JP3528503B2 - Motor control device for opening and closing mechanism - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device for an opening / closing mechanism for detecting the entrapment of foreign matter or the like by an opening / closing mechanism such as a window of a vehicle driven by a motor or a sunroof, and in particular, without using a torque sensor or the like. The present invention relates to a motor control device for an opening / closing mechanism that can be detected.

[0002]

2. Description of the Related Art Conventionally, as an example of a motor control device for an opening / closing mechanism capable of detecting pinching without using a torque sensor, there is one disclosed in Japanese Patent Application Laid-Open No. 6-253570. This is based on the motor's drive current, motor's terminal voltage, and motor's angular velocity, etc., taking into account the motor's angular acceleration, and it consists of four switching elements based on the calculated gripping force. The current flowing in the motor is controlled by the chopper operation using the PWM pulse according to the H-bridge driving method described above, the pinching force when the pinching occurs is reduced, and the pinching is prevented at a low cost.

[0003]

However, in the above-mentioned conventional example, when opening and closing a window of an automobile, for example, the motor torque Tm is calculated from the motor current Im, the motor terminal voltage Em, and the motor angular velocity ω, and the motor torque Tm is calculated from the motor torque Tm. , The viscous resistance Tn proportional to the motor angular velocity ω, the dynamic frictional resistance Td of a predetermined value, and the motor inertia moment Tk in consideration of the angular acceleration ω ′ of the motor are subtracted to calculate the foreign matter pinching force Ts, Entrapment detection is performed by comparing with a predetermined determination value. Therefore, there is a problem that a calculation error increases if the dynamic frictional resistance Td changes with time or temperature.

Hereinafter, the above-mentioned conventional detection principle will be described based on equations. The motor torque Tm is calculated by the following equation (1) from the motor constant K1 and the motor current Im. Tm = K1 × Im (1) or motor impedance Z, motor constant K1,
It is calculated from the motor voltage Em by the following equation (2). Tm = [Em− (K1 × ω)] × K1 / Z (2) Therefore, the motor torque Tm can be obtained from the motor current Im or from the motor terminal voltage and the motor angular velocity.

Since the viscous resistance Tn is proportional to the motor angular velocity ω, it can be calculated from the viscous resistance coefficient K2 by the following equation (3). Tn = K2 × ω (3) Since the value of the viscous resistance Tn calculated from the viscous resistance coefficient K2 is sufficiently smaller than the entrapment force Ts, even if the viscous resistance coefficient K2 changes with time or temperature. , It does not increase the calculation error.

The moment of inertia Tk of the motor is calculated from the motor angular acceleration ω'and the moment of inertia M of the entire drive system by the following equation (4). The motor angular acceleration ω ′ can be calculated by differentiating the motor angular velocity ω. Tk = M × ω ′ (4) Therefore, the moment of inertia of the motor can be obtained from the motor angular acceleration. The motor torque Tm is the viscous resistance T
Since n, dynamic friction resistance Td, motor inertia moment Tk, and pinching force Ts are always in balance, the following equation (5) is established. Tm = Tn + Td + Tk + Ts (5)

The entrapment force Ts is obtained by the following equation (6) or (7) from the equations (1) to (5), and the entrapment is detected by comparing with a predetermined judgment value. Ts = K1 / Z * Em- [K1 * K1 / (Z + K2)] * [omega] -M * [omega] '-Td (6) Ts = K1 * Im-K2 * [omega] -M * [omega]'-Td (7) Therefore, As shown in the equations (6) and (7), the pinching force Ts is obtained from the motor voltage Em or the motor current Im, the motor angular acceleration ω, the motor angular acceleration ω ′, and the dynamic friction resistance Td. If the change in temperature or the change in temperature does not fall within a certain value, the calculation error increases.

In order to solve the above problem, a method of storing and correcting the dynamic friction resistance value when no entrapment has occurred has been proposed, but when used in an automobile, the standard required for correction is required. The problem is how to perform the operation of sampling the sliding resistance (hereinafter referred to as "initialization").

At least at the time of initialization, there is a limitation that the window glass is lifted and lowered in a state where no force other than the sandwiching force is applied to the window glass. Also, if you try to initialize while driving, the inertial force due to vibrations from the road surface may act on the window glass, or the window glass may be touched by the occupant, causing unnecessary frictional force, which may cause incorrect reference sampling. is there. Therefore, there is a problem in that it is necessary to perform initialization at the time of shipping the vehicle or at the time of inspection service such as regular inspection, or to make the vehicle user fully aware of the initialization operation and to perform it regularly by the user for maintenance. . In view of the above-mentioned conventional problems, the present invention is a motor of an opening / closing mechanism that does not require initialization and can accurately detect the pinching force of a foreign matter even if the dynamic friction resistance changes with time, and can reliably open the foreign matter when it is pinched. The purpose is to provide a control device.

