Opening / closing control device

Abstract

To provide an opening / closing body control device capable of quickly detecting pinching even when deflection is generated in an opening / closing body by pinching.SOLUTION: An opening / closing body control device includes a motor drive unit for driving a motor for opening / closing an opening / closing body, and a control unit for controlling an operation of the motor drive unit. The control unit includes a difference value calculation unit for calculating a current difference value ΔId, which is the difference between a current value and a past value of the motor current flowing in the motor, a differential value calculation unit for calculating a differential value d(ΔId) / dt of the current difference value ΔId calculated by the difference value calculation unit, an addition unit for adding the current difference value ΔId and the differential value d(ΔId) / dt, and a pinching determination unit for determining the presence or absence of pinching in the opening / closing body on the basis of the result of comparison between an addition value ΔId+d(ΔId) / dt calculated by the addition unit and a specific threshold value Th.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an apparatus for controlling an opening / closing body such as a back door provided in a vehicle, and in particular, to a technique for rapidly detecting pinching that occurs along with the opening / closing operation of the opening / closing body.

Background Art

[0002] Figure 11 is a schematic structural diagram for explaining the operation of a back door (also referred to as a tailgate). The back door 51 is provided at the rear of a vehicle 50 such as a four-wheeled motor vehicle, an upper end portion thereof is supported by a rotating shaft 52, and the back door 51 is rotatable about the rotating shaft 52. The back door 51 automatically opens by rotating counterclockwise and closes by rotating clockwise based on a predetermined operation. 51a and 51b indicate the fully closed position and the fully open position of the back door 51, respectively.

[0003] Figure 12 schematically shows a mechanism for opening and closing the back door 51. A door opening / closing mechanism 5 driven by a motor 4 is connected to the back door 51. When the motor 4 rotates in the forward direction, the arm 53 of the door opening / closing mechanism 5 extends in the direction a in conjunction therewith, and the back door 51 opens in the direction X. Further, when the motor 4 rotates in the reverse direction, the arm 53 of the door opening / closing mechanism 5 retracts in the direction b in conjunction therewith, and the back door 51 closes in the direction Y.

[0004] As shown in Figure 13, when the back door 51 is performing a closing operation, an obstacle P may be caught between the back door 51 and the vehicle body. Further, as shown in Figure 14, when the back door 51 is performing an opening operation, the back door 51 may hit an obstacle Q, resulting in the back door 51 being caught between the vehicle body and the obstacle Q.

[0005] When such pinching occurs, it not only interferes with the opening and closing operation of the back door 51, but there is also a risk that obstacles P and Q may be damaged or destroyed. In particular, if obstacles P and Q are parts of the human body, safety will be threatened. Therefore, when pinching occurs, it is necessary to quickly detect it and stop or reverse the motor 4 to resolve the pinching condition. Patent documents 1 to 5 disclose techniques for detecting pinching.

[0006] Patent Document 1 calculates the difference between the current flowing through the motor and a reference current, and determines that pinching has occurred if the cumulative value of this difference exceeds a threshold. Patent Document 2 determines that a disturbance has occurred and changes the threshold for pinching detection if the cumulative value of the difference between past and present motor current values, or the derivative of past and present values, falls below a specified value. Patent Document 3 calculates the speed difference between the motor's rotational speed and the target speed, calculates the deviation by integrating and averaging the change in speed difference between the current and previous times, and detects pinching by comparing this deviation with a threshold. Patent Document 4 confirms pinching after the start of pinching has been detected, if the change in the motor's rotational speed exceeds a threshold. Patent Document 5 calculates the change in the motor's angular velocity and detects pinching by comparing this change in angular velocity with a threshold. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2015-31108 [Patent Document 2] Japanese Patent Publication No. 2013-2110 [Patent Document 3] Japanese Patent Publication No. 2008-2089 [Patent Document 4] Japanese Patent Publication No. 2006-307636 [Patent Document 5] Japanese Patent Publication No. 2002-295127 [Overview of the project] [Problems that the invention aims to solve]

[0008] The vehicle's tailgate is not a completely rigid body and has the property of bending under external forces. In particular, if the position where the driving force of the motor 4 acts on the tailgate 51 (see Figure 12) and the position where the pinching occurs (see Figures 13 and 14) are misaligned, the tailgate 51 will bend due to the opposing forces generated at both positions, as will be described below.

