Opening and closing body control device

Abstract

To stabilize the behavior of an opening and closing body after switching from manual operation to automatic control.SOLUTION: An opening and closing body control device 10 includes: a drive mechanism 6 for driving an opening and closing body 5; a speed detection unit 24 for detecting the operating speed of the opening and closing body 5; a manual operation detection unit 27 for detecting manual operation of the opening and closing body 5; a motor control unit 23 for performing automatic control that feedback controls the operation of the opening and closing body 5 so that the detected value Vd of the operating speed follows a target value Vs; a target value setting unit 25 that can set a basic target value Vb as the target value Vs; and a switching unit 28 that causes the motor control unit 23 to start automatic control when a switching condition is met that the operating speed during detection of manual operation is equal to or greater than a switching threshold Y. When the switching condition is satisfied and the automatic control is started, the target value setting unit 25 sets, as the target value Vs, a transition-period target value Vt that gradually changes from an initial value Vt1 toward the basic target value Vb in preference to the basic target value Vb.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] Patent Document 1 discloses an automatic opening and closing device that, when a jump-up door, which is an example of an opening and closing body, is manually operated to a certain extent, executes control to automatically operate the door thereafter. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-138762 Summary of the Invention [Problem to be solved by the invention]

[0004] When switching from manual operation to automatic control, the actual value of the door movement speed varies from time to time because it is manually controlled. Meanwhile, the target value of the movement speed used in automatic control may be set to a predetermined value. If the deviation between the actual value and the target value of the movement speed is large, the behavior of the door may become unstable after switching from manual operation to automatic control.

[0005] An object of the present invention is to stabilize the behavior of an opening / closing body after switching from manual operation to automatic control. [Means for solving the problem]

[0006] One aspect of the present invention provides an opening / closing body control device comprising: a drive mechanism for driving an opening / closing body that opens and closes an opening in a vehicle body; a speed detection unit for detecting the operating speed of the opening / closing body; a manual operation detection unit for detecting manual operation of the opening / closing body; a control unit that performs automatic control that feedback controls the operation of the opening / closing body so that the detected value of the operating speed follows a target value; a target value setting unit that can set a basic target value as the target value that changes depending on the elapsed time from the start of the automatic control or the displacement of the opening / closing body; and a switching unit that causes the control unit to start the automatic control when a switching condition is met that the operating speed during detection of the manual operation is equal to or greater than a switching threshold that is lower than the basic target value; and when the automatic control is started due to the switching condition being met, the target value setting unit sets a transitional target value as the target value that gradually changes from an initial value toward the basic target value, taking priority over the basic target value.

[0007] According to the above configuration, when automatic control starts, the target value setting unit does not immediately set the basic target value as the target value for feedback control, but sets the transitional target value as the target value. The transitional target value gradually changes toward the basic target value. Even if the basic target value deviates from the detected value at the start of automatic control, the transitional target value set in place of the basic target value can be closer to the detected value. Immediately after the start of automatic control, the control unit controls the drive mechanism so that the detected value of the operating speed follows this transitional target value. Therefore, the opening / closing body can operate naturally after switching from manual operation to automatic control. [Effects of the Invention]

[0008] According to the present invention, the behavior of the opening / closing body after switching from manual operation to automatic control can be stabilized. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view showing a part of a vehicle to which an opening / closing member control device according to a first embodiment is applied. [Figure 2] FIG. 1 is a block diagram showing an opening / closing member control device according to a first embodiment. [Figure 3] 10 is a graph illustrating a basic target value and a transitional target value. [Figure 4] 3 is a flowchart showing a control method executed by the opening / closing member control device according to the first embodiment. [Figure 5] Flowchart continued from Figure 4. [Figure 6] Flowchart continued from Figure 5. [Figure 7] 10 is a graph showing the transition of the operating speed of the opening / closing body. [Figure 8] FIG. 10 is a block diagram showing an opening / closing member control device according to a second embodiment. [Figure 9] 10 is a flowchart showing a control method executed by an opening / closing member control device according to a second embodiment. [Figure 10A] 10 is a graph showing the transition of the operating speed of the opening / closing body when the detected value is less than the basic target value at the start of automatic control and the difference between the two is relatively large. [Figure 10B] 10 is a graph showing the transition of the operating speed of the opening / closing body when the detected value is less than the basic target value at the start of automatic control and the difference between the two is relatively small. [Figure 10C] 10 is a graph showing the transition of the operating speed of the opening / closing body when the detected value exceeds the basic target value at the start of automatic control. [Figure 11] 10 is a graph showing the transition of the operating speed of the opening / closing body according to the comparative example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings. Note that the same or corresponding elements are designated by the same reference numerals throughout the drawings, and detailed descriptions thereof will be omitted.

