Vehicle opening / closing body control device

Abstract

To enable easy manual operation of an opening / closing body.SOLUTION: A door ECU as a vehicle opening / closing body control device includes a motor control unit that controls the operation of a motor that serves as a drive source for a sliding door as an opening / closing body provided in a vehicle. The motor control unit calculates a motor control command that generates magnetic flux in a direction that weakens the magnetic flux of a motor magnet when the sliding door is opened or closed by a user's manual operation.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control device for a vehicle opening / closing member. [Background technology]

[0002] Conventionally, there have been opening / closing body control devices for vehicles that have a drive source and perform opening / closing operations on the opening / closing body of the vehicle. Some of these opening / closing body control devices use a brushless motor as a drive source, such as a power sliding door device shown in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-180245 Summary of the Invention [Problem to be solved by the invention]

[0004] Furthermore, in vehicles, opening and closing devices are sometimes operated manually. Furthermore, when this occurs, a motor rotates based on the operation input, generating a regenerative current. This generates regenerative torque, which acts as a load, making the opening and closing device difficult to manually operate. [Means for solving the problem]

[0005] The vehicle opening / closing body control device of the present invention includes a motor control unit that controls the operation of a motor that serves as the driving source for an opening / closing body installed in a vehicle, and the motor control unit calculates a motor control command such that, when the opening / closing body is opened or closed by manual operation by a user, magnetic flux is generated in a direction that weakens the magnetic flux of the motor magnet.

[0006] With the above configuration, when a user manually operates the opening / closing body, the motor that rotates due to the external force is unlikely to generate regenerative torque, allowing the user to easily operate the opening / closing body with a relatively small operating force. [Effects of the Invention]

[0007] According to the present invention, the opening / closing body can be easily manually operated. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram of a power sliding door device. [Figure 2] FIG. 2 is a control block diagram of the power sliding door device. [Figure 3] FIG. 3 is a flowchart showing the control mode switching process. [Figure 4] FIG. 4 is an explanatory diagram of field-weakening control performed by setting the d-axis current to a negative value. [Figure 5] FIG. 5 is a schematic diagram of a control table used when calculating a d-axis current command value during manual operation. [Figure 6] FIG. 6 is a flowchart illustrating another example of the procedure for determining a manual operation. [Figure 7] FIG. 7 is a flowchart illustrating another example of the procedure for determining a manual operation. [Figure 8] FIG. 8 is a schematic diagram of a current sensor according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for a vehicle opening / closing member will be described below with reference to the drawings. (sliding door) As shown in Fig. 1, a sliding door 1 as an opening / closing body provided on a vehicle is supported on the side of the vehicle (not shown) and moves in the front-to-rear direction to open and close a door opening provided on the side of the vehicle. Specifically, the sliding door 1 moves toward the front side of the vehicle (left side in Fig. 1) to enter a fully closed state that blocks the door opening. On the other hand, the sliding door 1 moves toward the rear side of the vehicle (right side in Fig. 1) to enter an open state that allows passengers to get in and out of the door opening. The sliding door 1 is provided with a door handle 3 for opening and closing the sliding door 1.

[0010] The sliding door 1 is also provided with a plurality of locking devices 5. The sliding door 1 is provided with a front lock 5a and a rear lock 5b as fully closed locks that restrain the sliding door 1 in the fully closed position. The sliding door 1 is also provided with a fully open lock 5c that restrains the sliding door 1 in the fully open position. In the sliding door 1 of this embodiment, each of these locking devices 5 is connected to the door handle 3 via a remote control 6.

[0011] That is, the sliding door 1 of this embodiment is designed so that the restraint state of each locking device 5 can be released by operating the outside door handle and the inside door handle as the door handle 3. The sliding door 1 can also be remotely released from the restraint state of each locking device 5 by an occupant operating an operation switch or a portable device provided in the vehicle cabin. The sliding door 1 can be manually opened and closed by using the door handle 3 as a grip.

[0012] (power sliding door device) The sliding door 1 of this embodiment is provided with a door actuator 11 using a motor 10 as a drive source. The motor 10 of the door actuator 11 is rotated by receiving drive power from a door ECU 21 that functions as a motor control device. That is, the door ECU 21 of this embodiment controls the operation of the door actuator 11 through the drive power supplied to the motor 10. As a result, the vehicle of this embodiment forms a power sliding door device 30 that can open and close the sliding door 1 based on the drive force of the motor 10.