[0009] Figure 15 shows a mechanical model diagram for when pinching occurs. When pinching occurs, the back door 51 is subjected to the torque of the motor 4 and the load due to the pinching, and these two forces act in opposite directions. If the positions where these forces are applied are misaligned, the back door 51 will bend. In this case, the motor 4 and the back door 51 are connected by a spring with a spring constant of K1, and the pinching point and the back door 51 are connected by a spring with a spring constant of K2. Here, K1 is the spring constant determined by the rigidity of the back door 51, and K2 is the spring constant determined by the properties of the pinching object (obstacle). In the opening and closing operation of the back door under such a mechanical model, there is a problem in that there is a large time delay between the occurrence of pinching and its detection. This will be explained below.

[0010] Figure 16 shows the temporal change in the current difference value when pinching is detected using the difference value of the motor current (the difference between the current value and the past value). When pinching occurs, the motor current increases along with the increase in motor torque, and the motor current difference value increases accordingly. In this case, assuming that there is no deflection in the back door 51, the current difference value changes linearly with time, as shown by the dashed line. Then, pinching is detected at the point ta when this current difference value reaches a predetermined threshold Th.

[0011] On the other hand, when the back door 51 flexes, the current difference value does not change linearly over time, but rather changes gradually from the start, as shown by the solid line. This is because the flexing of the back door 51 reduces the amount of change in the torque of the motor 4 applied to the back door 51, causing the motor current, which is proportional to the torque, to change slowly. As a result, the time tb when the current difference value reaches the threshold Th, i.e., the time when pinching is detected, is delayed compared to when the back door 51 does not flex, and the time until pinching is detected is longer.

[0012] The object of the present invention is to provide an opening / closing body control device that can quickly detect pinching even when the opening / closing body is deflected due to pinching. [Means for solving the problem]

[0013] The opening / closing body control device according to the present invention comprises a motor drive unit that drives a motor for opening and closing the opening / closing body, and a control unit that controls the operation of the motor drive unit. In a first aspect of the present invention, the control unit controls the motor current flowing through the motor. , at the current time Current value and , at a time set back a predetermined period from the current time Compared to past values temporal difference Alternatively, the current difference value is the positional difference between the current value of the motor current at the current position of the switch and the past value at a predetermined position back from the current position. The system includes a difference value calculation unit, a differential value calculation unit that calculates the differential value of the current difference value calculated by the difference value calculation unit, an addition unit that adds the current difference value and the differential value, and an impingement determination unit that determines whether or not an object is pinched in the opening / closing body based on the comparison result between the added value calculated by the addition unit and a predetermined threshold. In a second aspect of the present invention, the control unit controls the speed of the motor. , at the current time Current value and , at a time set back a predetermined period from the current time Compared to past values temporal difference Alternatively, the positional difference between the current value of the motor speed at the current position of the opening / closing body and the past value at a predetermined position backward from the current position is used as the speed difference value. The system includes a difference value calculation unit, a differential value calculation unit that calculates the differential value of the velocity difference value calculated by the difference value calculation unit, an addition unit that adds the velocity difference value and the differential value, and an impingement determination unit that determines whether or not an object is pinched in the opening / closing body based on the comparison result between the added value calculated by the addition unit and a predetermined threshold.

[0014] According to such an opening / closing body control device, by adding the differential value of the difference value to the difference value of This is a temporal difference or a spatial difference. motor current or motor speed, the added value (difference value + differential value of difference value) has a larger degree of change than the difference value. Therefore, by comparing this added value with a threshold value, pinching can be detected at an earlier time point than the conventional pinching detection time point, and the time until pinching detection is shortened.

[0015] In the first aspect of the present invention, the addition unit may add a current difference value and a value obtained by multiplying the differential value by a predetermined coefficient. Further, the differential value may be a differential value obtained by differentiating the current difference value with respect to time, or may be a differential value obtained by differentiating the current difference value with respect to the position of the opening / closing body.

