Opening / closing control device, opening / closing control method

Abstract

To provide an opening / closing body control device capable of completely closing an opening / closing body without generating an excessive mechanical stress.SOLUTION: From when an opening / closing body reaches a first position P1, which is before a closing position P4, a target speed of a motor is set to a closing target speed V2 for closing the opening / closing body, and a motor drive unit outputs an applied voltage such that the motor speed is equal to this closing target speed V2. After the opening / closing body reaches a second position P2, which is closer to the closing position P4 than the first position P1, if the motor speed falls below the closing target speed V2, the applied voltage of the motor is increased to a guaranteed closing voltage Z, which can close the opening / closing body securely, and the applied voltage is limited not to exceed the guaranteed closing voltage Z.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a control device for an opening / closing body that performs an opening / closing operation by a motor, and particularly relates to a technique for surely closing the opening / closing body.

Background Art

[0002] For example, as an opening / closing control device mounted on a vehicle, there is a power window device that controls the opening / closing operation of a window. In this device, a motor is used as an actuator, and the window, which is an opening / closing body, is opened or closed by rotating the motor forward or backward by a switch operation. Specifically, an opening / closing mechanism (regulator) that operates in conjunction with the motor is provided between the motor and the window. When the motor rotates forward, the window rises via the opening / closing mechanism, and the closing operation of the window is performed. When the motor rotates backward, the window descends via the opening / closing mechanism, and the opening operation of the window is performed.

[0003] In the closing operation of the window, in order to surely close the window, even after the upper end of the window comes into contact with the rubber launch channel provided in the window frame, the driving of the motor is continued until the window is completely pressed against the launch channel and the motor stalls and enters a locked state, at which point the motor is stopped. If the closing force of the window is small, a gap is generated between the window and the window frame, and rainwater may enter the vehicle through this gap, or wind noise may occur.

[0004] Patent Documents 1 to 3 disclose techniques for surely closing the window. In Patent Documents 1 and 2, the applied voltage of the motor is increased in a predetermined region in front of the fully closed position of the window so as to completely close the window. In Patent Document 3, when the outside air temperature deviates from normal temperature, the applied voltage of the motor is made higher than that at normal temperature to suppress a decrease in the closing force of the window.

[0005] Incidentally, in a power window device, feedback control is generally adopted as a method of controlling the speed of a motor. Specifically, the speed of the motor is detected and the detected value is compared with the target speed, and the applied voltage of the motor output from the motor drive circuit is controlled so that the deviation between them becomes zero, that is, the speed of the motor matches the target speed. In this case, when the window rises to a predetermined position before the fully closed position, in order to avoid a strong collision of the window with the run channel, the target speed is switched to a value smaller than the target speed until then, and feedback control is performed.

[0006] However, if the target speed is low, the speed of the motor decreases, so there is a risk that the window may not be fully closed. On the other hand, if the target speed is high, the speed of the motor increases, so even if the window can be fully closed, the window may collide with the run channel at high speed, and the reaction force may be transmitted from the window to the door as excessive mechanical stress, causing deformation of the door. In addition, the target speed at the time of fully closing the window used for feedback control does not always match the motor speed capable of outputting the torque required to actually fully close the window, so there are cases where the window cannot be fully closed even when the motor rotates at the target speed.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0008] An object of the present invention is to provide an opening / closing control device capable of surely closing an opening / closing body without generating excessive mechanical stress.

Means for Solving the Problem

[0009] The opening / closing control device according to the present invention includes a motor driving unit that drives a motor for opening and closing an opening / closing body, and a control unit that outputs a control command for feedback control of the speed of the motor. The motor driving unit outputs a predetermined applied voltage to the motor based on a control command from the control unit. The control unit sets the target speed of the motor to the closing target speed, which is the target speed when closing the opening / closing body, from the time when the opening / closing body reaches a first position before the fully closed position. Further, the control unit outputs a control command to the motor driving unit so that the motor driving unit outputs an applied voltage such that the speed of the motor becomes equal to the closing target speed. After the opening / closing body reaches a second position closer to the fully closed position than the first position, when the speed of the motor falls below the closing target speed, a control command is output from the control unit to the motor driving unit so that the applied voltage of the motor rises to a closing guarantee voltage capable of surely closing the opening / closing body. The control unit further places a limit so that the applied voltage of the motor does not exceed the closing guarantee voltage.