[0010]

Therefore, the invention according to claim 1 is a motor control device for controlling a motor for driving an opening / closing mechanism for opening / closing an opening / closing object such as a window or a door. A motor current detecting means for detecting a terminal voltage of the motor, and a detecting means for detecting the motor current.
A first amplifier that outputs a voltage proportional to the output value; motor angular velocity detection means that detects the angular velocity of the motor ;
Outputs a voltage proportional to the detection value of the angular velocity detection means.
A second amplifier, a motor angular acceleration detecting means for detecting the angular acceleration of the motor, a motor current detected by the motor current detecting means or a terminal voltage of the motor, and a motor angular velocity detected by the motor angular velocity detecting means. Based on the motor angular acceleration detected by the motor angular acceleration detection means, the disturbance torque calculation means for calculating the disturbance torque applied to the motor and the disturbance torque calculated by the disturbance torque calculation means are differentiated to obtain the disturbance torque Disturbance torque differentiating means for calculating the change speed and the disturbance torque changing speed calculated by the disturbance torque differentiating means are compared with a predetermined judgment value to perform entrapment determination, and if there is entrapment, reverse control of the motor is performed. And an entrapment detection means.

In particular, the motor angular acceleration detection
The means is proportional to the differential value of the output voltage of the second amplifier.
It consists of a first high-pass filter that outputs
The disturbance torque calculating means is the output voltage of the first amplifier.
From the output voltage of the second amplifier to the first high pass
The difference between the output voltage of the filter and the external voltage applied to the motor
It consists of a differential amplifier that outputs disturbance torque,
The differential means compares the differential value of the output voltage of the differential amplifier with
It consists of a second high-pass filter that outputs an example voltage.
The entrapment detection means is configured to detect the second high pass filter.
Filter output voltage compared to the predetermined judgment value and pinched
It is supposed to make a judgment.

In the motor controller for the opening / closing mechanism,
The motor is small when the opening / closing mechanism operates in the closing direction.
Software that controls to gradually increase the current from the motor current
A start control means can be added. The judgment value
Can be created based on the angular velocity of the motor
It The soft start control means is configured to detect the detected mode.
The angular velocity of the motor does not exceed the maximum motor angular velocity maximum value.
Control is desirable.

[0013]

In the invention described in claim 1, the first amplifier is a motor.
Output a voltage proportional to the terminal voltage of the
Outputs a voltage proportional to the speed of the motor,
The filter was proportional to the derivative of the output voltage of the second amplifier
Since the voltage is output, the amplification coefficient of each amplifier is adjusted.
The motor terminal voltage, speed, and acceleration detection values.
Can have a number. From terminal voltage with coefficient
Disturbance torque is detected when the speed and acceleration are differentiated by a differential amplifier.
It will be a quote. This disturbance torque detection value is the second high
Disturbance torque change speed by passing through a pass filter
Is required and it is used for pinching determination, so the device is
Can be configured with a digital circuit, and the calculation speed is digitally processed.
Expected to be improved and configured at low cost
It

The disturbance torque includes viscous resistance, dynamic friction resistance,
The moment of inertia of the motor and the pinching force are included
Even if the frictional resistance changes over time, the opening / closing mechanism is driven in the closing direction.
When there is no jam, it gets caught in the middle
If the structure does not move like this, the rate of change of dynamic friction resistance
Since the degree is almost 0, it accounts for the changing speed of the disturbance torque.
The ingredients are small. Also, the viscous resistance is sufficient for the pinching force.
Because it is small, the calculation is performed even if there are changes over time and temperature.
Since the error does not increase, the rate of change of the disturbance torque is
Only the change speed of the pinching force is reflected and compared with the predetermined judgment value.
In comparison, erroneous detection due to changes in frictional force over time will not occur.
It is possible to make a pinch judgment without exception. Sandwiching
If it is determined that the motor has been reversed, control the motor to reverse.
Therefore, it is possible to minimize the pinching force against foreign matter.
In addition to being able to remove foreign objects from the switchgear
Wear.