[0011] (First embodiment) FIG. 1 shows a part of a vehicle to which an opening / closing body control device 10 (see FIG. 2) according to this embodiment is applied. The opening / closing body control device 10 controls the operation of an opening / closing body 5 that opens and closes an opening 2 in a 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 open. The operation of the opening / closing body 5 includes an opening operation where the opening / closing body is displaced toward the fully open position and a closing operation where the opening / closing body is displaced toward the fully closed position. The opening / closing body 5 is driven by a drive mechanism 6.

[0012] For example, the opening 2 is provided at the rear of the vehicle body 1 for opening the passenger compartment or luggage compartment, the opening / closing body 5 is a back door, and the drive mechanism 6 is a pair of spindle drive mechanisms provided spaced apart in the vehicle width direction. The back door is rotatably attached to the vehicle body 1 by a hinge connection, and its rotation axis extends in the vehicle width direction at the upper edge of the opening 2. Each spindle drive mechanism is configured as a rod body that expands and contracts depending on the rotation direction of a motor 11 (see FIG. 2), and has one end pivotally supported on the vehicle body 1 and the other end pivotally supported on the opening / closing body 5. The opening / closing body 5 performs an opening operation depending on the extension of the rod body, and performs a closing operation depending on the contraction of the rod body.

[0013] The opening / closing body 5 is provided with a latch mechanism 7 that releasably holds the striker 3 provided on the vehicle body 1. The action of the latch mechanism 7 enables the opening / closing body 5 to be held in the fully closed position.

[0014] 2, the opening / closing member control device 10 includes, in addition to the drive mechanism 6 described above, a start command output unit 13 and a controller 20. The opening / closing member control device 10 may also 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 is used to drive one opening / closing body 5. Each drive mechanism 6 has a set of one motor 11 and one rotation sensor 12. Since the two sets have the same configuration, only one set will be described. Note that only one of the pair of drive mechanisms 6 may have a set of motor 11 and rotation sensor 12. In this case, the other does not have a set of motor 11 and rotation sensor 12 and is driven by the motor 11 provided on one of them.

[0016] The motor 11 can rotate forward and backward, and operates in a direction and at a speed that corresponds to the duty ratio of a pulse width modulation (PWM) signal supplied to the motor 11. The rotation sensor 12 outputs a detection signal in response to the rotation of the motor 11. The rotation sensor 12 is configured, for example, by a Hall IC. The detection signal is a rectangular wave having a pulse width that corresponds to the rotation angle, number of rotations, or rotation speed of the motor 11.

[0017] The start command output unit 13 outputs a command to start the operation of the opening / closing body 5 in response to a user operation. The "user operation" here does not refer to an operation in which the user directly applies an operating force to the opening / closing body 5 to operate the opening / closing body 5, but rather refers to an operation in which the user inputs an intention to open or close the opening / closing body 5. The start command output unit 13 outputs a start command in response to such an operation.

[0018] The start command output unit 13 may be configured as a button-type switch attached to the opening / closing body 5 or the vehicle interior and operated by the user (see FIG. 1). Although not shown in detail, the start command output unit 13 may be configured as a button-type switch attached to an electronic key and operated by the user. The electronic key is carried by the user and configured to be capable of wireless communication with the controller 20 or an on-board ECU connected thereto. The start command output unit 13 may be provided on the opening / closing body 5 or the vehicle body 1 in its vicinity and configured as a human presence sensor (e.g., an infrared sensor or a capacitance sensor) that detects contact or approach of the user. "User operation" includes the act of intentionally inserting a part of the body (e.g., a fingertip or a toe) into the detection range of the human presence sensor.

[0019] The controller 20 includes, for example, a central processing unit (CPU) or a micro processing unit (MPU) that cooperates with software to realize predetermined functions. The controller 20 may be configured with hardware circuits such as dedicated electronic circuits or reconfigurable electronic circuits designed to realize predetermined functions, or may be configured with various semiconductor integrated circuits. Examples of various semiconductor integrated circuits include a CPU, an MPU, a microcomputer, a digital signal processor (DSP), a field programmable gate array (FPGA), and an application specific integrated circuit (ASIC). The controller 20 may also include storage devices such as a random access memory (RAM) and a read only memory (ROM).

[0020] The controller 20 includes a storage unit 21, an input unit 22, a motor control unit 23, a speed detection unit 24, a target value setting unit 25, and an entrapment detection unit 26.

[0021] The storage unit 21 can be realized by the above-mentioned storage device. The storage unit 21 temporarily or permanently stores a program for controlling the opening and closing operation of the opening-closing body 5 and information used to execute the program. The input unit 22 acquires the detection signal output from the rotation sensor 12. The input unit 22 also acquires the start command output from the start command output unit 13.

