gist of the present invention.

[0098] In each of the above embodiments, in the update process (S30) at low speed, the measurement process of the two-pulse method is performed at all update timings. However, the measurement process of the one-pulse method (see FIG. 9) may be executed at some update timings, and the measurement process of the two-pulse method (see FIGS. 10, 13, and 14) may be executed at the remaining update timings.

[0099] In each of the above embodiments, in the update process (S30) at low speed, the timing setting process of the two-pulse method is performed, and in the update process (S10) at high speed, the timing setting process of the one-pulse method is performed. However, the timing setting process of the two-pulse method may also be performed in the update process (S10) at high speed.

[0100] In some of the measurement processes exemplified above, the detection timing of past pulse edges, past edge intervals, or past periods are used for calculating the period T' for speed calculation. When such past data does not exist at the beginning of control, exception handling is appropriately performed.

[0101] The opening 2 may be provided on the 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 the luggage compartment or the engine room, and the opening / closing body 5 may be, in addition to a door, a trunk lid or a bonnet. The rotation axis of the opening / closing body 5 may extend in the vehicle height direction in addition to the vehicle width direction. The displacement of the opening / closing body 5 may be realized by sliding in addition to rotation. The drive mechanism 6 is not limited to a spindle drive mechanism, and can be appropriately changed according to the form of the opening 2, the location of the opening / closing body 5, and the displacement form of the opening / closing body 5 so as to be suitable for the operation of the opening / closing body 5.

Explanation of Signs

[0102] 1 Vehicle body 2 Opening 3 Striker 5 Opening / closing body 6 Drive mechanism 6a Housing member 7 Latch mechanism 10 Opening / closing control device 11 Motor 11a Output shaft 11b Housing 12 Rotation sensor 13 Start command output unit 20 Controller 21 Storage unit 22 Input unit 23 Target value setting unit 24 Edge detection unit 25 Speed update unit 25a Timing setting unit 25b Period calculation unit 25c Speed calculation unit 26 Motor control unit 30 Object to be detected 31 - 34 Magnetic poles 40 Circuit board 41 First detection element 42 Second detection element A11 Central axis a Integer part b Decimal part P Number of poles p Number of pairs E1u First rising edge E1d First falling edge E2u Second rising edge E2d Second falling edge E(n) Latest edge E´(n) Starting edge E(n - p) Past corresponding edge E´(n - p) Past starting edge Q1~Q4 Boundary T Period T(n - 1) Immediate past period T(n - 2), T(n - p) Past periods T´ Period for speed calculation t1 Control start point t2 First intermediate point t3 Second intermediate point t4 Control end point tr(n) Latest update timing tr´(n) Starting timing tr(n - p) Past corresponding timing tr´(n - p) Past starting timing t(n - p) Past period end timing Vm Measured value Vs Target value Vt Threshold value δ Phase difference δ1 First phase difference δ2 Second phase difference θ, θ1, θ2, θ3, θ4 Central angle τ(n) Latest edge interval τ(n - p) Past edge interval φ Arrangement angle difference

Claims

1. An opening / closing control device that controls the operation of an opening / closing body that opens and closes an opening of a vehicle body, a motor that outputs a rotational driving force for driving the opening / closing body, a rotation sensor that outputs two pulse signals, a first pulse signal and a second pulse signal having a phase difference from the first pulse signal, at a period corresponding to the rotation of the motor, an edge detection unit that detects, as pulse edges of the pulse signals, 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, a speed update unit that measures and updates the opening / closing speed of the opening / closing body based on at least one of the first pulse signal and the second pulse signal at a predetermined update timing, a motor control unit that controls the motor according to the updated opening / closing speed, comprising: The speed update unit executes a two-pulse update process of setting, as the update timing, a timing at which at least one of the first rising edge and the first falling edge is detected and a timing at which at least one of the second rising edge and the second falling edge is detected. An opening / closing control device.

2. The speed update unit executes the two-pulse update process when the opening / closing speed measured by the speed update unit is less than a predetermined value. The opening / closing control device according to claim 1.

3. Defining the pulse edge detected at the latest update timing as the latest edge, Defining, as a starting edge, one that is a predetermined number of edges in the past from the latest edge among the pulse edges sequentially detected by the edge detection unit, Defining, as a starting timing, the timing at which the starting edge is detected by the edge detection unit, In the case of defining the time from the starting timing to the latest update timing as the latest edge interval, During the execution of the two-pulse update process, the speed update unit measures, at the latest update timing, the latest edge interval, and measures the opening / closing speed based on the latest edge interval. The opening / closing control device according to claim 1 or 2.

4. Defining the interval between two adjacent rising edges or two adjacent falling edges in the first pulse signal or the second pulse signal as one cycle of the pulse signal, Define the pulse edges detected at the past update timings by a predetermined number of cycles from the latest update timing as past corresponding edges. Among the pulse edges sequentially detected by the edge detection unit, define those that are the same number as the predetermined number of edges in the past from the past corresponding edges as past starting edges. Define the timing at which the past starting edge is detected by the edge detection unit as the past starting timing. In the case of defining the time from the past starting timing to the past update timing as the past edge interval, During the execution of the two-pulse update process, the speed update unit, at the latest update timing, measures the past edge interval together with the latest edge interval, and measures the opening / closing speed based on the ratio between the latest edge interval and the past edge interval. The opening / closing control device according to claim 3.

5. The predetermined number of cycles is the number of cycles corresponding to one rotation of the motor. The opening / closing control device according to claim 4.

Images