[0013] More specifically, the door actuator 11 of this embodiment includes an opening / closing drive unit 31 that drives the sliding door 1 to open and close based on the driving force of the motor 10. The door actuator 11 of this embodiment also includes a pulse sensor 32 that outputs a pulse signal synchronized with the operation of the opening / closing drive unit 31. The door ECU 21 of this embodiment detects the actuation position X and actuation speed SPd of the sliding door 1 driven by the door actuator 11 based on the pulse output of the pulse sensor 32.

[0014] Furthermore, the door ECU 21 of this embodiment is configured to receive an operation input signal Scr as an output signal from an operation input unit 33 provided on the door handle 3, in the vehicle interior, a portable device, etc. That is, the door ECU 21 of this embodiment detects a request from a user to operate the sliding door 1 based on this operation input signal Scr. Then, the door ECU 21 is configured to control the operation of the door actuator 11 to move the sliding door 1 in the requested operation direction.

[0015] In the power sliding door device 30 of this embodiment, vehicle control signals, such as an ignition signal and an engine cranking signal (not shown), are also input to the door ECU 21. The door ECU 21 of this embodiment is configured to use these control signals to control the opening and closing of the sliding door 1.

[0016] 2, the door ECU 21 of this embodiment includes a door opening / closing control unit 41 that calculates a door control command for executing opening / closing control of the sliding door 1 based on an operation request from a user indicated by the operation input signal Scr. The door ECU 21 also includes a motor control unit 42 that generates a motor control signal for controlling the motor 10 that serves as a drive source for the sliding door 1 based on the door control command output by the door opening / closing control unit 41. The door ECU 21 also includes a drive circuit 43 that supplies drive power to the motor 10 based on the motor control signal output by the motor control unit 42.

[0017] Specifically, in the power sliding door device 30 of this embodiment, a surface permanent magnet brushless motor (SPM) that rotates when supplied with three-phase drive power is used as the motor 10 of the door actuator 11. The drive circuit 43 of this embodiment uses a well-known PWM inverter that is made up of a bridge-connected plurality of switching elements (FETs: Field Effect Transistors) that are turned on / off by input of the motor control signal.

[0018] In the power sliding door device 30 of this embodiment, a power supply line 46 between the drive circuit 43 and the on-board power supply 45 is provided with a relay circuit 47 that can cut off the power supply line 46. A protective Zener diode 48 is connected between the relay circuit 47 and the drive circuit 43.

[0019] More specifically, in the power sliding door device 30 of this embodiment, the door opening / closing control unit 41 provided in the door ECU 21 calculates, as the door control command, an operation speed command value SPd* corresponding to the operation position X of the sliding door 1. The detected operation speed SPd of the sliding door 1 is input to the motor control unit 42 together with the operation speed command value SPd* output by the door opening / closing control unit 41. The motor control unit 42 of this embodiment includes a motor control command calculation unit 50 that calculates a motor control command so that the operation speed SPd of the sliding door 1 follows the operation speed command value SPd*, which is the control target value.

[0020] That is, the operating speed SPd of the sliding door 1 is converted into the mechanical rotational angular velocity of the motor 10, which is the drive source of the opening / closing drive unit 31 of the door actuator 11, that is, into the "angular velocity of the mechanical angle," based on the reduction ratio of a reduction gear (not shown) that constitutes the opening / closing drive unit 31. The motor control unit 42 of this embodiment is configured to control the operation of the motor 10 through the generation of the motor control signal by executing current control based on the motor control command output by the motor control command calculation unit 50.

[0021] (current vector control) More specifically, the motor control unit 42 of this embodiment receives the phase currents Iu, Iv, and Iw of the motor 10, detected based on the output signal of the current sensor 51. The motor control unit 42 also receives the rotation angle θ of the motor 10, detected by the rotation angle sensor 52. In this case, the rotation angle θ of the motor 10 is an electrical angle, and 1° of the mechanical angle corresponds to the product of 1° of the electrical angle multiplied by the number of pole pairs of the motor 10, i.e., the electrical angle magnification. The motor control unit 42 of this embodiment also includes a three-phase / two-phase conversion unit 53 that converts the phase currents Iu, Iv, and Iw of the motor 10 into a d-axis current Id and a q-axis current Iq by mapping them onto orthogonal coordinates in a d / q coordinate system based on the detected rotation angle θ. The motor control unit 42 of this embodiment is thus configured to perform current vector control in the d / q coordinate system.