[0010] In this way, after the opening / closing body reaches the second position, when the speed of the motor falls below the closing target speed immediately before the fully closed position, the applied voltage of the motor rises to the closing guarantee voltage from that point, so that the motor generates the torque required to close the opening / closing body and can surely close the opening / closing body. Further, since the applied voltage of the motor does not increase any further when it reaches the closing guarantee voltage, it is possible to avoid an excessive reaction force acting on the opening / closing body when closing the opening / closing body.

[0011] In the present invention, the closing guarantee voltage is, for example, a value obtained by adding a predetermined voltage correction value to the applied voltage of the motor when the opening / closing body reaches the second position. This voltage correction value can be calculated as a value obtained by multiplying the difference between the closing guarantee speed and the closing target speed by the induced voltage constant of the motor.

[0012] In the present invention, the control unit may perform feedback control based on a normal target speed that is higher than the closing target speed until the opening / closing body reaches the first position. In this case, when the opening / closing body reaches the first position, the control unit starts feedback control based on the closing target speed and continues the feedback control based on the closing target speed even after the opening / closing body reaches the second position.

[0013] In the present invention, the control unit may control the motor drive unit so that the applied voltage of the motor becomes the maximum voltage until the opening / closing body reaches the first position. Also in this case, when the opening / closing body reaches the first position, the control unit starts feedback control based on the closing target speed and continues the feedback control based on the closing target speed even after the opening / closing body reaches the second position.

[0014] In the present invention, if a pinching detection unit for detecting that a foreign object has been pinched during the closing operation of the opening / closing body is provided and a prohibited region for prohibiting detection by the pinching detection unit is set in front of the fully closed position, the position when the opening / closing body reaches this prohibited region may be defined as the second position.

[0015] In the present invention, when the opening / closing body reaches the first position, the control unit may gradually decrease the target speed of the motor, and when the target speed drops to a certain value, set the target speed at that time as the closing target speed.

Advantages of the Invention

[0016] According to the present invention, it is possible to provide an opening / closing body control device that can surely close the opening / closing body without generating excessive mechanical stress.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Embodiments for Carrying Out the Invention

[0018] Embodiments of the present invention will be described with reference to the drawings. Hereinafter, as an opening / closing control device, a power window device mounted on a vehicle will be taken as an example.

[0019] FIG. 1 shows a power window device according to the first embodiment of the present invention. The power window device 100 is a device that operates the opening / closing mechanism 10 by the operation of the operation switch 30 to open and close the window W of the vehicle. The power window device 100 is provided with a control unit 1, a motor drive unit 2, a motor 3, and a sensor 4. The window W is an example of the "opening / closing body" in the present invention.

[0020] The control unit 1 is composed of, for example, a microcomputer, and includes a speed detection unit 11, a position detection unit 12, a target speed selection unit 13, a speed control unit 14, an applied voltage correction unit 15, and a speed memory unit 16. The functions of each of the blocks 11 to 15 are actually realized by software. Although various other blocks are provided in the control unit 1, they are not directly related to the present invention, so their illustration is omitted.

[0021] The speed detection unit 11 is a block that detects the rotational speed of the motor 3 based on a pulse signal input from a sensor 4 described later. The position detection unit 12 is a block that detects the position of the window W based on the above pulse signal. The target speed selection unit 13 is a block that selects either of the target speeds V1 and V2 stored in the speed memory unit 16. The speed control unit 14 is a block that performs feedback control so that the rotational speed of the motor 3 becomes the target speed based on the deviation between the target speed selected by the target speed selection unit 13 and the rotational speed of the motor 3 detected by the speed detection unit 11. The applied voltage correction unit 15 is a block that corrects the applied voltage of the motor 3 and raises it to a closing guarantee voltage (described later) when the window W reaches just before the fully closed position, and also limits the applied voltage so that it does not exceed the closing guarantee voltage. The speed memory unit 16 is a block that stores the normal target speed V1, the closing target speed V2, and the closing guarantee speed V3.