[0016] In the first aspect of the present invention, instead of the motor current, a motor torque having a proportional relationship with the motor current may be used. In this case, the presence or absence of pinching is determined by comparing a value obtained by adding the difference value of the motor torque and the differential value thereof with a threshold value.

[0017] In the second aspect of the present invention, the addition unit may add a speed difference value and a value obtained by multiplying the differential value by a predetermined coefficient. Further, the differential value is It is a time difference. a differential value obtained by differentiating the speed difference value with respect to time, or It is a positional difference. a differential value obtained by differentiating the speed difference value with respect to the position of the opening / closing body.

[0018] The opening / closing body in the present invention is typically a rotary opening / closing body, that is, an opening / closing body having one end supported by a rotating shaft and rotated around the rotating shaft by a motor. An example of such a rotary opening / closing body is a back door provided at the rear of a vehicle. In this case, the motor rotates the back door via an opening / closing mechanism connected to the back door. Effects of the Invention

[0019] According to the present invention, even when the opening / closing body is bent due to pinching, pinching can be detected quickly. Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a system configuration diagram for controlling opening and closing of a back door. [Figure 2] FIG. 2 is a diagram showing a first embodiment of a specific configuration of a control unit. [Figure 3] FIG. 3 is a diagram showing details of a difference value calculation unit in FIG. 2. [Figure 4] FIG. 4 is a diagram for explaining the pinching detection method according to the present invention. [Figure 5] FIG. 5 is a diagram showing a second embodiment of a specific configuration of a control unit. [Figure 6] FIG. 6 is a diagram showing details of a difference value calculation unit in FIG. 5. [Figure 7] FIG. 7 is a diagram showing a third embodiment of a specific configuration of a control unit. [Figure 8] FIG. 8 is a diagram showing details of a difference value calculation unit in FIG. 7. [Figure 9] FIG. 9 is a diagram showing a fourth embodiment of a specific configuration of a control unit. [Figure 10] FIG. 10 is a diagram showing details of a difference value calculation unit in FIG. 9. [Figure 11] FIG. 11 is a schematic structural diagram for explaining the operation of a back door. [Figure 12] FIG. 12 is a diagram schematically showing a mechanism for opening and closing a back door. [Figure 13] FIG. 13 is a diagram showing an example of pinching. [Figure 14] FIG. 14 is a diagram showing another example of pinching. [Figure 15] FIG. 15 is a dynamic model diagram when pinching occurs. [Figure 16] FIG. 16 is a diagram explaining conventional pinching detection. DETAILED DESCRIPTION OF THE INVENTION

[0021] Embodiments of the present invention will be described with reference to the drawings. Throughout the drawings, the same or corresponding parts are denoted by the same reference numerals. In the following, the vehicle back door 51 shown in Figures 11 to 14 will be given as an example of an opening and closing mechanism.

[0022] Figure 1 shows a system configuration for controlling the opening and closing of the back door 51. The back door control device 100 is an example of the opening and closing control device of the present invention and comprises a control unit 1 and a motor drive unit 2. The control unit 1 outputs a control signal to control the operation of the motor drive unit 2 based on the operation of an operation unit 3 provided on the vehicle or electronic key. The motor drive unit 2 outputs a drive signal to rotate or stop the motor 4 based on the control signal from the control unit 1. The motor 4 performs forward rotation, reverse rotation, or stopping operation in response to the drive signal from the motor drive unit 2. A door opening and closing mechanism 5 that mechanically opens and closes the back door 51 is connected to the motor 4 (see Figure 12), and as described above, the back door 51 is opened and closed by extending or retracting the arm 53 of the door opening and closing mechanism 5 in conjunction with the rotation of the motor 4.

[0023] A voltage detection unit 6 and a current detection unit 7 are provided on the output side of the motor drive unit 2. The voltage detection unit 6 detects the motor voltage applied from the motor drive unit 2 to the motor 4. The current detection unit 7 detects the motor current flowing through the motor 4. The motor voltage detected by the voltage detection unit 6 and the motor current detected by the current detection unit 7 are input to the control unit 1, respectively.