[0022] More specifically, in the motor control unit 42 of this embodiment, the motor control command calculation unit 50 calculates a d-axis current command value Id* and a q-axis current command value Iq* as the motor control commands. That is, in current vector control in the d / q coordinate system, the direction in which magnetic flux is generated by the magnet of the brushless motor is defined as the "d-axis," and the direction perpendicular to this "d-axis" is defined as the "q-axis." Therefore, in current vector control in the d / q coordinate system, the magnitude of the torque generated by the motor 10 is proportional to the q-axis current Iq, which is expressed as a DC amount on the q-axis. Thus, the motor control command calculation unit 50 of this embodiment is configured to calculate a q-axis current command value Iq* with a larger absolute value the greater the deviation between the input operating speed command value SPd* and the detected operating speed SPd of the sliding door 1.

[0023] The motor control command calculation unit 50 of this embodiment calculates, for example, "0" as the d-axis current command value Id* (Id*=0). The motor control unit 42 of this embodiment is thereby configured to control the rotation of the motor 10 with high efficiency.

[0024] In the motor control unit 42 of this embodiment, the d-axis current command value Id* and the q-axis current command value Iq* output by the motor control command calculation unit 50 are input to differentiators 54d and 54q corresponding to the respective axes, along with the d-axis current Id and the q-axis current Iq output by the three-phase / two-phase conversion unit 53. Furthermore, the current deviations ΔId and ΔIq for each axis calculated by the differentiators 54d and 54q are input to the corresponding F / B control units 55d and 55q. Note that "F / B" is an abbreviation for "feedback." That is, each of the F / B control units 55d and 55q executes feedback control calculations based on the input current deviations ΔId and ΔIq for each axis. The motor control unit 42 of this embodiment is configured to thereby calculate a d-axis voltage command value Vd* and a q-axis voltage command value Vq*, which are voltage command values ​​in the d / q coordinate system.

[0025] The motor control unit 42 of this embodiment also includes a two-phase / three-phase conversion unit 56 that converts the d-axis voltage command value Vd* and the q-axis voltage command value Vq* into phase voltage command values ​​Vu*, Vv*, and Vw* by mapping them onto three-phase AC coordinates based on the rotation angle θ of the motor 10. The motor control unit 42 also includes a PWM conversion unit 57 that generates motor control signals having on-duty ratios corresponding to the phase voltage command values ​​Vu*, Vv*, and Vw*. The motor control unit 42 of this embodiment then outputs the motor control signals to the drive circuit 43, thereby controlling the on / off state of each switching element constituting the drive circuit 43, i.e., the operation of the drive circuit 43.

[0026] For ease of explanation, the functions of the current sensor 51 and the rotation angle sensor 52 in FIG. 2 are shown in a simplified schematic representation. For example, the sum of the phase currents Iu, Iv, and Iw is "0." Therefore, in practice, only "2" current detectors are required to detect these. Also, for ease of explanation, the illustration and description of the A / D converter, capture processor, etc. in FIG. 2 are omitted.

[0027] (Switching control modes) In the power sliding door device 30 of this embodiment, an on / off signal of a main switch (not shown) provided in the vehicle compartment is input as the operation input signal Scr to the door ECU 21. When the main switch is on, the power sliding door device 30 of this embodiment is configured such that the door ECU 21 executes the opening / closing control of the sliding door 1 by the motor drive as described above.

[0028] 3, in the door ECU 21 of this embodiment, when the door opening / closing control unit 41 acquires the operation input signal Scr (step 101), it determines whether the operation input signal Scr indicates that the main switch is on (step 102). Furthermore, when the door opening / closing control unit 41 of this embodiment determines that the main switch of the power sliding door device 30 is on (step 102: YES), it outputs a door control command for controlling the opening and closing of the sliding door 1 by driving the motor. That is, in order to drive the sliding door 1 to open or close based on the driving force of the motor 10, the door opening / closing control unit 41 outputs the operation speed command value SPd* of the sliding door 1 to the motor control command calculation unit 50 as described above (power mode, step 103).