The opening / closing mechanism closes the motor.
To gradually increase speed from small speed when moving in the direction
If a soft start control means for controlling is provided, the motor
The rate of change of current can be suppressed below a specified value,
The change rate of the motor current depends on the inductance component
Rush current at motor startup that is proportional to
It is possible to prevent false detection of entrapment due to calculation error due to
Pinch even immediately after the opening / closing mechanism starts to be driven in the closing direction.
Only detection is possible.

Further , the judgment value is based on the motor angular velocity.
When creating it, consider the spring constant of the entrapped foreign matter.
The pinching force can be detected with consideration and pinching with higher accuracy
Can be detected only.

It should be noted that the motor angular velocity is a predetermined motor angle.
If control is performed so as not to exceed the maximum speed value, the motor angle
The maximum value of the calculation error that increases as the speed increases
It can be suppressed to a fixed value. Also due to the delay of the control system
Increase as the motor angular velocity generated by
The maximum value of the entrapment force is also suppressed to a constant value for more accurate
High pinch detection is possible.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment in which the embodiment of the present invention is applied to open and close a power window of a vehicle will be described. FIG. 1 is a diagram showing the configuration of the first embodiment of the present invention. The motor 1 that drives the power window 100 is connected to a 12V power source and a drive circuit via a relay 2.
The drive FET is provided in the drive circuit, and the current flowing through the motor 1 can be controlled by the FET drive signal output from the control circuit 10.

The control circuit 10 includes a motor voltage detector 6 and
The ripple detection unit 7, the F / V conversion unit 8, the 1-chip microcomputer 11, and the relay driver 9 are included, and the 1-chip microcomputer 11 is connected to the 12V power source through the backflow prevention diode 4 to be 5V by the regulator 5. The voltage is adjusted and power is supplied. The 1-chip microcomputer 11 has
A power window (P / W) switch 13 that is operated by an occupant to switch between up and down and stop of the window glass and a limit switch 14 that detects that the window glass has reached the upper limit are connected.

The motor voltage detector 6 detects the motor voltage Em, which is the terminal voltage of the motor 1. The ripple detector 7 takes a voltage from the resistor 2'in the relay 2, detects the ripple frequency and outputs a ripple pulse, and the F / V converter 8 performs voltage conversion according to the frequency of the ripple pulse. Since the resistor 2 ′ is connected to the power supply circuit of the motor 1 in series with the drive circuit, the ripple frequency is generated in proportion to the motor angular velocity ω, and the converted voltage becomes the detected value of the motor angular velocity ω.

The input of the F / V converter 8 may use a pulse of an encoder which can directly measure the rotation of the motor. Further, without using the F / V converter 8, the encoder pulse or the motor ripple pulse is directly input to the 1-chip microcomputer 1.
Alternatively, the 1-chip microcomputer 11 may count the pulses and calculate the motor angular velocity ω.

The one-chip microcomputer 11 determines the rotation direction of the motor 1 according to the state of the P / W switch 13 and outputs a relay signal to the relay driver A or the relay driver B of the relay drive 9. This drives the coil in the relay 2 and switches the contact to the required position.
A PWM signal is output to the drive FET 3, and when the window is closed, a PWM signal whose pulse width gradually increases from 0 over time is output, and a soft start is realized by controlling the current flowing to the motor 1. There is.

On the other hand, the one-chip microcomputer 11 simultaneously inputs the detected values of the motor voltage Em and the motor angular velocity ω from the motor voltage detection unit 6 and the F / V conversion unit 8, respectively, and differentiates the motor angular velocity ω to obtain the motor angular acceleration ω. Then, the disturbance torque T is estimated, and the disturbance torque change speed T, which is a differential value of the disturbance torque T, is calculated. By comparing the calculated change speed T'of the disturbance torque with the determination value, it is determined whether or not a foreign object has been caught, and when the foreign object is caught, the motor 1 is reversely controlled to drive the power window 100 once in the opening direction for a predetermined distance. Then stop.

The limit switch 14 detects that the window glass is at the upper limit and the power window 100 is closed, and outputs an upper limit signal to the one-chip microcomputer 11. 1
The chip microcomputer 11 determines from the upper limit signal that the power window 100 is in the closed state, and does not perform the reversing operation even if the pinch is detected. This prevents malfunctions when the window is completely closed.