[0024] An angle detection unit 8 is attached to the motor 4. This angle detection unit 8 is composed of, for example, a pulse encoder, and outputs pulses synchronized with the rotation of the motor 4. The count value of these pulses represents the door angle when the back door 51 is opened or closed. The door angle detected by the angle detection unit 8 is input to the control unit 1.

[0025] Figure 2 shows a first embodiment of the specific configuration of the control unit 1. Here, only the blocks related to pinch detection are shown (the same applies to Figures 5, 7, and 9 described later). The control unit 1 is equipped with a current correction unit 10, a difference value calculation unit 11, a differential value calculation unit 12, a multiplier 13, an adder 14, and a pinch determination unit 15.

[0026] The current correction unit 10 is a circuit that corrects fluctuations in motor current caused by fluctuations in motor voltage. It corrects the motor current I detected by the current detection unit 7 in Figure 1 according to the motor voltage Vd detected by the voltage detection unit 6. The corrected motor current Id is input to the difference value calculation unit 11.

[0027] The difference value calculation unit 11 is a circuit that calculates the current difference value ΔId, which is the difference between the current value and the past value of the motor current Id. Specifically, as shown in Figure 3(a), the difference value calculation unit 11 consists of a delay circuit 11a and a subtractor 11b. Figure 3(b) shows the temporal change of the motor current Id. The motor current Id(t) input to the difference value calculation unit 11 is the current value at the present time (time t) as shown in Figure 3(b). On the other hand, the delay circuit 11a holds the current value Id(tD) from the past (time (tD) which is a predetermined period D before time t) as shown in Figure 3(b). The subtractor 11b subtracts the past value Id(tD) from the current value Id(t) of the motor current Id, It is a time difference. The current difference value ΔId(t) is calculated. That is, ΔId(t)=Id(t)-Id(tD)

[0028] Returning to Fig. 2, the current difference value ΔId calculated by the difference value calculation unit 11 is input to the adder 14 and also input to the differential value calculation unit 12. The differential value calculation unit 12 differentiates the current difference value ΔId with respect to time to calculate the differential value d(ΔId) / dt of the current difference value. The calculated differential value d(ΔId) / dt is input to the multiplier 13. The multiplier 13 multiplies the differential value d(ΔId) / dt by a predetermined coefficient a to perform calculation of a×d(ΔId) / dt. In principle, the value of the coefficient a is 1, but in practice, an optimal value is selected through trial and error in the test process of pinching detection. The "differential value" in the present invention also includes the differential value multiplied by such coefficient a.

[0029] The multiplication result of the multiplier 13 is input to the adder 14. The adder 14 adds the current difference value ΔId calculated by the difference value calculation unit 11 and a×d(ΔId) / dt calculated by the multiplier 13 to calculate ΔId+[a×d(ΔId) / dt]. This calculated value is input to the pinching determination unit 15 and serves as a basis for determining whether pinching occurs. For simplicity of description below, it is assumed that a=1, and the pinching determination unit 15 determines the presence or absence of pinching based on ΔId+d(ΔId) / dt.

[0030] Specifically, the pinching determination unit 15 compares ΔId+d(ΔId) / dt (that is, the sum of the current difference value and the differential value of the current difference value) with a preset threshold Th. If ΔId+d(ΔId) / dt>Th, it is determined that pinching has occurred; if ΔId+d(ΔId) / dt≦Th, it is determined that no pinching has occurred. Alternatively, if ΔId+d(ΔId) / dt≧Th, it may be determined that pinching has occurred, and if ΔId+d(ΔId) / dt<Th, it may be determined that no pinching has occurred.

[0031] Figure 4 illustrates the pinch detection method according to the present invention. Figure 4 shows the changes in various parameters G1 to G4 when pinch occurs in the back door 51. G1 represents the change in the difference value ΔId of the motor current calculated by the difference value calculation unit 11. G2 represents the change in the derivative value d(ΔId) / dt of the difference value calculated by the derivative value calculation unit 12. G3 represents G1 + G2, that is, the sum of the difference value and the derivative value ΔId + d(ΔId) / dt. G4 is the difference value of the motor current when there is no deflection in the back door 51, and is the same as the dashed line shown in Figure 16.