[0029] Furthermore, in step 102, if the operation input signal Scr indicates "main switch off" (step 102: NO), the door opening / closing control unit 41 of this embodiment transitions to "manual mode" (step 104). Specifically, when the door opening / closing control unit 41 of this embodiment transitions to this "manual mode", it does not output the operating speed command value SPd* to the motor control command calculation unit 50. Furthermore, the door opening / closing control unit 41 of this embodiment outputs a control signal Smm to the motor control command calculation unit 50 indicating that it has transitioned to the "manual mode". Then, the door ECU 21 of this embodiment is configured so that the motor control unit 42 does not execute current control for causing the motor 10 to generate a driving force for opening or closing the sliding door 1.

[0030] That is, in the "power mode", the door ECU 21 of this embodiment drives the sliding door 1 to open or close based on the driving force of the motor 10. In the "manual mode", the door ECU 21 does not drive the sliding door 1 to open or close based on the driving force of the motor 10.

[0031] (Field weakening control during manual operation) Furthermore, in the power sliding door device 30 of this embodiment, when in "manual mode," it is determined that the opening and closing operation of the sliding door 1 is manual, and the motor control unit 42 executes field-weakening control. That is, by calculating a motor control command that generates magnetic flux in a direction that weakens the magnetic flux of the motor magnet, it is possible to suppress power generation due to the rotation of the motor 10 when the sliding door 1 is opened or closed manually. Thus, the power sliding door device 30 of this embodiment is configured so that the user can manually operate the sliding door 1 with a relatively small operating force.

[0032] More specifically, in the motor control unit 42 of this embodiment, when in the "manual mode," the motor control command calculation unit 50 outputs "0" as the q-axis current command value Iq* (Iq*=0). Furthermore, the motor control command calculation unit 50 outputs a "negative" value as the d-axis current command value Id* (Id*<0). In other words, the motor control unit 42 controls the q-axis current Iq to be "0" (Iq=0). Furthermore, the motor control unit 42 controls the d-axis current Id to be a "negative" value (Id<0). As a result, the motor control unit 42 of this embodiment is configured to perform field-weakening control during manual operation by the user without causing the motor 10 to generate a driving force for the sliding door 1.

[0033] That is, in the current vector control in the d / q coordinate system, the following two voltage equations hold: Vd=Ra×Id+pLd×Id-ω×Lq×Iq (1) Vq=Ra×Iq+pLd×Iq+ω×Ld×Id+ω×Φa (2) where "Vd" is the d-axis voltage, "Vq" is the q-axis voltage, "Ra" is the series resistance per phase of the motor coil, "Ld" is the d-axis inductance, and "Lq" is the q-axis inductance. Furthermore, "p" is the time differential, "Φa" is the magnetic flux of the motor magnet, and "ω" is the angular velocity (electrical angle) of the motor 10.

[0034] Furthermore, when a surface permanent magnet brushless motor is used, "Iq = 0" means that the motor 10 does not generate motor torque, and if there is no local change in current, "pId = 0" and "pIq = 0" are obtained. Substituting these into the above equations (1) and (2), the following two equations are obtained.

[0035] Vd = Ra × Id (3) Vq = ω × (Ld × Id + Φa) (4) Here, the composite voltage in the d / q coordinate system is "Vdq," and the power supply voltage of the on-board power supply 45 is "Vbat." In this case, the condition under which the regenerative torque becomes "0," that is, the condition under which the load torque generated by the power generation of the motor 10 when the motor 10 is rotated by an external force, becomes "0," can be expressed by the following equation.

[0036] |Vdq|=√(Vd^2+Vq^2)<1.1547×Vbat / 2 ···(5) In the above formula (5), "^2" means "squared," and "1.1547" is the gain of space vector modulation.

[0037] Furthermore, as shown in FIG. 4, by setting "Id<0," the composite magnetic flux "Ld×Id+Φa" of the magnetic flux "Ld×Id" based on the d-axis current Id and the magnetic flux "Φa" of the motor magnet is reduced. As a result, the value of the q-axis voltage Vq shown in the above equation (4) is reduced. In other words, by reducing the value of the composite voltage "Vdq" in the d / q coordinate system shown in the above equation (5), the speed condition of the motor 10 under which the regenerative torque becomes "0" is expanded. In other words, even at a higher angular velocity ω, the motor 10 rotating due to the external force is less likely to generate regenerative torque. In other words, load torque that interferes with manual operation is less likely to be generated. The motor control command calculation unit 50 of this embodiment is configured to utilize this to calculate a negative d-axis current command value Id* during manual operation by a user so that the following equation is established.