[0022] The motor control unit 23 executes automatic control to feedback-control the operation of the opening-closing body 5 so that the detected value Vd of the operating speed of the opening-closing body 5 follows the target value Vs. Specifically, in this automatic control, the motor control unit 23 variably sets an operation command value for the motor 11 according to the deviation between the detected value Vd and the target value Vs. The operation command value is, for example, the duty ratio of the PWM signal supplied to the motor 11.

[0023] The "operation 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) or the translation speed of the sliding door (mm / s)), but may be other speeds that can be associated with the displacement speed from the viewpoint of geometry and mechanics. Examples of such other speeds include the rotation speed of the motor 11 (rps, rad / s, or deg / s) and the operation speed of the drive mechanism 6 (for example, the extension / retraction speed (mm / s) of the spindle drive mechanism). Similarly, the "displacement amount of the opening / closing body 5" and the "position of the opening / closing body 5" may include not only the displacement amount and position of the opening / closing body 5 itself, but also the number of rotations or rotation angle of the motor 11 and the stroke amount of the drive mechanism 6.

[0024] In this embodiment, the rotation speed of the motor 11 is the object of control as an example of the "operation speed of the opening / closing body 5." In the following description, the "amount of displacement of the opening / closing body 5" and the "position of the opening / closing body 5" may refer to the number of rotations of the motor 11. When simply referring to the "operation speed," this may refer to the actual value or detected value Vd of the operation speed (the rotation speed of the motor 11).

[0025] The speed detection unit 24 detects the operating speed of the opening / closing body 5 (the rotation speed of the motor 11) based on the detection signal from the rotation sensor 12. Regardless of whether automatic control is being executed or not, the speed detection unit 24 sequentially measures the detected value Vd of the operating speed. In the process of deriving the operating speed, the speed detection unit 24 sequentially measures the displacement amount and position of the opening / closing body 5 based on the detection signal output from the rotation sensor 12.

[0026] During execution of automatic control, the target value setting unit 25 refers to a map, a table, an arithmetic expression, or the like stored in the storage unit 21, and sets a target value Vs for the operating speed (rotation speed of the motor 11) of the opening / closing body 5. The target value setting unit 25 variably sets the target value Vs sequentially.

[0027] If the user's body or baggage is caught in the opening / closing body 5 while automatic control is being performed, the operating speed will be excessively reduced compared to the target value Vs. The entrapment detection unit 26 sets an entrapment threshold X that is lower than the target value Vs by a predetermined reduction amount ΔX (see FIGS. 6 and 11). The entrapment detection unit 26 compares the detection value Vd with the entrapment threshold X, and determines that entrapment has occurred when the detection value Vd falls below the entrapment threshold X. When entrapment is detected, the motor control unit 23 stops or reverses the rotation of the motor 11 and interrupts the automatic control.

[0028] The automatic control starts in two main situations. The first situation is when the input unit 22 receives a start command from the start command output unit 13. The target value setting unit 25 sets the basic target value Vb as the target value Vs.

[0029] In the following description, "setting the basic target value Vb as the target value Vs" can refer to, depending on the context, setting a mode for deriving the target value Vs in accordance with the profile of the basic target value Vb, or to deriving the current value of the basic target value Vb based on the displacement of the opening / closing body 5 by referring to the profile, and setting the derived current value as the target value Vs to be compared with the detection value Vd. The same applies to the transitional target value Vt described later.

[0030] As visualized by the dashed line in FIG. 3 , the memory unit 21 pre-stores a profile for the basic target value Vb that defines the correspondence between the input parameters and the basic target value Vb. The profile is realized by a map, a table, an arithmetic expression, or the like. One example of an input parameter for deriving the basic target value Vb is the displacement amount of the opening / closing body 5 after the start of automatic control. The target value setting unit 25 refers to the profile stored in the memory unit 21 and sets the current value of the basic target value Vb based on the current values ​​of the input parameters.

[0031] The input parameter is not limited to the displacement of the opening / closing body 5, but may be the position of the opening / closing body 5 that changes over time as automatic control is executed, the time elapsed since the start of automatic control, or a combination of these. In the following description, the "basic target value Vb" may refer to a profile, a current value, or both, depending on the context. The same applies to the transitional target value Vt described below.

[0032] The basic target value Vb is variably set according to the amount of displacement of the opening / closing body 5. Because the amount of displacement of the opening / closing body 5 gradually increases as the automatic control progresses, the basic target value Vb changes as the execution time of the automatic control elapses (see FIG. 3). During execution of the automatic control, the basic target value Vb remains stable at a relatively high value. The basic target value Vb gradually increases from an initial value Vb1 to a maximum value VbM, and then gradually decreases from the maximum value VbM.