Next, the principle of detection of entrapment in the one-chip microcomputer 11 will be described based on equations. First, since the disturbance torque T can be the sum of the sandwiching force Ts and the dynamic friction resistance Td, the following equation (8) is established. T = Ts + Td (8) When the equation is converted into the equation (5) shown in the conventional example, the equation (9) is obtained. T = Tm-Tn-Tk (9)

When the equation (9) is further converted using the equations (1) to (4) shown in the conventional example, the equations (10) and (10) are obtained.
Formula (11) is calculated | required. T = Em · K1 / Z − [(K1 · K1 / Z) + K2)] · ω−Mω ′ (10) T = Im · K1 / Z−K2 · ω−Mω ′ (11) Therefore, the formula (10) As shown in Expression (11), the disturbance torque T changes according to the motor terminal voltage Em or the motor current Im and the motor angular velocity ω and the angular acceleration ω ′, and can be obtained from the detected values thereof.

The disturbance torque T is further differentiated to obtain the change rate T'of the disturbance torque, and the equation (12) is derived from the equation (8). T '= Ts' + Td' (12) Here, Ts' is a change speed of the sandwiching force, which is a differential value of the sandwiching force Ts, and Td 'is a dynamic friction resistance T.
It is the changing speed of the dynamic frictional resistance, which is the differential value of d.

Even if the dynamic frictional resistance Td contained in the disturbance torque changes over time, the dynamic frictional resistance Td has a structure that does not cause a trapping in the middle while the opening / closing mechanism is driven in the closing direction even if the opening / closing mechanism is driven in the closing direction. The resistance change speed Td ′ is substantially equal to 0, and the component of the disturbance torque change speed T ′ is small, and the pinching force change speed Ts ′ can be detected from the derivative value of the disturbance torque. As described above, detecting the change speed T'of the disturbance torque is equivalent to detecting the change speed Ts' of the sandwiching force, and therefore, the change T'of the disturbance torque is determined by a predetermined determination value. It is possible to determine whether there is a pinch by comparing with. When expressed by an equation, the equations (13) and (14) are obtained. Td '= 0 (13) T' = Ts' (14)

FIG. 2 shows the functions of the one-chip microcomputer 11 in the form of functional blocks, and shows the signal flow and calculation procedure of the entire device of the first embodiment shown in FIG. The occupant operates the P / W switch 13, and the operation information is 1
It is input to the chip microcomputer 11. 1 chip microcomputer 1
In No. 1, the motor drive unit 20 determines whether the window is opened or closed according to the operation state of the switch, and outputs a drive signal to the relay 2 via the relay driver 9 to move the motor 1 in the corresponding rotation direction. Set. Further, the result of the determination is output to the soft start control unit 21.

The soft start control section 21 outputs the command value of the current of the motor 1 to the PWM generating section 22. The command value of the motor current is set so that the motor current is gradually increased when the motor 1 is driven in the window closing direction. PW
The M generator 22 outputs a pulse signal whose pulse width increases with time to the drive FET 3 to soft start the motor 1. The power window 100 operates by driving the motor 1. Limit switch 14
Detects that the power window 100 is closed,
The detection signal is output to the entrapment determination unit 26.

On the other hand, the ripple detector 7 detects the ripple frequency from the drive current of the motor 1 and outputs a ripple pulse corresponding to the ripple frequency. The ripple pulse is converted into a voltage by the F / V converter 8. Since the voltage is proportional to the angular velocity of the motor 1, it becomes the detected value of the motor angular velocity ω. The detected value is output to the subtraction unit 23, is differentiated in the differential value calculation unit 24, and is output to the subtraction unit 23 as the motor angular acceleration ω ′. The motor voltage detector 6 detects the terminal voltage of the motor 1 and outputs the detected value to the subtractor 23.

In the subtracting section 23, the terminal voltage E of the motor 1
The disturbance torque T applied to the motor 1 is calculated from m, the motor angular velocity ω, and the motor angular acceleration ω ′ based on the equation (10). The calculated disturbance torque T is differentially calculated in the differential value calculator 25 to calculate the disturbance torque conversion speed T ′. The entrapment determination unit 26 makes an entrapment determination by comparing the calculated value with the determination value. Then, when it is determined that the sheet is caught and there is no signal from the limit switch 14, the determination signal is output to the motor drive unit 20.
When there is a pinching determination signal while the window is being closed, the motor drive unit 20 once operates the motor 1 in the opening direction for a predetermined distance and then stops.

FIG. 3 is a waveform in which each detected value from the start of driving the motor 1 of the first embodiment in the closing direction to the detection of entrapment is expressed as a voltage. The motor voltage Em is P
The voltage gradually increases due to soft start by WM drive. However, until the backlash of the power window mechanism (mechanical play due to play of the reduction gear) disappears,
Since the driving force is not transmitted, the motor idles and the rotation of the motor 1 rises, but the window glass is stopped.
Therefore, the window voltage does not move during that period, but the motor voltage E
The motor angular velocity increases in proportion to m.