[0032] As can be seen in Figure 4, in the conventional method of comparing the difference value ΔId of the motor current of G1 with a threshold Th, as explained in Figure 16, the change in the difference value ΔId is gradual, resulting in a delay in the detection time tb of pinching. In contrast, in the present invention, by adding the derivative value d(ΔId) / dt of G2 to the difference value ΔId of G1, the added value G3 ΔId+d(ΔId) / dt changes at a larger rate than the difference value ΔId of G1, resulting in a steeper rise. Therefore, by comparing this added value G3 with the threshold Th, the time it takes for G3 to reach the threshold Th is shortened, making it possible to detect pinching at a time tc earlier than the conventional pinching detection time tb.

[0033] The pinch detection unit 15 outputs a determination result according to whether or not pinching has occurred. If the determination result is "pinching present", the control unit 1 outputs a control signal to the motor drive unit 2 to stop or reverse the motor 4. The motor drive unit 2 receives this control signal and stops or reverses the motor 4. As a result, the back door 51 stops or reverses in the opposite direction, and the pinching condition caused by the obstacle is resolved.

[0034] As shown in Figure 2, the door angle of the back door 51 detected by the angle detection unit 8 is input to the pinch detection unit 15. This is because when the back door 51 reaches the fully closed position 51a in Figure 11, the motor current increases sharply along with the torque of the motor 4, creating the same condition as when pinching occurs, and this prevents misjudgment of pinching. In other words, even if the sum of the difference value of the motor current and its derivative value reaches the threshold Th, the pinch detection unit 15 does not determine that pinching has occurred if the back door 51 is in the fully closed position 51a.

[0035] Figure 5 shows a second embodiment of the specific configuration of the control unit 1. Similar to Figure 2 (the first embodiment), the control unit 1 includes a current correction unit 10, a difference value calculation unit 11, a differential value calculation unit 12, a multiplier 13, an adder 14, and a pinch detection unit 15. However, the calculation of the current difference value and the differential value of the difference value differs from that in Figure 2. This will be explained in detail below.

[0036] In the case of Figure 2, as explained in Figure 3, the difference value calculation unit 11 subtracts the past value Id(tD) at time tD from the current value Id(t) of the motor current Id at time t, The time difference of the motor current Id Current difference value ΔId(t) as The calculation was performed. In contrast, in Figure 5, as shown in Figure 6, the difference value calculation unit 11 uses the position of the back door 51 instead of the time. the current From the current value Id(n) of the motor current Id at position n, I went back only to the designated position. Subtract the past value Id(nD) at position nD, The positional difference of the motor current Id Current difference value ΔId(n) as The position is calculated. The position referred to here is the value corresponding to the door angle of the back door 51 detected by the angle detection unit 8 in Figure 1 (the count value of the pulse mentioned above).

[0037] Furthermore, in Figure 2, the differential value calculation unit 12 calculates the differential value d(ΔId) / dt by differentiating the current difference value ΔId with respect to time. However, in Figure 5, the differential value calculation unit 12 calculates the differential value d(ΔId) / dn by differentiating the current difference value ΔId with respect to position. Therefore, the multiplier 13 performs an operation to multiply this differential value d(ΔId) / dn by the coefficient a. In addition, the adder 14 performs an operation to add the current difference value ΔId calculated by the difference value calculation unit 11 and a × d(ΔId) / dn calculated by the multiplier 13. Therefore, with a=1, the pinch detection unit 15 compares ΔId+d(ΔId) / dn with a threshold Th to determine whether or not pinch has occurred.

[0038] In the second embodiment described above, as in the first embodiment, by adding the differential value d(ΔId) / dn of the motor current difference value ΔId to the differential value ΔId, the added value ΔId+d(ΔId) / dn changes at a greater rate than the differential value ΔId. Therefore, by comparing this added value with a threshold value Th, it becomes possible to detect pinching at an earlier point than the conventional pinching detection point, thereby shortening the time until pinching is detected.