[0033] The second situation is when a predetermined switching condition is met after the user manually operates the opening / closing body 5. The "manual operation" here refers to an operation in which the user directly applies an operating force to the opening / closing body 5 to operate it, as opposed to the "user operation" associated with the start command described above. When a manual operation is performed, switching from manual operation to automatic control is performed under certain conditions. For example, after the user manually operates the opening / closing body 5 in the opening direction while the opening / closing body 5 is in the fully closed or half-open position, automatic control starts when the opening / closing body 5 moves away from the fully closed position and is operating at a certain operating speed. The same applies when the opening / closing body 5 is manually operated in the closing direction while in the fully open or half-open position.

[0034] The controller 20 further includes a manual operation detection unit 27 and a switching unit 28 to start automatic control in the second situation.

[0035] The manual operation detection unit 27 detects manual operation of the opening / closing body 5. More specifically, when the speed detection unit 24 detects an operation speed exceeding a predetermined value (for example, zero) during a period when automatic control is not being executed, the manual operation detection unit 27 determines that a manual operation is being performed by the user.

[0036] When manual operation is detected, the switching unit 28 determines whether a switching condition for switching from manual operation to automatic control is met. When the switching unit 28 determines that the switching condition is met, it causes the motor control unit 23 to start automatic control. As a result, even if the user stops the manual operation (even if the operating force from the user is removed), the operation of the opening / closing body 5 continues automatically.

[0037] As an example, the switching condition is that the motion speed during manual operation is maintained at or above the switching threshold Y for a predetermined switching determination period T1. When the motion speed reaches the switching threshold Y, the switching unit 28 measures the time from that point. When the measured time reaches the switching determination period T1 without the motion speed falling below the switching threshold Y, the switching unit 28 determines that the switching condition is met.

[0038] FIG. 11 shows a comparative example of automatic control initiated under the second circumstance. At time t0, manual operation begins, and the operating speed increases from zero thereafter. At time t1, the operating speed reaches the switching threshold Y. The operating speed continues to exceed the switching threshold Y for a switching determination period T1 from time t1 onward. Therefore, at time t2, which is the end of the switching determination period T1, the switching condition is met, and automatic control begins. In the following description, time t0 may be referred to as the time when manual operation begins, time t1 as the time when the threshold is reached, and time t2 as the time when automatic control begins.

[0039] In the comparative example, the target value setting unit 25 sets the basic target value Vb as the target value Vs at the automatic control start time t2. Since the switching threshold Y is a low value relative to the basic target value Vb, the operating speed at the automatic control start time t2 may be significantly smaller than the initial value Vb1 of the basic target value Vb.

[0040] Immediately after the start of automatic control, the motor control unit 23 sets the duty ratio to a high value in order to make the excessively small detected value Vd follow the target value Vs. This may result in the operating speed significantly exceeding the target value Vs. Then, the motor control unit 23 resets the duty ratio to a low value in order to make the excessively large detected value Vd follow the target value Vs. This may result in the operating speed falling significantly below the target value Vs. Due to the occurrence of overshoot and undershoot, and the time required for their attenuation, the behavior of the opening / closing body 5 becomes unstable.

[0041] Furthermore, during an undershoot, there is a risk that the detection value Vd will also fall below the pinch threshold X. Even if the pinch threshold X is optimized so that the presence or absence of pinch can be determined with high accuracy in the automatic control that starts in the first situation, if the basic target value Vb is set as the target value Vs in the automatic control that starts in the second situation, there is a risk that the pinch detection unit 26 will make an erroneous detection, which will cause the operation of the opening-closing body 5 to stop inappropriately.

[0042] In contrast, the present embodiment can solve the above-mentioned problems that occur in the comparative example.

[0043] In this embodiment, when automatic control starts under the second condition, the target value setting unit 25 does not immediately set the basic target value Vb as the target value Vs. Instead, the target value setting unit 25 sets the transitional target value Vt as the target value Vs, prioritizing the basic target value Vb.

[0044] 3, the storage unit 21 stores in advance a profile for the transitional target value Vt that defines the correspondence between the input parameters and the transitional target value Vt. The profile is realized by a map, a table, an arithmetic expression, or the like. The input parameters for deriving the transitional target value Vt are the same as those for the basic target value Vb.

[0045] The profile of the transitional period target value Vt is set within a limited transitional period T2. The transitional period target value Vt gradually increases from the start of the transitional period T2 to the end of the transitional period T2. The transitional period target value Vt takes an initial value Vt1 at the start of the transitional period T2 (i.e., the start point of automatic control), gradually increases from the initial value Vt1, and takes an extreme value VtE at the end of the transitional period T2.