After that, the backlash is eliminated and the motor driving force starts to be transmitted to the window glass, but the window glass is still stopped until the static friction resistance force acts and the motor driving force exceeds the static friction resistance force. During this period, a shock absorber (a rubber bush, etc.) is provided between the window glass and the drive mechanism of the motor to protect the window glass and reduction gear from excessive force due to bending when torque is applied. ), The motor 1 slowly rotates at a substantially constant value and the motor angular velocity ω is leveled, but the shock absorber gradually contracts and the window glass stops.

Only when the driving force of the motor 1 exceeds the static friction resistance force, the window glass rises, and the angular velocity ω of the motor 1 gradually rises according to the motor voltage Em until the steady rotation speed of the motor 1 is reached. When foreign matter is caught, the motor angular velocity ω decreases due to the reaction force generated by the foreign matter.

On the other hand, the motor angular acceleration ω'is approximately 0 until the window glass starts to rise, and it rises at the moment the window glass starts to move, and the motor accelerates at an almost constant acceleration value by the soft start. Therefore, the motor angular acceleration is almost flat. As the steady rotation speed of the motor 1 approaches, the acceleration of the motor rotation becomes slower, and the motor angular acceleration ω '
Gradually decreases, and becomes almost 0 at steady rotation. When a foreign object is trapped, the motor 1 decelerates, so that the motor angular acceleration ω ′ takes a negative value and the absolute value increases with time.

The disturbance torque T calculated from the motor voltage Em, the motor angular velocity ω, and the motor angular acceleration ω ′ based on the equation (10) is the motor 1 until the backlash disappears.
Is almost 0 because it is idling, and during the next period when the window glass is stopped by the static friction resistance force, the motor voltage Em
A state in which the driving force of the motor 1 increases as the value of 1 increases is detected. The static friction resistance force is switched to the dynamic friction resistance force at the moment when the driving force of the motor overcomes the static friction resistance force and the window glass starts to be driven. Since the maximum value of the static friction resistance force is always larger than the dynamic friction resistance force, the disturbance torque T instantaneously decreases.

The disturbance torque T should be essentially constant during the period until the motor angular velocity ω rises and the motor 1 enters the steady rotation state. However, the viscous drag force Tn may change over time, due to temperature change and calculation. Due to the calculation error that occurs,
It may gradually rise or fall in proportion to the motor angular velocity ω. However, in this case, since the detected change speed of the disturbance torque is used for the entrapment determination, an error due to deterioration with time or a temperature change does not pose a problem. When pinching occurs, the reaction force of the foreign matter is detected, and the disturbance torque T increases.

On the other hand, the rate of change T'of the disturbance torque obtained by differentiating the disturbance torque T is constant according to the inclination amount of the increase in the motor voltage due to the PWM drive during the period when the window glass is stopped by the static friction resistance. Indicates a value. This value can be suppressed to a fixed value by adjusting the increase value of PWM drive by soft start. Until the entrapment occurs, the change in the disturbance torque change speed T'is so small that it can be ignored, and it rises sharply at the moment when the entrapment occurs. Therefore, the entrapment detection is performed by comparing the rapidly increasing disturbance torque change speed T ′ with a predetermined determination value.

At this time, the increase amount of the disturbance torque T is larger as the hardness is harder and is smaller as the softness is larger. Therefore, the maximum value of the change rate T'of the disturbance torque rapidly increased is larger as the harder and is smaller as the softer. There is a concern that this method may not be able to detect very soft objects, but in reality, no matter how soft the foreign object is, there is no one with a small pinching reaction force forever. Can be significantly increased and detected.

According to the present embodiment, since the changing speed T'of the disturbance torque is detected, the dynamic frictional resistance Td contained in the disturbance torque T is reflected in the changing speed T'of the disturbance torque even if it changes over time. Therefore, the pinch detection can be accurately performed, and the hard pin can be stably detected before the pinch force becomes large before the pinch force increases.

FIG. 4 shows a second embodiment of the present invention. In this embodiment, an entrapment judgment reference creating section 50 is added to the functional block diagram of the first embodiment shown in FIG. The entrapment determination reference creation unit 50 creates a determination value Kw, which is a reference value for the entrapment determination, based on the detected value of the motor angular velocity ω output by the F / V conversion unit 8. Entrapment determination unit 26 '
Is the created determination value Kw and the disturbance torque change speed T ′.
Are compared, and the jamming determination is performed in consideration of the spring coefficient of the jammed foreign matter. Others are the same as those in the first embodiment.