[0039] Figure 7 shows a third embodiment of the specific configuration of the control unit 1. Similar to Figure 2 (first embodiment), the control unit 1 is equipped with a difference value calculation unit 11, a derivative value calculation unit 12, a multiplier 13, an adder 14, and a pinch detection unit 15. However, a speed correction unit 16 is provided instead of the current correction unit 10 in Figure 2. Furthermore, the calculation of the difference value and the derivative of the difference value differs from that in Figure 2. In Figure 2, the difference value of the current and the derivative of the difference value were calculated based on the motor current I, but in Figure 7, the difference value of the speed and the derivative of the difference value are calculated based on the motor speed R (rotational speed of motor 4). A detailed explanation follows below.

[0040] The speed correction unit 16 is a circuit that corrects motor speed fluctuations caused by fluctuations in motor voltage. It corrects the motor speed R detected by a speed detection unit (not shown) according to the motor voltage Vd detected by the voltage detection unit 6 in Figure 1. The corrected motor speed Rd is input to the difference value calculation unit 11.

[0041] The difference value calculation unit 11 is a circuit that calculates the speed difference value ΔRd, which is the difference between the current value and the past value of the motor speed Rd. Specifically, as shown in Figure 8(a), the difference value calculation unit 11 consists of a delay circuit 11a and a subtractor 11b. Figure 8(b) shows the temporal change of the motor speed Rd. As is clear from comparing it with Figure 3(b), the motor speed Rd changes in the opposite direction to the motor current Id.

[0042] The motor speed Rd(t) input to the difference value calculation unit 11 is the current speed value (time t) as shown in Figure 8(b). On the other hand, the delay circuit 11a holds the past speed value Rd(tD) as shown in Figure 8(b) (time (tD) which is a predetermined period D before time t). The subtractor 11b subtracts the current value Rd(t) from the past value Rd(tD) of the motor speed Rd, It is a time difference. The velocity difference value ΔRd(t) is calculated. That is, ΔRd(t) = Rd(tD) - Rd(t)

[0043] Returning to Figure 7, the velocity difference value ΔRd calculated by the difference value calculation unit 11 is input to the adder 14 and also to the derivative value calculation unit 12. The derivative value calculation unit 12 differentiates the velocity difference value ΔRd with respect to time to calculate the derivative value d(ΔRd) / dt of the velocity difference value. The calculated derivative value d(ΔRd) / dt is input to the multiplier 13 and multiplied by the coefficient a (here a=1). The adder 14 adds the velocity difference value ΔRd calculated by the difference value calculation unit 11 and d(ΔRd) / dt calculated by the multiplier 13 to calculate ΔRd+d(ΔRd) / dt. This calculated value is input to the pinch detection unit 15.

[0044] The entrapment determination unit 15 compares ΔRd+d(ΔRd) / dt (that is, the sum of the speed difference value and the differential value of the speed difference value) with a preset threshold value Th. If ΔRd+d(ΔRd) / dt>Th, it is determined that entrapment has occurred, and if ΔRd+d(ΔRd) / dt≦Th, it is determined that entrapment has not occurred. Alternatively, if ΔRd+d(ΔRd) / dt≧Th, it may be determined that entrapment has occurred, and if ΔRd+d(ΔRd) / dt<Th, it may be determined that entrapment has not occurred.

[0045] In the third embodiment as described above, by adding the differential value d(ΔRd) / dt of the difference value to the difference value ΔRd of the motor speed, the degree of change of this added value ΔRd+d(ΔRd) / dt becomes larger than that of the difference value ΔRd. Therefore, by comparing the added value with the threshold value Th, entrapment can be detected at an earlier time point than the conventional entrapment detection time point, and the time until entrapment detection can be shortened.

[0046] FIG. 9 shows a fourth embodiment of the specific configuration of the control unit 1. Similar to FIG. 7 (the third embodiment), the control unit 1 includes a speed correction unit 16, a difference value calculation unit 11, a differential value calculation unit 12, a multiplier 13, an adder 14, and an entrapment determination unit 15, but the calculation content of the speed difference value and the differential value of the difference value is different from that in the case of FIG. 7. A specific description will be given below.