[0038] |Vdq|=√{Ra^2×Id^2+ω^2×(Ld×Id+Φa)^2} <1.1547×Vbat / 2 (6) 2, in the door ECU 21 of this embodiment, the angular velocity ω of the motor 10 is input to the motor control command calculation unit 50. In the "manual mode," the motor control command calculation unit 50 of this embodiment calculates a d-axis current command value Id* having a "negative value" based on the input angular velocity ω of the motor 10.

[0039] Specifically, as shown in FIG. 5 , the door ECU 21 of this embodiment stores, in its storage area 60, a control table 61 in which the angular velocity ω of the motor 10 is associated with a d-axis current command value Id* in the "manual mode." That is, in this control table 61, the larger the absolute value of the angular velocity ω of the motor 10, the larger the "negative value" of the d-axis current command value Id* is associated. More specifically, in the example shown in FIG. 5 , "negative value" d-axis current command values ​​Id* with different absolute values ​​are defined for each of the five speed ranges based on the above formula (6). In the "manual mode," the motor control command calculation unit 50 then refers to this control table 61 for the input angular velocity ω of the motor 10 to calculate a d-axis current command value Id* with a different value for each predetermined speed range for the angular velocity ω. That is, the motor control unit 42 of this embodiment is configured to determine the "negative value" d-axis current Id that serves as the target of the field-weakening control.

[0040] (Action of this embodiment) That is, in current vector control in the d / q coordinate system, by controlling the q-axis current Iq to "0," the motor 10, which serves as the drive source, does not generate a driving force for the sliding door 1. Furthermore, by controlling the d-axis current Id to a "negative value," the resultant magnetic flux "Ld×Id+Φa" of the magnetic flux "Ld×Id" based on the d-axis current Id and the magnetic flux "Φa" of the motor magnet is reduced. Furthermore, by calculating a motor control command that generates a magnetic flux in a direction that weakens the magnetic flux of the motor magnet, the motor 10, which is rotated by an external force, is less likely to generate regenerative torque, i.e., regenerative braking is less likely to be applied. This reduces the operating force required when the user manually operates the sliding door 1.

[0041] Next, the effects of this embodiment will be described. (1) The door ECU 21, which serves as a vehicle opening / closing member control device, includes a motor control unit 42 that controls the operation of the motor 10, which serves as a drive source for the sliding door 1, which serves as an opening / closing member provided in the vehicle. When the sliding door 1 is opened or closed by manual operation by a user, the motor control unit 42 calculates a motor control command that generates magnetic flux in a direction that weakens the magnetic flux of the motor magnet.

[0042] According to the above configuration, when a user manually operates the sliding door 1, it is possible to make it difficult for the motor 10, which rotates due to the external force, to generate regenerative torque, thereby enabling the user to manually operate the sliding door 1 easily with a relatively small operating force.

[0043] In addition, it is possible to omit a current interruption device, such as a so-called phase-open relay, that is installed in the power supply path. Furthermore, the breakdown voltage of the protective Zener diode 48 can also be set lower. This allows for a simpler configuration and lower costs.

[0044] (2) The motor control unit 42 controls the operation of the motor 10 by executing current vector control in the d / q coordinate system. During manual operation, the motor control unit 42 controls the q-axis current Iq to be "0" and the d-axis current Id to be "a negative value."

[0045] That is, by controlling the q-axis current Iq to be "0," the motor 10 can be brought into a state where it does not generate a driving force for the sliding door 1. And by controlling the d-axis current Id to be a "negative value," it is possible to reduce the composite magnetic flux of the magnetic flux based on the d-axis current Id and the magnetic flux of the motor magnet. In other words, by calculating a motor control command that generates magnetic flux in a direction that weakens the magnetic flux of the motor magnet, it is possible to bring the motor 10, which rotates due to that external force, into a state where it is difficult to generate regenerative torque.