[0046] In the illustrated example, the transitional period target value Vt increases from the initial value Vt1 to the extreme value VtE, drawing an upward convex curve (e.g., a parabola), and the rate of change of the transitional period target value Vt (i.e., the amount of increase in the transitional period target value Vt per unit displacement of the opening / closing body 5) decreases toward the end of the transitional section T2. ​​However, this is just one example, and the transitional period target value Vt may increase along a downward convex curve, linearly, or in a stepwise manner. The rate of change of the profile of the transitional period target value Vt is steeper than the rate of change of the profile of the basic target value Vb from the initial value Vb1 to the maximum value VbM.

[0047] In this embodiment, a predetermined fixed value is set as the initial value Vt1. The switching threshold Y is used as an example of this fixed value. The transitional target value Vt gradually changes from the initial value Vt1 according to the above-described profile. At the automatic control start time t2, the basic target value Vb is greater than the switching threshold Y and the transitional target value Vt. The transitional target value Vt gradually changes from the switching threshold Y as the initial value Vt1 toward the basic target value Vb.

[0048] The difference ΔVt between the initial value Vt1 and the extreme value VtE is larger than the difference ΔVb between the switching threshold Y and the maximum value VbM of the basic target value Vb. Therefore, if the initial value Vt1 is the switching threshold Y, the extreme value VtE is larger than the maximum value VbM. Therefore, within the transition section T2, the transitional target value Vt gradually changes from the initial value Vt1 toward the basic target value Vb and reaches the basic target value Vb.

[0049] The target value setting unit 25 sets the transitional period target value Vt as the target value Vs until the transitional period target value Vt reaches the basic target value Vb, and sets the basic target value Vb as the target value Vs after the transitional period target value Vt reaches the basic target value Vb. Hereinafter, the point in time when the transitional period target value Vt reaches the basic target value Vb, in other words, the point in time when the target value Vs switches from the transitional period target value Vt to the basic target value Vb, will be referred to as the target value switching point in time t3.

[0050] Although it partially overlaps with the above description, a control method executed by the opening / closing member control device 10 will be described with reference to Figures 4 to 6. The processing shown in Figures 4 to 6 starts when automatic control is not being executed.

[0051] 4, first, the manual operation detection unit 27 determines whether or not a manual operation is performed (step S1). If no manual operation is detected (S1: NO), the process ends. If a manual operation is detected (S1: YES), the speed detection unit 24 identifies the movement direction of the opening / closing body 5, and then the switching unit 28 determines whether or not the opening / closing body 5 has reached a limit position in that movement direction (a fully open position in the opening direction, and a fully closed position in the closing direction) (step S2). The switching unit 28 also determines whether or not a switching condition is met (step S3).

[0052] If the opening / closing body 5 reaches the fully open position or the fully closed position without the switching condition being met (S3: NO, S2: YES), the processing ends without executing automatic control. If the switching condition is met before the opening / closing body 5 reaches the fully open position or the fully closed position (S2: NO, S3: YES), automatic control starts.

[0053] 5, when automatic control is started during manual operation, the target value setting unit 25 sets the switching threshold Y, which is an example of a predetermined fixed value, to the initial value Vt1 of the transitional period target value Vt (step S11). The target value setting unit 25 sets the transitional period target value Vt (more specifically, the correspondence between the displacement amount of the opening / closing body 5 and the transitional period target value Vt) in accordance with the profile for the transitional period target value Vt stored in the storage unit 21 and the set initial value Vt1 (switching threshold Y) (step S13).

[0054] 6, the target value setting unit 25 derives a current value of the transitional period target value Vt in accordance with the displacement of the opening / closing body 5 from the automatic control start time t2 (step S18), and derives a current value of the basic target value Vb (step S19). The target value setting unit 25 determines whether the transitional period target value Vt has reached the basic target value Vb (step S20). If the transitional period target value Vt has not yet reached the basic target value Vb (S20: NO), the target value setting unit 25 sets the transitional period target value Vt as the target value Vs (step S21a). If the transitional period target value Vt has reached the basic target value Vb (S20: YES), the target value setting unit 25 sets the basic target value Vb as the target value Vs (step S21b).

[0055] The motor control unit 23 executes feedback control based on the target value Vs set in steps S21a and S21b (step S22). That is, the motor control unit 23 controls the duty ratio of the PWM signal to be supplied to the motor 11 of the drive mechanism 6 in accordance with the deviation between the detected value Vd of the operating speed and the current value of the set target value Vs. Even at the automatic control start time t2, the motor control unit 23 sets the duty ratio in accordance with the detected value Vd of the operating speed. Meanwhile, the pinch detection unit 26 sets the pinch threshold X based on the currently set target value Vs and determines whether pinch is present (step S23). Although not shown in the flowchart, if pinch is detected, the motor control unit 23 stops or reverses the rotation of the motor 11, and the automatic control is interrupted.