The detection principle will be described below using equations. Focusing on the relationship between the change ΔF of the foreign matter pinching reaction force in a minute time Δt and the change ΔX of the pinching position of the opening / closing mechanism, the pinched foreign matter always increases the reaction force according to the amount of the pinching. When the constant is K3, the following expression (15) is established. ΔF = K3 × ΔX (15)

At this time, the spring constant K3 takes a positive value that is not a constant value determined by the sandwiching amount. Further, since the change speed Ts ′ of the sandwiching force is equal to the change ΔF of the reaction force per the minute time Δt, the following expression (16) is established. Ts' = ΔF / Δt (16)

Further, since the motor angular velocity ω is equal to the position change ΔX per the minute time Δt, the following equation (17) is established. ω = ΔX / Δt (17) Therefore, from Expressions (15), (16), and (17), Expression (1
8) is required. Ts ′ = K3 × ω (18) Further, the equation (19) is derived from the equations (14) and (18). T '= K3 × ω (19)

Therefore, the changing speed T'of the detected disturbance torque, the predetermined judgment value of the spring constant K3, and the motor angular speed ω
When the spring constant of the entrapped foreign matter exceeds a predetermined value, it is detected that entrapment has occurred by comparing the product of the two, that is, a predetermined determination value that is determined in proportion to the motor angular velocity ω. be able to.

The entrapment determination reference creating section 50 creates a determination value Kw that increases in proportion to the motor angular velocity ω as shown in FIG. Here, when the motor angular velocity ω is a certain value a or less, it is a large value because the motor 1 is rotating but the window glass is stopped as described in the description of FIG. This is to prevent erroneous detection of entrapment during the period. Further, the determination value Kw can be configured by a polygonal line circuit by an analog circuit or can be determined by a table lookup method of a ROM map by a microcomputer.

FIG. 6 shows waveforms of the motor voltage Em, the motor angular velocity ω, and the disturbance torque change speed T ′ from FIG. 2, and how the determination value Kw created corresponding to the motor angular velocity ω according to FIG. FIG. Due to the backlash and static friction resistance, the motor 1 rotates, but the motor angular velocity ω during the period when the window glass is stopped.
Is small, and the calculation error is large in that range, and the change speed T'of the disturbance torque shows a constant value. As shown in FIG. 5, when the motor angular velocity ω is a certain value a or less as shown in FIG. 5, it becomes a large value. Therefore, as shown in FIG. to correct.

Next, when the window glass starts to be driven, as the motor angular velocity ω increases, the determination value Kw gradually increases according to the equation (19), and the motor angular velocity ω is corrected. Thus, by directly detecting the spring constant of the foreign matter, the pinch detection can be performed more accurately and the pinching force can be reduced.

In addition to the calculation error caused by the backlash and the static friction resistance force, the motor angular velocity ω is actually increased due to the increase of the pinching force due to the delay of the signal processing of the control circuit and the difference of the pinching force due to the bending of the opening / closing mechanism. There are various causes for the theoretical value (hereinafter, referred to as the error for the theoretical value) that change according to the above. By considering the error with respect to these theoretical values and creating the determination value Kw according to the motor angular velocity ω, and correcting the theoretical value, it is possible to provide a motor control device for the opening / closing mechanism that performs more stable entrapment detection.

FIG. 7 shows a third embodiment of the present invention. In this embodiment, a velocity feedback section 40 is added to the functional block diagram of the first embodiment shown in FIG. The velocity feedback unit 40 prevents the motor angular velocity ω from exceeding a predetermined maximum value based on the detected value of the motor angular velocity ω output by the F / V conversion unit 8 and the target value of the motor current output by the soft start control unit 21 ′. Command value of various motor current PW
It outputs to the M generation unit 22 '. Others are the same as those in the first embodiment.

The soft start control unit 21 'gradually increases the target value of the motor current to perform the soft start operation. When the motor angular velocity ω exceeds a predetermined maximum value, the velocity feedback unit 40 monitors the motor angular velocity ω output by the F / V conversion unit 8 and outputs the motor angular velocity ω with respect to the input target value of the motor current. The target value of the motor current is reduced and feedback control is performed so that the motor angular velocity does not exceed a predetermined maximum value. By adding this control, the maximum value of the motor angular velocity ω does not change due to variations in the dynamic friction resistance Td and the viscous resistance Tn, and fluctuations in the power supply voltage. Therefore, the error with respect to the theoretical value that changes according to the motor angular velocity ω described in the second embodiment can be set to a constant value by limiting the maximum value of the motor angular velocity ω, and more stable entrapment detection can be performed. .