[0046] (3) The door ECU 21 has a power mode in which the sliding door 1 is driven to open or close based on the driving force of the motor 10, and a manual mode in which the sliding door 1 is not driven to open or close based on the driving force of the motor 10. When in the manual mode, the motor control unit 42 calculates a motor control command that generates magnetic flux in a direction that weakens the magnetic flux of the motor magnet.

[0047] According to the above configuration, the field weakening control can be appropriately performed when the user manually operates the sliding door 1. This allows the sliding door 1 to be easily operated manually with a simple configuration.

[0048] (4) The motor control unit 42 includes a motor control command calculation unit 50 that calculates a d-axis current command value Id* and a q-axis current command value Iq*. When field-weakening control is being executed, the motor control command calculation unit 50 calculates the d-axis current command value Id* having a negative value based on the angular velocity ω of the motor 10.

[0049] That is, the regenerative torque of the motor 10, which is rotated by an external force, is generated when the induced voltage caused by the rotation exceeds the power supply voltage Vbat. In other words, as the absolute value of the d-axis current Id, which has a "negative value," increases, the speed condition of the motor 10 under which the regenerative torque becomes "0" expands. Therefore, with the above configuration, the field-weakening control can be efficiently executed to reduce the operating force required when manually operating the sliding door 1.

[0050] (5) The motor control command calculation unit 50 calculates a d-axis current command value Id* of a “negative value” having a larger absolute value as the angular velocity ω of the motor 10 increases, for each of a plurality of predetermined speed stages for the angular velocity ω of the motor 10.

[0051] According to the above configuration, it is possible to reduce the computational load and memory capacity required when performing field-weakening control. This allows for a simplified configuration and reduced costs. In addition, the simplification of the control content has the advantage of allowing for easy setting changes.

[0052] The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0053] In the above embodiment, a control table 61 is used in which "negative value" d-axis current command values ​​Id* with different absolute values ​​are defined for each of five predetermined speed stages for the angular velocity ω of the motor 10. As a result, the larger the detected angular velocity ω of the motor 10, the larger the "negative value" d-axis current command value Id* with a larger absolute value is calculated.

[0054] However, the present invention is not limited to this, and the number of speed sections set in the control table 61 is not necessarily limited to five and may be changed arbitrarily. The number of speed sections may be four or less, or six or more. Alternatively, the field-weakening control during manual operation may be performed using a map in which the angular velocity ω of the motor 10 and the d-axis current command value Id* of a "negative value" corresponding to the angular velocity ω are predefined in a continuous manner. Furthermore, the calculation of the above formula (6) may be performed as needed to calculate the d-axis current command value Id* of a "negative value" corresponding to the detected angular velocity ω of the motor 10. Then, the field-weakening control during manual operation may be performed using a single value as the d-axis current command value Id* of a "negative value."

[0055] Furthermore, the d-axis current Id having a "negative value" that is the target of the field weakening control executed when the user manually operates the sliding door 1 may be determined based on the detected operating speed SPd of the sliding door 1, not limited to the angular speed ω of the motor 10.

[0056] In the above embodiment, the q-axis current Iq is controlled to be "0" during manual operation. However, this is not limiting, and the q-axis current Iq does not necessarily have to be strictly "0" as long as field-weakening control is also used. For example, the q-axis current Iq during manual operation may be controlled so as to generate a load torque that gives a "feeling of resistance" to the manual operation, or to generate an assist torque that assists the manual operation.

[0057] In the above embodiment, when the operation input signal Scr indicates that the main switch is off, the mode is switched from the power mode to the manual mode. When the mode is manual, it is determined that the opening and closing operation of the sliding door 1 is manual, and the motor control unit 42 executes field-weakening control. However, the trigger for switching to the manual mode may be set arbitrarily.

[0058] When in "manual mode," the timing for starting the field-weakening control may be set arbitrarily. For example, when the q-axis current Iq is controlled to "0" as in the above embodiment, the field-weakening control is started when the mode is switched to "manual mode." The field-weakening control may then be continuously executed thereafter.

[0059] Furthermore, when the mode is shifted to the "manual mode," the execution of the field-weakening control is suspended. Then, for example, the configuration may be such that the execution of the field-weakening control is started when the opening / closing operation of the sliding door 1 is confirmed by monitoring the operating position X of the sliding door 1 or the angular velocity ω of the motor 10.