[0022] The motor drive unit 2 operates based on a control command from the control unit 1 and supplies a predetermined applied voltage to the motor 3. The motor drive unit 2 is provided with a PWM (Pulse Width Modulation) circuit 21 and a switching circuit 22 including four bridge-connected FETs (Field Effect Transistors).

[0023] The motor 3 is a DC motor and rotates at a predetermined speed based on the applied voltage supplied from the motor drive unit 2. The rotational speed of the motor 3 increases as the applied voltage increases. An opening / closing mechanism 10 described later is connected to the motor 3.

[0024] The sensor 4 consists of a rotary encoder, a potentiometer, etc., and detects the rotation state of the motor 3. Specifically, the sensor 4 generates a pulse signal synchronized with the rotation of the motor 3 and outputs it to the control unit 1. The speed detection unit 11 of the control unit 1 detects the rotation speed of the motor 3 based on the pulse interval of the pulse signal, etc. The position detection unit 12 of the control unit 1 counts the number of rising edges and falling edges of the pulse signal and detects the position of the window W based on the count value.

[0025] The opening and closing mechanism 10 (regulator) operates in conjunction with the rotation of the motor 3 to open and close the window W. As shown in Fig. 2(a), the opening and closing mechanism 10 is interposed between the motor 3 and the window W. The window W is attached to the window frame 40 so as to be movable up and down and fits into the groove of the rubber launch channel 50 provided inside the window frame 40. Fa in the figure represents the force acting on the window W when the window W rises (details will be described later).

[0026] Fig. 2(b) shows an example of the opening and closing mechanism 10. The opening and closing mechanism 10 is composed of a first drum 10a located at the upper part, a second drum 10b located at the lower part, a wire 10c stretched between these drums, and a lifting member 10d fixed to this wire 10c. The second drum 10b is connected to the rotation shaft 3a of the motor 3 and rotates as the motor 3 rotates. The lifting member 10d is connected to the window W and moves in the vertical direction as the motor 3 rotates.

[0027] For example, when the motor 3 rotates forward, the second drum 10b rotates counterclockwise, and the lifting member 10d rises via the wire 10c. As a result, the window W rises together with the lifting member 10d and closes (closing operation). Also, when the motor 3 rotates reversely, the second drum 10b rotates clockwise, and the lifting member 10d descends via the wire 10c. As a result, the window W descends together with the lifting member 10d and opens (opening operation).

[0028] Figure 3 is a diagram showing the forces acting on window W when the window W performs a closing operation. (a) shows the state where the window W is rising, (b) shows the state where the window W has reached the fully closed position, and (c) shows the state where the window W has further risen and reached the stop position.

[0029] As shown in Fig. 3(a), when the window W is rising, the force acting on the window W is only the steady load force Fa. Therefore, the output (torque) of the motor 3 at this time is, Motor output = steady load force Fa and becomes. The steady load force Fa is mainly due to the friction between the front and rear latch channels 50a and 50b shown in Fig. 2(a) and the side portions of the window W, and the self-weight of the glass of the window W.

[0030] As shown in Fig. 3(b), when the window W reaches the fully closed position, in addition to the steady load force Fa described above, a force (closing force) Fb required to fully close the window W acts on the window W. Therefore, the output (torque) of the motor 3 at this time is, Motor output = steady load force Fa + closing force Fb and becomes. The closing force Fb is due to the friction between the upper latch channel 50c shown in Fig. 2(a) and the upper end portion of the window W.

[0031] As shown in Fig. 3(c), when the window W reaches the stop position beyond the fully closed position, in addition to the steady load force Fa and the closing force Fb described above, an excess force Fc acts on the window W. Therefore, the output (torque) of the motor 3 at this time is, Motor output = steady load force Fa + closing force Fb + excess force Fc and becomes. The excess force Fc is the reaction force received from the latch channel 50c when the window W hits against the upper latch channel 50c, and the greater the speed of the window W, the greater the excess force Fc.