Next, a fourth embodiment of the present invention will be described. FIG. 8 is a diagram showing the configuration. In this embodiment, an analog arithmetic circuit is used in place of the one-chip microcomputer 11 in the first embodiment to determine whether or not a pinch has occurred, and the control logic circuit 30 is assembled to control the motor.

The motor voltage detection circuit 31 detects the terminal voltage Em of the motor 1, and the amplifier 32 amplifies the terminal voltage Em of the motor 1 and outputs it to the negative terminal of the differential amplifier 38. The ripple detection circuit 33 detects the ripple frequency from the drive current of the motor 1 and outputs a ripple pulse corresponding to the frequency, and the F / V conversion circuit 34 performs F / V conversion on the ripple pulse to detect the motor angular velocity ω.
The amplifier 35 amplifies the motor angular velocity ω and outputs it to the positive terminal of the differential amplifier 38. The high-pass filter 36 differentiates the motor angular velocity ω to detect the motor angular acceleration ω ′, which is output to the negative terminal of the differential amplifier 38 after gain amplification by the amplifier 37.

Further, in the above equation (10), in order to simplify the constant, G1 = K1 / Z, G2 = K1 · K1 /
When Z + K2 and G3 = M, the following equation (20) is derived. T = G1 · Em−G2 · ω−G3 · ω ′ (20) Based on the above formula (20), the amplification gains of the amplifier 32, the amplifier 35, and the amplifier 37 are adjusted, and the amplifier 38 has a disturbance torque T applied to the motor 1. To detect.

Further, when the motor current Im is used instead of the motor voltage Em, the disturbance torque T can be similarly detected although the amplification gain is different. The high-pass filter 39 differentiates the disturbance torque T, which is the output of the differential amplifier, and outputs the disturbance torque change speed T ′. The determination comparator 40 detects the entrapment of a foreign substance when the change speed T ′ of the disturbance torque reaches a determination value and outputs an entrapment signal to the control logic circuit 30.

The control logic circuit 30 determines whether to open or close the window according to the operation state of the power window switch 13, outputs a drive signal to the relay 2, and outputs the drive signal to the motor 1.
Is set to the corresponding rotation direction, and a soft start signal is output to the soft start circuit 31 when the window is closed. The soft start circuit 31 outputs a PWM signal whose width increases over time to the drive FET 3 to soft start the motor 1.

The power window 10 is driven by driving the motor 1.
0 works. The limit switch 14 detects that the power window 100 is closed and outputs a detection signal to the control logic circuit 30. The control logic circuit 30 does not perform the inversion control even if the detection signal from the limit switch 14 causes a pinch. According to this embodiment, the same effect as that of the first embodiment can be obtained, and since the calculation is performed by the analog calculation, the analog circuit can be used, the calculation speed can be improved, and the apparatus can be inexpensively constructed. Is obtained.

[0059]

According to the first aspect of the present invention, the motor current or / and the motor voltage, the motor angular velocity, and the motor angular acceleration are detected, and the disturbance torque applied to the motor is calculated based on these detected values, and the calculated torque is calculated. Since the disturbance torque is subjected to a further differential operation to obtain the rate of change of the disturbance torque, a torque sensor for detecting the disturbance torque is not required, and the change in frictional force that changes with time and temperature can be calculated by the differential operation. , It is separated from the pinching force of foreign matter.

Therefore, the entrapment can be accurately determined by comparing the change speed of the disturbance torque with a predetermined determination value. When it is determined that the foreign matter is caught, the reversal control of the motor can minimize the force of the foreign matter to be caught, and even when the foreign matter is caught, the foreign matter can be separated from the opening / closing device. As a result, the device can be constructed at low cost, and the effect of stable detection of entrapment can be obtained.

Further , the motor current or the motor voltage
From the motor angular velocity, the motor angular acceleration and the disturbance torque
Disturbance torque change speed is calculated by analog calculation by each amplifier.
Therefore, an analog circuit can be used, so
The degree of improvement is improved and the device can be constructed at low cost.