[0060] Furthermore, a manual operation determination unit that determines whether the door ECU 21 is performing a manual operation is provided in the door ECU 21. The function of this manual operation determination unit may be provided in the door opening / closing control unit 41. Alternatively, the manual operation determination unit may be provided independently of the door opening / closing control unit 41. When the manual operation determination unit determines that the door is being operated manually, the field weakening control may be executed.

[0061] For example, as shown in FIG. 6 , in the “manual mode” (step 204), if the opening / closing operation of the sliding door 1 is detected (step 205: YES), it is determined whether the manual operation unit of the sliding door 1 is being operated (step 206). The manual operation unit provided on the sliding door 1 may be, for example, a handle switch (not shown) configured as a door handle 3 that the user can grip when manually operating the sliding door 1. The shape and structure of the manual operation unit are arbitrary. Furthermore, the method of detecting the operation of the manual operation unit is also arbitrary, for example, a mechanical switch system or a capacitance sensor. If the sliding door 1 is opening or closing while such a manual operation unit is being operated (step 206: YES), the manual operation by the user is confirmed. In other words, it may be determined that the sliding door 1 is being manually operated (step 207), and field-weakening control for the manual operation may be executed (step 208). By adopting such a configuration, it is possible to distinguish between opening and closing operations caused by the sliding door 1's own weight, for example.

[0062] 7, for example, in the "manual mode" (step 304), if an opening or closing operation of the sliding door 1 is detected (step 305: YES), it is determined whether the opening or closing operation has continued for a predetermined time or longer (step 306). Then, if the sliding door 1 has been opening or closing continuously for a predetermined time or longer (step 306: YES), the system checks whether the sliding door 1 is operating manually by the user. In other words, it may be configured to determine that the sliding door is operating manually (step 307) and execute field-weakening control for the manual operation (step 308). By adopting such a configuration, it is possible to distinguish between opening or closing operations caused by an external force other than the operating force acting on the sliding door, such as when the sliding door is simply bumped into by the user, and opening or closing operations caused by an external force other than the operating force acting on the sliding door.

[0063] The content of the manual operation determination by the manual operation determination unit may be set arbitrarily, without being limited to the above-mentioned alternative examples. For example, the content of the manual operation determination shown in the above-mentioned two alternative examples may be used in combination. Furthermore, a configuration may be adopted in which it is determined that manual operation is occurring when these two conditions are met simultaneously. Other determination conditions may be set for manual operation determination. Furthermore, a configuration may be adopted in which a plurality of determination conditions are arbitrarily combined to perform the manual operation determination. Furthermore, a configuration may be adopted in which the opening and closing operation of the sliding door 1 manually operated by the user is detected, regardless of the "control mode" such as "power mode" or "manual mode", and field-weakening control is performed during the manual operation.

[0064] Furthermore, the field-weakening control may be performed by a method other than calculating a "negative value" of the d-axis current command value Id*, such as by advancing the rotation angle θ of the motor 10. If the field-weakening control can be performed during manual operation by the user, the configuration may be applied to control the operation of the motor 10 by a method other than current vector control in the d / q coordinate system.

[0065] The current sensor 51 may be of the so-called "one shunt type." 8, a single shunt resistor 70 is used to detect the GND current of the drive circuit 43. Then, based on this GND current, the signal processing unit 71 may detect the phase currents Iu, Iv, and Iw of the motor 10 from the current application timing information for the U, V, and W phases.

[0066] The door opening / closing control unit 41 and the motor control unit 42 in the door ECU 21 may be implemented in any hardware and software configuration. The location of the door actuator 11 using the motor 10 as a drive source and the method of driving the sliding door 1 by this door actuator 11 are arbitrary. For example, the door actuator 11 may be provided on the sliding door 1 or on the vehicle body. The drive method may also be, for example, a drive method using a so-called drum and cable, or a belt drive.

[0067] In the above embodiment, the power sliding door device 30 is embodied as a vehicle sliding door 1 serving as an opening / closing body. However, the present invention is not limited to this, and may be applied to a back door provided at the rear of the vehicle, a swing-type or link-type side door, or the like, as the opening / closing body. Furthermore, the present invention may be applied to an opening / closing body other than a door, such as a window regulator that raises and lowers the window glass of the vehicle, or a sunroof device.