[0047] In the case of FIG. 7, as described with reference to FIG. 8, the difference value calculation unit 11 subtracts the current value Rd(t) of the motor speed Rd at time t from the past value Rd(t-D) at time t-D to The time difference of motor speed Rd calculate the speed difference value ΔRd(t) as . In contrast, in FIG. 9, as shown in FIG. 10, the difference value calculation unit 11 uses the position of the back door 51 instead of time, Move back a predetermined number of positions from the current position n. from the past value Rd(n-D) of the motor speed Rd at position n-D, the current at position n Motor speed Rd subtracts the current value Rd(n) to The positional difference of motor speed Rd obtain the speed difference value ΔRd(n) asThe position is calculated. The position here, as in the second embodiment, is a value corresponding to the door angle of the back door 51 (the pulse count value of the angle detection unit 8).

[0048] Furthermore, in Figure 7, the differential value calculation unit 12 calculates the differential value d(ΔRd) / dt by differentiating the velocity difference value ΔRd with respect to time, but in Figure 9, the differential value calculation unit 12 calculates the differential value d(ΔRd) / dn by differentiating the velocity difference value ΔRd with respect to position. Therefore, the multiplier 13 performs an operation to multiply this differential value d(ΔRd) / dn by a coefficient a (here a=1). In addition, the adder 14 performs an operation to add the velocity difference value ΔRd calculated by the difference value calculation unit 11 and d(ΔRd) / dn calculated by the multiplier 13. Therefore, the pinch detection unit 15 compares ΔRd+d(ΔRd) / dn with a threshold Th to determine whether or not pinch has occurred.

[0049] In the fourth embodiment described above, as in the third embodiment, by adding the differential value d(ΔRd) / dn of the motor speed difference value ΔRd to the difference value ΔRd, the added value ΔRd+d(ΔRd) / dn changes at a greater rate than the difference value ΔRd. Therefore, by comparing this added value with a threshold Th, it becomes possible to detect pinching at an earlier point than in the conventional pinching detection method, thereby shortening the time until pinching is detected.

[0050] As described above, in the present invention, the current value and past value of the current or speed of the motor 4 Temporal difference or spatial difference The system includes a difference value calculation unit 11 that calculates the difference, a derivative value calculation unit 12 that calculates the derivative of the difference value calculated by the difference value calculation unit 11, and an addition unit 14 that adds these difference value and derivative value together. By comparing the difference value + derivative value with a threshold value Th, the presence or absence of pinching in the back door 51 is determined. Therefore, even if the back door 51 flexes due to pinching, it is possible to detect pinching more quickly than with conventional methods that determine the presence or absence of pinching using only the difference value.

[0051] In addition to the embodiments described above, various other embodiments can be adopted in the present invention. For example, in Figures 2 and 5, the difference in motor current and its derivative are added together, and the sum is compared with a threshold value to determine whether or not pinching occurs. However, motor torque may be used instead of motor current. That is, when "motor torque = motor current × torque constant" holds true, motor torque is proportional to motor current. Therefore, instead of the difference in motor current, the difference in motor torque is calculated, and the sum of this difference and its derivative is compared with a threshold value to determine whether or not pinching occurs.

[0052] Furthermore, although the above-described embodiment shows an example in which one motor 4 is provided for the back door 51, motors may also be provided on both the left and right sides of the back door 51. In this case, the back door control device 100 is provided corresponding to each of the two motors. Note that if both the left and right sides of the back door 51 are driven by motors, the amount of deflection of the back door 51 when pinching occurs will be reduced compared to when only one side is driven by motors, but it is still not possible to completely eliminate the deflection, so there are still issues that need to be addressed.