[0032] When the excessive force Fc as described above is applied to the window W, this excessive force Fc is transmitted to the door itself through the window frame 40, the opening / closing mechanism 10, and the connection part between the opening / closing mechanism 10 and the vehicle door (not shown), and as described at the beginning, it may cause deformation of the door. Therefore, in the present embodiment, when the window W reaches a predetermined position in front of the fully closed position, the speed of the motor 3 is reduced, and then, when the motor speed falls below the target speed due to the friction between the window W and the latch channel 50c immediately before the fully closed position, the applied voltage of the motor 3 is increased to surely close the window W. On the other hand, by setting an upper limit value for the applied voltage, the excessive force Fc applied to the window W is suppressed. Hereinafter, the details will be described with reference to FIGS. 4 to 7.

[0033] FIGS. 4 to 6 are diagrams for explaining the control procedure by the control unit 1 in FIG. 1. FIG. 7 is a diagram showing changes in the speed, applied voltage, and output (torque) of the motor 3 with respect to the position of the window W. The switches SW1 to SW3 shown in FIGS. 4 to 6 are for convenience of explanation, and in the configuration of FIG. 1, these switches SW1 to SW3 are not actually provided (the same applies to the switches SW1 to SW4 in FIGS. 9 to 13).

[0034] The switch SW1 corresponds to the position detection unit 12 in FIG. 1 and switches to the neutral position (FIG. 4), the P1 side (FIG. 5), and the P2 side (FIG. 6) according to the position of the window W. P1 and P2 respectively represent the target speed switching position and the voltage limit start position shown in FIG. 7 (details will be described later).

[0035] The switch SW2 corresponds to the target speed selection unit 13 in FIG. 1 and switches the target speed of the motor 3 between the normal target speed V1 and the fully closed target speed V2 according to the state of the switch SW1. Here, V1 and V2 are in the relationship of V1 > V2. Also, the fully closed target speed V2 is set to a speed corresponding to the torque at the time of fully closing the window W. The torque at the time of fully closing the window W is the torque that balances with the fully closing force Fb described in FIG. 3(b).

[0036] Switch SW3, together with switch SW1, corresponds to the position detection unit 12 in FIG. 1 and switches in conjunction with switch SW1. Specifically, when switch SW1 is in the neutral state or switched to the P1 side, switch SW3 is switched to the b side as shown in FIGS. 4 and 5. When switch SW1 is switched to the P2 side, switch SW3 is switched to the a side as shown in FIG. 6.

[0037] FIG. 4 shows the control state when the upper end of window W is in the area in front of (left side in FIG. 7) the target speed switching position P1 in FIG. 7. In this case, switch SW1 is in the neutral position, switch SW2 selects the normal target speed V1, and switch SW3 is switched to the b side. Therefore, speed control (feedback control) based on the normal target speed V1 is performed by the speed control unit 14 in FIG. 1.

[0038] Specifically, the speed control unit 14 calculates the deviation between the normal target speed V1 and the rotational speed of the motor 3 detected by the speed detection unit 11, and determines the duty of the PWM signal generated by the PWM circuit 21 of the motor drive unit 2 so that the deviation becomes zero (i.e., the rotational speed of the motor 3 becomes the normal target speed V1), and outputs this as a control command to the motor drive unit 2. The PWM circuit 21 of the motor drive unit 2 generates a PWM signal having the commanded duty and operates the switching circuit 22, and a predetermined value of applied voltage is output from the switching circuit 22 to the motor 3. In this case, since switch SW3 is switched to the b side, the applied voltage of the motor 3 is not corrected by the applied voltage correction unit 15 (FIG. 1).

[0039] After that, when the window W rises and its upper end reaches the target speed switching position P1 in FIG. 7, the control state as shown in FIG. 5 is entered. In FIG. 5, the switch SW1 is switched to the P1 side, and accordingly, the switch SW2 is also switched, and the closing target speed V2 is selected. There is no change in the state of the switch SW3. Here, since V1 > V2 as described above, at the target speed switching position P1, the target speed is set lower than the previous target speed. Then, the speed control unit 14 performs feedback control of the motor speed based on the closing target speed V2. Also in this case, since the switch SW3 is switched to the b side, the applied voltage of the motor 3 is not corrected by the applied voltage correction unit 15.