[0068] Next, the technical ideas that can be understood from the above-described embodiment and modified examples will be described. (i) The motor control unit controls the operation of the motor by executing current vector control in a d / q coordinate system, and during the manual operation, calculates the motor control command so that the d-axis current has a negative value.

[0069] That is, by controlling the d-axis current to a "negative value," it is possible to reduce the composite magnetic flux of the magnetic flux based on that d-axis current and the magnetic flux of the magnet. In other words, by calculating the motor control command to generate magnetic flux in a direction that weakens the magnetic flux of the motor magnet, it is possible to make it difficult for regenerative torque to be generated in the motor that rotates due to that external force.

[0070] (b) During the manual operation, the motor control unit calculates the motor control command so that the q-axis current becomes "0." In other words, by controlling the q-axis current to be "0", the motor can be put into a state where it does not generate driving force for the opening / closing body, thereby facilitating manual operation of the opening / closing body.

[0071] (c) A power mode is provided in which the opening / closing body is driven to open and close based on the driving force of the motor, and a manual mode in which the opening / closing body is not driven to open and close based on the driving force of the motor, and when in the manual mode, the motor control unit calculates the motor control command so that magnetic flux is generated in a direction that weakens the magnetic flux of the motor magnet.

[0072] According to the above configuration, the field weakening control can be appropriately performed during manual operation by the user, and the opening / closing body can be easily operated manually with a simple configuration.

[0073] (iv) A manual operation determination unit is provided to determine the manual operation, and the manual operation determination unit determines that the opening / closing body is being manually operated when the opening / closing body is being opened or closed while a manual operation unit provided on the opening / closing body is being operated. This makes it possible to distinguish between cases where the opening / closing body is being opened or closed due to its own weight, for example.

[0074] (e) A manual operation determination unit is provided to determine the manual operation, and the manual operation determination unit determines that the opening / closing body is being manually operated when the opening / closing body continues to be opened or closed for a predetermined period of time or more. This makes it possible to distinguish between opening / closing operations caused by an external force other than the operating force acting on the opening / closing body, such as when the user simply bumps into it.

[0075] (f) The motor control unit determines the d-axis current having the negative value based on the angular velocity of the motor. That is, the regenerative torque of a motor rotated by an external force is generated when the induced voltage caused by the rotation exceeds the power supply voltage. In other words, as the absolute value of the negative d-axis current increases, the motor speed conditions under which the regenerative torque becomes "0" expand. Therefore, with the above configuration, the field-weakening control can be efficiently executed to reduce the operating force required to manually operate the opening / closing body.

[0076] (g) The motor control unit determines the d-axis current of the negative value having a larger absolute value as the angular velocity of the motor increases for each of a plurality of predetermined speed stages for the angular velocity of the motor.

[0077] According to the above configuration, it is possible to reduce the computational load and memory capacity required when performing field-weakening control. This allows for a simplified configuration and reduced costs. In addition, the simplification of the control content has the advantage of allowing for easy setting changes. [Explanation of symbols]

[0078] 1...sliding door (opening / closing body), 10...motor, 21...door ECU (vehicle opening / closing body control device), 42...motor control unit.

Claims

1. a motor control unit that controls the operation of a motor that serves as a drive source for an opening / closing body provided in the vehicle; The motor control unit A vehicle opening / closing body control device that calculates a motor control command to generate a magnetic flux in a direction that weakens the magnetic flux of the motor magnet when the opening / closing body is opened or closed by manual operation by a user.

2. the motor control unit controls the operation of the motor by performing current vector control in a d / q coordinate system; During the manual operation, the motor control command is calculated so that the d-axis current has a negative value. The control device for a vehicle opening / closing member according to claim 1.

3. The motor control unit During the manual operation, the motor control command is calculated so that the q-axis current becomes "0". The control device for a vehicle opening / closing member according to claim 2.

4. a power mode in which the opening / closing body is driven to open or close based on the driving force of the motor; a manual mode in which the opening / closing body is not driven to open or close based on the driving force of the motor; Equipped with The motor control unit calculates the motor control command in the manual mode so as to generate a magnetic flux in a direction that weakens the magnetic flux of the motor magnet. The control device for a vehicle opening / closing member according to any one of claims 1 to 3.

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