[0056] The speed detection unit 24 determines whether the opening / closing body 5 has reached the limit position (step S24). If the opening / closing body 5 has not reached the limit position (S24: NO), the process basically returns to step S18 and is repeated. Note that if the opening / closing body 5 has not reached the limit position and the transitional target value Vt has already reached the basic target value Vb (S20: YES, S24: NO), the process of deriving the current value of the transitional target value Vt may be omitted. By repeating the process, the opening / closing body 5 automatically approaches the limit position. When the opening / closing body 5 reaches the limit position (S24: YES), the automatic control ends.

[0057] Fig. 7 shows an example of the transition of the operating speed when the above control method is executed. Similar to the comparative example shown in Fig. 11, the operating speed of the opening / closing body 5 gradually increases from the manual operation start time t0 to the automatic control start time t2 due to manual operation by the user. During this increase, the operating speed reaches the switching threshold Y. During the switching determination period T1 from the threshold reaching time t1 to the automatic control start time t2, the operating speed remains equal to or greater than the switching threshold Y. At the automatic control start time t2, the switching condition is met, and automatic control begins.

[0058] In this embodiment, after the start of automatic control, a correspondence relationship between the displacement amount of the opening / closing body 5 and the transitional target value Vt is set. From the automatic control start time t2 to the target value switching time t3, the transitional target value Vt continues to be set as the target value Vs.

[0059] The initial value Vt1 of the transitional target value Vt is set to the switching threshold Y. Therefore, compared to the comparative example shown in FIG. 11, the deviation between the detected value Vd and the target value Vs at the automatic control start time t2 is small. As a result, overshoot and undershoot are less likely to occur, or the amount of overshoot can be reduced, and the detected value Vd closely follows the target value Vs. At the automatic control start time t2, the motor control unit 23 sets the duty ratio according to the detected value Vd of the operating speed. The duty ratio at the start of feedback control is set according to the operating speed when or immediately before switching from manual operation to automatic control. This improves the stability of feedback control when and immediately after switching from manual operation to automatic control.

[0060] The transitional target value Vt gradually changes from the initial value Vt1 toward the basic target value Vb. The target value Vs gradually increases accordingly. Because the deviation at the automatic control start time t2 is reduced, the detected value Vd closely follows the target value Vs even while the target value Vs is gradually increasing.

[0061] After target value switching time t3, target value Vs is switched to basic target value Vb. Before target value switching time t3, detected value Vd closely followed target value Vs, and the deviation between detected value Vd and target value Vs was kept small, so even after target value switching time t3, detected value Vd closely follows target value Vs.

[0062] In this manner, in this embodiment, the overshoot and undershoot that may occur in the comparative example after switching from manual operation to automatic operation can be eliminated or suppressed, and therefore, the opening / closing body 5 can continue to operate naturally after switching from manual operation to automatic operation.

[0063] By eliminating undershoot, it is possible to prevent the operating speed from falling below the pinch threshold X even when no pinch has occurred. Furthermore, the pinch threshold X is set based on the currently set target value Vs. In the initial stage of starting automatic control, the pinch threshold X is set based on the transitional target value Vt. Therefore, the pinch threshold X itself is a smaller value than in the comparative example. Therefore, it is possible to prevent erroneous pinch detection.

[0064] In this embodiment, a predetermined value (for example, the switching threshold Y) is set as the initial value Vt1 of the transitional target value Vt. The profile of the transitional target value Vt is also fixed. This simplifies the configuration of the opening / closing member control device 10 in terms of software.

[0065] In this embodiment, the profile of the transitional target value Vt, the initial value Vt1 of the transitional target value Vt, and the profile of the basic target value Vb are all fixed. Once these specifications are determined, it is possible to derive the displacement or position of the opening / closing body 5 when the transitional target value Vt reaches the basic target value Vb, and this displacement or position is also fixed.

[0066] Therefore, the process of determining whether the transitional target value Vt has reached the basic target value Vb (step S20) does not necessarily have to be performed based on a comparison between the current value of the basic target value Vb and the current value of the transitional target value Vt. The target value setting unit 25 may determine whether the transitional target value Vt has reached the basic target value Vb based on whether the displacement or position of the opening / closing body 5 is at this fixed predetermined position.

[0067] The fixed value set as the initial value Vt1 is not limited to the switching threshold Y, and may be, for example, a predetermined value higher or lower than the switching threshold Y. Since the switching condition is met when the operating speed is equal to or higher than the switching threshold Y, the deviation between the detected value Vd and the target value Vs at the automatic control start time t2 can be further reduced.