[0053] Furthermore, although the above-described embodiment used a vehicle's tailgate as an example of an opening / closing mechanism, the present invention can be applied to any rotating opening / closing mechanism that has one end supported by a pivot shaft and rotates around the pivot shaft by a motor, other than tailgates. For example, the present invention can be applied to the control of a rotating gate installed in a garage. [Explanation of Symbols]

[0054] 1 Control Unit 2. Motor drive unit 3 Control section 4 motors 5 Door opening and closing mechanism 6 Voltage detection unit 7 Current detection unit 8 Angle detection unit 10 Current Correction Unit 11 Difference Value Calculation Unit 12 Differential Value Calculation Unit 13 Multipliers 14 Adder 15. Pinching detection unit 50 vehicles 51. Back door (opening / closing mechanism) 100 Backdoor control device (opening / closing device) I Motor current R Motor speed ΔId: Difference in motor current ΔRd is the difference in motor speed. d(ΔId) / dt, d(ΔId) / dn: Differential values ​​of the current difference. d(ΔRd) / dt, d(ΔRd) / dn: Differential values ​​of the velocity difference. Th threshold P, Q Obstacle

Claims

1. A motor drive unit that drives the motor for opening and closing the opening / closing body, The motor drive unit comprises a control unit that controls the operation of the motor drive unit, The control unit, A difference value calculation unit calculates the current difference value as the time difference between the current value of the motor current flowing through the motor at the present time and the past value at a predetermined time period prior to the present time, or the positional difference between the current value of the motor current at the current position of the switch and the past value at a predetermined position prior to the present position. A differential value calculation unit calculates the differential value of the current difference value calculated by the difference value calculation unit, An adder that adds the current difference value and the derivative value, An opening / closing body control device, characterized by including an opening / closing body control unit that determines whether or not pinching has occurred in the opening / closing body based on the result of comparing the added value calculated by the addition unit with a predetermined threshold.

2. A motor drive unit that drives the motor for opening and closing the opening / closing body, The motor drive unit comprises a control unit that controls the operation of the motor drive unit, The control unit, A difference value calculation unit calculates a speed difference value, which is the time difference between the current value of the motor's speed at the present time and the past value at a predetermined time period prior to the present time, or the positional difference between the current value of the motor's speed at the current position of the opening / closing body and the past value at a predetermined position prior to the current position. A differential value calculation unit calculates the differential value of the velocity difference value calculated by the difference value calculation unit, An addition unit that adds the speed difference value and the derivative value, An opening / closing body control device, characterized by including an opening / closing body control unit that determines whether or not pinching has occurred in the opening / closing body based on the result of comparing the added value calculated by the addition unit with a predetermined threshold.

3. In the opening / closing control device according to claim 1, The switch control device is characterized in that the adding unit adds the current difference value and the value obtained by multiplying the derivative value by a predetermined coefficient.

4. In the opening / closing control device according to claim 1, The switch control device is characterized in that the derivative value is the derivative value obtained by differentiating the current difference value, which is the time difference, with respect to time, or the derivative value obtained by differentiating the current difference value, which is the position difference, with respect to the position of the switch.

5. In the opening / closing control device according to claim 1, Instead of the aforementioned motor current, a motor torque proportional to the motor current is used. An opening / closing device characterized by determining whether or not pinching occurs by comparing the sum of the difference value of the motor torque and its derivative value with the threshold value.

6. In the opening / closing control device according to claim 2, The opening / closing control device is characterized in that the adding unit adds the speed difference value and the value obtained by multiplying the derivative value by a predetermined coefficient.

7. In the opening / closing control device according to claim 2, The control device for opening and closing an opening body is characterized in that the derivative value is the derivative value obtained by differentiating the velocity difference value, which is the time difference, with respect to time, or the derivative value obtained by differentiating the velocity difference value, which is the position difference, with respect to the position of the opening and closing body.

8. In the opening / closing control device according to any one of claims 1 to 7, The opening / closing body control device is characterized in that the opening / closing body is a rotary type opening / closing body in which one end is supported on a rotating shaft and rotates around the rotating shaft by the motor.

9. In the opening / closing control device according to claim 8, The aforementioned opening and closing mechanism is a back door located at the rear of the vehicle. The opening / closing control device is characterized in that the motor rotates the back door via an opening / closing mechanism connected to the back door.

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