[0040] When the window W further rises and its upper end reaches the voltage limit start position P2 in FIG. 7, the control state as shown in FIG. 6 is entered. In FIG. 6, the switch SW1 is switched to the P2 side, and accordingly, the switch SW3 is also switched to the a side. Then, the applied voltage correction unit 15 calculates a correction value for the applied voltage of the motor 3 and corrects the applied voltage based on this voltage correction value. The details will be described below.

[0041] In FIG. 7, the horizontal axis represents the position of the window W. When the window W closes, the window position changes from left to right. Until the window W reaches the target speed switching position P1, feedback control based on the normal target speed V1 is performed. The target speed switching position P1 corresponds to the "first position" in the present invention.

[0042] When the window W rises and reaches the target speed switching position P1, as described above, the target speed is switched from the normal target speed V1 to the closing target speed V2 by the target speed selection unit 13 in FIG. 1. Therefore, feedback control is performed so that the rotational speed of the motor 3 becomes the closing target speed V2. In order to smoothly shift to this feedback control, in FIG. 7, instead of immediately switching the target speed from V1 to V2 at the position of P1, the target speed is gradually decreased from the previous V1, and when it has decreased to a certain value, the target speed at that time is set as the closing target speed V2. And since V2 is smaller than V1, after the target speed is switched, the rotational speed of the motor 3 decreases, and accordingly, the rising speed of the window W also decreases. On the other hand, even when the window W reaches the target speed switching position P1, the same as before, only the steady load force Fa in FIG. 3 acts on the window W, so the motor output (torque) does not change (motor output = steady load force Fa).

[0043] When the window W further rises and reaches the voltage limit start position P2, the applied voltage correction unit 15 calculates the voltage correction value α and sets the closing guarantee voltage Z using this voltage correction value α. This closing guarantee voltage Z is the applied voltage necessary for the motor 3 to output the torque capable of surely closing the window W. As shown in FIG. 7, when the applied voltage of the motor 3 when the window W reaches the voltage limit start position P2 is E, the closing guarantee voltage Z is Z = E + α becomes. Here, the voltage correction value α is calculated using the closing target speed V2, the closing guarantee speed V3, and the induced voltage constant Ke of the motor 3, α = Ke·(V3 - V2) can be calculated by. Also, the closing guarantee speed V3 is the motor speed when the motor 3 outputs the torque necessary to surely close the window W, and is a value determined from the NT characteristics (speed - torque characteristics) specific to the motor 3.

[0044] Note that also at the voltage limit start position P2, the force acting on the window W is only the steady load force Fa, so the motor output does not change (motor output = steady load force Fa). The voltage limit start position P2 corresponds to the "second position" in the present invention.

[0045] When the window W further rises and reaches the contact position P3 where it contacts the upper launch channel 50c (Fig. 2), the rotation of the motor 3 continues. However, since the frictional force due to the contact between the window W and the launch channel 50c starts to act, hereafter, the motor speed gradually decreases, and the motor output (torque) increases according to the frictional force. Note that even after the window W reaches the contact position P3, the feedback control based on the closing target speed V2 continues. Then, when the speed of the motor 3 falls below the closing target speed V2, the applied voltage correction unit 15 raises the applied voltage of the motor 3 to the closing guarantee voltage Z.

[0046] When the window W reaches the fully closed position P4 (the state in Fig. 3(b)), the rotation of the motor 3 continues. However, due to the action of the closing force Fb required to fully close the window W, the motor speed further decreases while the motor output further increases (motor output = steady load force Fa + closing force Fb). Since the closing force Fb at this time corresponds to the torque output from the motor 3 to which the closing guarantee voltage Z is applied, the window W can be surely fully closed at the fully closed position P4.

[0047] On the other hand, when the window W reaches the fully closed position P4 (or immediately before or after it), the applied voltage correction unit 15 restricts the applied voltage of the motor 3 so that it does not exceed the closing guarantee voltage Z. Thereby, since the applied voltage does not increase any further when it reaches the closing guarantee voltage Z, it is possible to avoid an excessive reaction force acting on the window W due to the window W colliding with the upper launch channel 50c at high speed.