[0068] (Second embodiment) Next, with reference to Figures 8, 9, and 10A to 10C, an opening / closing member control device 10 according to a second embodiment will be described, focusing on the differences from the first embodiment. In this embodiment, as in the first embodiment, automatic control starts during manual operation, and the transitional period target value Vt is set as the target value Vs in the initial stage of the start of automatic control. This embodiment differs from the first embodiment in that the profile of the transitional period target value Vt is corrected depending on the situation at the automatic control start time t2, and the initial value Vt1 of the transitional period target value Vt is not a fixed value but is set depending on the situation at the automatic control start time t2.

[0069] 8, controller 20 further includes a difference calculation unit 29. Difference calculation unit 29 calculates a difference ΔV between the detected value Vd of the operating speed and a basic target value Vb (particularly, its initial value Vb1) at automatic control start time t2.

[0070] In this embodiment, as in the first embodiment, the processes shown in Figures 4 and 6 are executed. In this embodiment, instead of the process shown in Figure 5, the process shown in Figure 9 is executed.

[0071] 9, in this embodiment, when automatic control starts during manual operation, target value setting unit 25 sets an initial value Vt1 of the transitional period target value Vt according to the detected value Vd at the automatic control start time t2. Specifically, the detected value Vd at the automatic control start time t2 is set as the initial value Vt1 of the transitional period target value Vt (step S11A).

[0072] Next, the target value setting unit 25 sets a correction factor α according to the difference ΔV calculated by the difference calculation unit 29, and corrects the profile of the transitional period target value Vt with this correction factor α (step S12A). The profile to be corrected is the same as that in the first embodiment (see FIG. 3), and is stored in advance in the storage unit 21.

[0073] The target value setting unit 25 sets the transient target value Vt (more specifically, the correspondence between the displacement of the opening / closing body 5 and the transient target value Vt) in accordance with the corrected profile and the set initial value Vt1 (step S13A).

[0074] In the process of step S12A, the target value setting unit 25 multiplies the extreme value VtE of the profile for the transitional period target value Vt by the correction factor α, thereby correcting the extreme value VtE and correcting the difference ΔVt between the initial value Vt1 and the extreme value VtE.

[0075] The section between the initial value Vt1 and the corrected extreme value αVtE is also corrected within the range where the trend of the profile is not changed. For example, if the original profile is an upwardly convex curve, the target value setting unit 25 corrects the section between the initial value Vt1 and the corrected extreme value αVtE so that the corrected profile also has a similar curve.

[0076] The correction factor α is less than 1. Here, the difference ΔV is assumed to be obtained by subtracting the detected value Vd from the basic target value Vb.

[0077] 10A and 10B, typically, the detected value Vd at the automatic control start time t2 is smaller than the initial value Vb1 of the basic target value Vb, and the difference ΔV is positive. At this time, the correction factor α is a positive value less than 1. The larger the difference ΔV, the closer the correction factor α becomes to 1.

[0078] Due to the characteristics of the switching conditions, at the automatic control start time t2, the detected value Vd is at least the switching threshold value Y. Although not shown in detail, when the detected value Vd is the switching threshold value Y, the difference ΔV is substantially the maximum positive value. At this time, the correction factor α is set to 1, and the original profile is applied without correction.

[0079] In the example shown in FIG. 10B, the difference ΔV is smaller than in the example shown in FIG. 10A. The smaller the difference ΔV, i.e., the closer the detected value Vd is to the basic target value Vb, the closer the correction factor α is to zero. The corrected extreme value αVtE approaches the initial value Vt1, and the corrected difference αΔVt approaches zero. The target value setting unit 25 corrects the profile of the transitional period target value Vt so that the change in the transitional period target value Vt relative to the displacement of the opening / closing body 5 becomes gradual as the difference ΔV is smaller.

[0080] The target value setting unit 25 sets the correction factor α so that the extreme value αVtE after correction is greater than the maximum value VbM of the basic target value Vb when the difference ΔV is positive and the detected value Vd is set as the initial value Vt1, thereby enabling the corrected transitional target value Vt to reach the basic target value Vb within the transition section T2.

[0081] According to this embodiment, when automatic control starts, the initial value Vt1 of the transitional period target value Vt is set according to the detected value Vd at that time. Specifically, the initial value Vt1 of the transitional period target value Vt is set to the detected value Vd at that time. Therefore, regardless of the strength of manual operation, the deviation between the detected value Vd and the target value Vs at the automatic control start time t2 can be minimized. Furthermore, when the initial value Vt1 is set to a value higher than the switching threshold Y, the extreme value VtE is corrected accordingly to be lower, thereby slowing the rate of change of the transitional period target value Vt. Therefore, a gradual transition from the transitional period target value Vt to the basic target value Vb can be achieved. This allows the detected value Vd to continue to follow the target value Vs well, allowing the opening / closing body 5 to continue to operate naturally.