When the opening / closing mechanism operates in the closing direction,
Soft start control to control the battery current to gradually increase
By providing a means, the speed of change of the motor current can be set to a predetermined value.
It can be suppressed by the inductance component of the motor.
Of the motor generated in proportion to the changing speed of the motor current.
Wrong insertion due to calculation error due to rush current at startup
It is possible to prevent detection and the opening / closing mechanism should be closed.
It is possible to detect trapping even immediately after starting to drive in the direction
The effect is obtained.

Then, the judgment value is based on the motor angular velocity.
When creating it by considering the spring coefficient of the foreign matter
It becomes a pinch, and more stable pinch detection can be performed.
The effect is obtained. Note that the motor angular velocity is
If the motor angular velocity is controlled so as not to exceed the maximum value, friction will occur.
The maximum of the motor angular velocity is
By preventing the large value from changing, the motor angular velocity
Therefore, the error with respect to the changing theoretical value must be kept constant.
And it becomes possible to detect pinching with higher accuracy.
The effect is obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a first exemplary embodiment.

FIG. 2 is a diagram showing a signal flow of the first embodiment.

FIG. 3 shows voltage waveforms of respective detection values from the start of driving to the detection of entrapment.

FIG. 4 is a diagram showing a configuration of a second exemplary embodiment.

FIG. 5 is a diagram showing a relationship between a determination value and a motor speed.

FIG. 6 shows voltage waveforms of respective detection values from the start of driving to the detection of entrapment.

FIG. 7 is a diagram showing a third embodiment.

FIG. 8 is a diagram showing a fourth embodiment.

[Explanation of symbols]

1 motor 2 relay 2'resistance 3 drive FET 4 Backflow prevention diode 5 regulator 6 Motor voltage detector 7 Ripple detector 8 F / V converter 10 Control circuit 11 Microcomputer 13 Power window (P / W) switch 14 Limit switch 20 Motor drive 21 Soft start controller 22 PWM generator 23 Subtraction unit 24, 25 Differential value calculation unit 26 Entrapment determination unit 30 control logic circuit 31 Soft start circuit 32, 35, 37 amps 33 Ripple detection circuit 34 F / V conversion circuit 36, 39 High-pass filter 38 working amplifier 40 Speed feedback section 50 Entrapment criteria creation unit 100 power windows

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ identification code FI H02P 5/17 B60J 1/17 A (58) Fields investigated (Int.Cl. ⁷ , DB name) H02P 5/00-5 / 26 H02P 7/00-7/34 B60J 1/17 E05F 15/10

Claims (2)

(57) [Claims] 1. A window, in the motor control apparatus for controlling a motor for driving an opening and closing mechanism for opening and closing the opening and closing body of the door or the like, a motor current detecting means for detecting the terminal voltage of the current or the motor flowing in the motor, the Outputs a voltage proportional to the detection value of the motor current detection means.
A first amplifier, a motor angular velocity detecting means for detecting the angular velocity of the motor, and a voltage proportional to the detection value of the motor angular velocity detecting means.
A second amplifier, motor angular acceleration detection means for detecting the angular acceleration of the motor, motor current detected by the motor current detection means or motor terminal voltage, and motor angular velocity detected by the motor angular velocity detection means. And the disturbance torque calculating means for calculating the disturbance torque applied to the motor based on the motor angular acceleration detected by the motor angular acceleration detecting means, and the disturbance torque calculated by the disturbance torque calculating means are differentiated to obtain the disturbance torque. of the disturbance torque differential means for calculating a rate of change by comparing the disturbance torque change rate computed by the disturbance torque differential means with a predetermined determination value, a determination pinching,
And a pinch detection means for controlling the motor to reverse when there is a pinch , and the motor angular acceleration detection means is an output of the second amplifier.
First hyper that outputs a voltage proportional to the differential value of the input voltage
And a disturbance torque calculating means , wherein the disturbance torque calculating means is an output voltage of the first amplifier.
Voltage to the output voltage of the second amplifier, the first
The output voltage of the filter is differentiated and applied to the motor.
The disturbance torque differentiating means comprises a differential amplifier that outputs a disturbance torque, and the disturbance torque differentiating means is an output voltage of the differential amplifier.
The second high-pass filter that outputs a voltage proportional to the differential value of
And the entrapment detection means is the second high-pass filter.
Judgment judgment by comparing the output voltage of
A motor control device for an opening / closing mechanism, which is characterized in that: 2. The motor control device for the opening / closing mechanism, wherein soft start control means for controlling the motor so as to gradually increase the current from a small motor current when the opening / closing mechanism operates in the closing direction is added. Claim 1
A motor control device for the opening / closing mechanism described.