[0048] Even after the window W reaches the fully closed position P4, the motor 3 continues to rotate, so the window W rises beyond the fully closed position P4 to the stop position P5. When the window W reaches the stop position P5, the window W is pressed against the launch channel 50c and cannot rise, so the motor 3 stalls and stops (lock state). At the same time, the applied voltage is no longer supplied from the motor drive unit 2 to the motor 3. As a result, the window W stops at the stop position P5 (the state of FIG. 3(c)). When the above-described voltage correction value α is zero (α = 0), that is, when the fully closed target speed V2 and the fully closed guaranteed speed V3 are equal (V2 = V3), the applied voltage does not rise to the fully closed guaranteed voltage Z, so the motor 3 stops before the stop position P5 when α ≠ 0, as indicated by the two-dot chain line.

[0049] At the stop position P5, due to the collision between the window W and the launch channel 50c, an excessive force Fc, which is a reaction force, is generated, but this excessive force Fc is smaller than that of the conventional one. That is, as shown by the one-dot chain line in FIG. 7, when the control of the present invention is not performed, the speed of the motor 3 does not decrease until the upper launch channel contact position P3, so the time until the motor 3 stops becomes longer, and the window W stops at a stop position P6 beyond the stop position P5. For this reason, at the stop position P6, the reaction force from the launch channel 50c, that is, the excessive force Fc becomes large, and this may cause the vehicle door to deform as mechanical stress.

[0050] On the other hand, in the case of the present invention, as shown by the solid line, since the target speed is decreased at the target speed switching position P1, the motor 3 stops at the stop position P5 in front of the stop position P6. For this reason, the excessive force Fc at the stop position P5 is reduced by the amount indicated by the symbol y, and the mechanical stress is suppressed. Moreover, until immediately before the window W stops at the stop position P5, the applied voltage of the motor 3 is limited to the upper limit value (fully closed guaranteed voltage V), so the excessive force Fc can be further suppressed.

[0051] As described above, according to the power window device 100 of the first embodiment, after the window W reaches the voltage limit start position P2 and the speed of the motor 3 falls below the closing target speed V2 immediately before the fully closed position P4, the applied voltage of the motor 3 starts to rise from that point until the closing guarantee voltage V. Therefore, the motor 3 can generate the torque required to fully close the window W, and the window W can be surely fully closed. Further, since the applied voltage of the motor 3 does not increase any further when it reaches the closing guarantee voltage V, it is possible to avoid an excessive reaction force acting on the window W when the window W is fully closed.

[0052] FIG. 8 shows a power window device according to a second embodiment of the present invention. In the power window device 200, the difference from the power window device 100 (FIG. 1) of the first embodiment is that a pinching detection unit 17 is provided in the control unit 1. For other configurations, since they are the same as those in the first embodiment, the same reference numerals are given to the same parts as in FIG. 1, and redundant descriptions are omitted.

[0053] The pinching detection unit 17 is a block that detects that a foreign object has been pinched during the closing operation of the window W. Since the method of detecting pinching is well known, the description thereof is omitted here. The detection of pinching is not performed over the entire movement area of the window W, but a prohibited area where detection by the pinching detection unit 17 is prohibited is set in front of the fully closed position P4 (FIG. 7). This is to avoid erroneously detecting that pinching has occurred because the motor speed decreases when the window W is fully closed. In the second embodiment, the position when the window W reaches this prohibited area is set as the voltage limit start position P2. Thereby, using the existing signal (detection prohibition signal) output from the position detection unit 12 when the window W reaches the prohibited area, it is possible to start processing for correcting or limiting the applied voltage of the motor 3.

[0054] Figures 9 to 11 are diagrams for explaining the control procedure by the control unit 1 in FIG. 8. For switches SW1 to SW3, they are the same as in FIGS. 4 to 6. Switch SW4 is normally in a state switched to the d side as shown by the solid line in FIG. 9. When pinching is detected, it switches to the c side as shown by the dashed line, and stops supplying the applied voltage to the motor 3.