[0082] As shown in FIG. 10C, when the manual operation is powerful, the detected value Vd at the automatic control start time t2 may become larger than the initial value Vb1 of the basic target value Vb, and the difference ΔV may become negative. In this case, the correction factor α becomes negative. The larger the difference ΔV, the farther the correction factor α becomes from zero. When the correction factor α is negative, the extreme value αVtE becomes lower than the initial value Vt1, and the trend of the profile is reversed with respect to the horizontal axis. For example, if the original profile is an upward convex curve, the corrected profile will become a downward convex curve.

[0083] The target value setting unit 25 sets the correction factor α so that the extreme value αVtE after correction is smaller than the maximum value VbM of the basic target value Vb when the difference ΔV is negative and the detected value Vd is set as the initial value Vt1. As a result, the corrected transitional target value Vt gradually decreases from the automatic control start time t2 and can reach the basic target value Vb within the transition period T2.

[0084] In this case, too, as in the first embodiment and the examples shown in Figures 10A and 10B, the detected value Vd can continue to follow the target value Vs well, and the opening / closing body 5 can continue to operate naturally.

[0085] The setting of the initial value Vt1 is not limited to the detected value Vd, but may be a value higher or lower than the detected value Vd, with the detected value Vd as the reference value.

[0086] Although the embodiments have been described above, the above configurations can be modified as appropriate within the scope of the present invention. [Explanation of symbols]

[0087] 1. Body 2 Opening 3 Striker 5 Opening and closing body 6 Drive mechanism 7 Latch mechanism 10 Opening and closing body control device 11 Motor 12 Rotation Sensor 13 Start command output section 20 Controller 21 Memory section 22 Input section 23 Motor control unit 24 Speed ​​detection unit 25 Target value setting section 26 Entrapment detection unit 27 Manual operation detector 28 Switching section 29 Difference calculation part t0 Manual operation start time t1 Threshold reached t2 Automatic control start time t3 Target value switching time T1 Switching decision period T2 transition section Vb Basic target value Vb1 initial value VbM maximum value Vd detection value Vs target value Vt transition target value Vt1 initial value VtE, αVtE extreme values X Pinch Threshold Y switching threshold α correction factor ΔV difference ΔVb, ΔVt, αΔVt difference ΔX low

Claims

1. a drive mechanism that drives an opening / closing body that opens and closes an opening in the vehicle body; a speed detection unit that detects the operating speed of the opening / closing body; a manual operation detection unit that detects manual operation of the opening / closing body; a control unit that performs automatic control by feedback controlling the operation of the opening / closing body so that the detected value of the operating speed follows a target value; a target value setting unit that can set, as the target value, a basic target value that changes depending on the elapsed time from the start of the automatic control or the displacement of the opening / closing body; a switching unit that causes the control unit to start the automatic control when a switching condition is satisfied, in which the operation speed during the detection of the manual operation is equal to or greater than a switching threshold value that is lower than the basic target value; Equipped with When the automatic control is started due to the establishment of the switching condition, the target value setting unit sets, as the target value, a transitional target value that gradually changes from an initial value toward the basic target value, with priority over the basic target value. Opening and closing body control device.

2. a predetermined value is set as the initial value of the transitional target value; The opening / closing member control device according to claim 1 .

3. the initial value of the transitional target value is set according to the detected value of the operating speed at the start of the automatic control. The opening / closing member control device according to claim 1 .

4. a difference calculation unit that calculates a difference between the detected value of the operating speed and the basic target value at the start of the automatic control, the target value setting unit corrects the transitional target value in accordance with the difference. The opening / closing member control device according to claim 3 .

5. the target value setting unit corrects the transitional period target value so that the change in the transitional period target value becomes gradual as the difference becomes smaller. The opening / closing member control device according to claim 4.

6. the control unit controls a duty ratio of a PWM signal supplied to the drive mechanism in accordance with a deviation between the detected value of the operating speed and the target value; the control unit sets the duty ratio in accordance with the detected value of the operating speed at the start of the automatic control. The opening / closing member control device according to any one of claims 1 to 5.

7. the target value setting unit sets the transitional target value as the target value from the start of the automatic control until the transitional target value reaches the basic target value, and sets the basic target value as the target value after the transitional target value reaches the basic target value. The opening / closing member control device according to any one of claims 1 to 5.

8. a pinch detection unit that sets a pinch threshold value that is lower than the target value by a predetermined amount of decrease, and compares the detected value of the operation speed with the pinch threshold value to detect pinch; When the automatic control starts, the pinch detection unit sets the pinch threshold value based on the transitional target value set as the target value. The opening / closing member control device according to any one of claims 1 to 5.

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