[0055] FIG. 9 shows the control state when the upper end of the window W is in a region in front of the target speed switching position P1 in FIG. 7. In this case, switch SW1 is in the neutral position, switch SW2 selects the normal target speed V1, switch SW3 is switched to the b side, and switch SW4 is switched to the d side. Therefore, the speed control unit 14 in FIG. 8 performs speed control (feedback control) based on the normal target speed V1. In this case, the applied voltage correction unit 15 does not correct the applied voltage of the motor 3.

[0056] After that, when the upper end of the window W reaches the target speed switching position P1 in FIG. 7, it shifts to the control state as shown in FIG. 10. In FIG. 10, switch SW1 is switched to the P1 side, and switch SW2 is also switched, and the closing target speed V2 is selected. Then, the speed control unit 14 performs speed feedback control based on the closing target speed V2. Also in this case, the applied voltage correction unit 15 does not correct the applied voltage of the motor 3.

[0057] When the window W further rises and its upper end reaches the voltage limit start position P2 in FIG. 7, it shifts to the control state as shown in FIG. 11. In FIG. 11, when switch SW1 is switched to the P2 side, based on a detection prohibition signal that prohibits detection of pinching, switch SW3 is switched to the a side. Then, the applied voltage is corrected by the applied voltage correction unit 15, and the applied voltage of the motor 3 rises to the above-mentioned closing guarantee voltage Z. Also, the applied voltage is limited so as not to exceed the closing guarantee voltage Z.

[0058] Also in the power window device 200 of the second embodiment as described above, similar to the first embodiment, the motor 3 can generate the torque necessary to fully close the window W and can surely fully close the window W. Further, by restricting the increase in the applied voltage of the motor 3, it is possible to avoid an excessive reaction force from acting on the window W when the window W is fully closed.

[0059] In the present invention, in addition to the embodiments described above, various embodiments as follows can be adopted.

[0060] In each of the above-described embodiments, before the window W reaches the target speed switching position P1 in FIG. 7, feedback control based on the normal target speed V1 was performed. However, in the region before the target speed switching position P1, without performing feedback control, the applied voltage of the motor 3 may be fixed at the maximum value and the motor 3 may be driven at the maximum voltage.

[0061] In this case, the figure corresponding to FIG. 4 of the first embodiment is as shown in FIG. 12, and the switch SW2 turns on when the window W reaches the target speed switching position P1 and only selects the fully closed target speed V2. Also, the figure corresponding to FIG. 9 of the second embodiment is as shown in FIG. 13. Also in this case, the switch SW2 only selects the fully closed target speed V2.

[0062] Also, in each of the above-described embodiments, in order to detect the rotational speed of the motor 3 and the position of the window W, a sensor 4 such as a rotary encoder or a potentiometer is used. However, instead of the sensor 4, a current detection circuit for detecting the current flowing through the motor 3 may be provided. Then, based on the ripple current (pulsating current) detected by the current detection circuit, the speed of the motor 3 and the position of the window W may be detected.

[0063] Also, in each of the above-described embodiments, an example in which the motor drive unit 2 is provided separately from the control unit 1 is given. However, the motor drive unit 2 may be incorporated into the control unit 1.

[0064] In each of the above-described embodiments, an example in which the power window devices 100 and 200 are provided with the motor 3 has been given. However, the motor 3 may be provided separately from the power window devices 100 and 200.

[0065] Also, in FIG. 2, as an example of the opening / closing mechanism, the opening / closing mechanism 10 including the drums 10a and 10b, the wire 10c, and the elevating member 10d has been given as an example. However, instead of this, for example, an opening / closing mechanism including an X-shaped arm as disclosed in Japanese Patent Application Laid-Open No. 2016-108807 may be used.

[0066] Furthermore, in each of the above-described embodiments, a vehicle power window device has been given as an example of the opening / closing system control device. However, the present invention can also be applied to a device for controlling the opening and closing of a sunroof of a vehicle and the like. Furthermore, the present invention can be applied to control devices for various opening / closing bodies in fields other than vehicles.

Explanation of Reference Numerals

[0067] 1 Control unit 2 Motor drive unit 3 Motor 4 Sensor 10 Opening / closing mechanism 11 Speed detection unit 12 Position detection unit 13 Target speed selection unit 14 Speed control unit 15 Applied voltage correction unit 16 Speed memory unit 17 Pinch detection unit 40 Window frame 50 Run channel 100, 200 Power window device (opening / closing system control device) P1 Target speed switching position (first position) P2 Voltage limit start position (second position) P4 Fully closed position P5 Stop position V1 Normal target speed V2 Closing target speed V3 Closing guarantee speed W window (opening / closing body) Z closing guarantee voltage

Claims

1. A motor drive unit that drives a motor for opening and closing an opening / closing body, and a control unit that outputs a control command for feedback control of the speed of the motor, comprising: In the opening / closing control device that outputs a predetermined applied voltage to the motor based on the control command from the control unit, the control unit sets the target speed of the motor to the closing target speed, which is the target speed when closing the opening / closing body, from the time when the opening / closing body reaches a first position before the fully closed position, and outputs the control command to the motor drive unit so that the motor drive unit outputs an applied voltage such that the speed of the motor becomes equal to the closing target speed, after the opening / closing body reaches a second position closer to the fully closed position than the first position, when the speed of the motor falls below the closing target speed, outputs the control command to the motor drive unit so that the applied voltage of the motor rises to a closing guarantee voltage that can surely close the opening / closing body, and places a limit so that the applied voltage does not exceed the closing guarantee voltage. An opening / closing control device characterized by this.

2. In the opening / closing control device according to Claim 1, the closing guarantee voltage is a value obtained by adding a predetermined voltage correction value to the applied voltage of the motor when the opening / closing body reaches the second position. An opening / closing control device characterized by this.

3. In the opening / closing control device according to Claim 2, the voltage correction value is a value obtained by multiplying the difference between the closing guarantee speed at which the opening / closing body can surely be closed and the closing target speed by the induced voltage constant of the motor. An opening / closing control device characterized by this.

4. In the opening / closing control device according to any one of Claims 1 to 3, the control unit performs feedback control based on a normal target speed greater than the closing target speed until the opening / closing body reaches the first position, starts feedback control based on the closing target speed when the opening / closing body reaches the first position, and continues feedback control based on the closing target speed even after the opening / closing body reaches the second position. An opening / closing control device characterized by this.

5. In the opening / closing control device according to any one of Claims 1 to 3, the control unit Before the closing body reaches the first position, control the motor driving unit so that the applied voltage of the motor becomes the maximum voltage. When the closing body reaches the first position, start feedback control based on the closing target speed. Even after the closing body reaches the second position, continue the feedback control based on the closing target speed. The opening / closing control device is characterized by this.

6. In the opening / closing control device according to any one of Claims 1 to 5, further include a pinching detection unit for detecting that a foreign object has been pinched during the closing operation of the closing body. A prohibited area for prohibiting detection by the pinching detection unit is set in front of the fully closed position. The second position is the position when the closing body reaches the prohibited area. The opening / closing control device is characterized by this.

7. In the opening / closing control device according to any one of Claims 1 to 6, the control unit, when the closing body reaches the first position, gradually decrease the target speed of the motor, and when the target speed drops to a certain value, set the target speed at that time as the closing target speed. The opening / closing control device is characterized by this.

8. A method for controlling an opening / closing body that performs an opening / closing operation by a motor, a procedure for setting the target speed of the motor to the closing target speed, which is the target speed when closing the opening / closing body, from the time when the opening / closing body reaches a first position in front of the fully closed position; a procedure for outputting an applied voltage to the motor such that the speed of the motor becomes equal to the closing target speed; after the opening / closing body reaches a second position closer to the fully closed position than the first position, when the speed of the motor drops below the closing target speed, a procedure for increasing the applied voltage of the motor to a closing guarantee voltage that can surely close the opening / closing body; a procedure for restricting the applied voltage so that it does not exceed the closing guarantee voltage. The opening / closing control method is characterized by including these procedures.

Images