JP6697970B2

JP6697970B2 - Motor control system and motor control method

Info

Publication number: JP6697970B2
Application number: JP2016144341A
Authority: JP
Inventors: 邦久清水; 泰史野口; 野呂　康則; 康則野呂; 雅美佐山; 舘岡　和弥; 和弥舘岡; 利寛林
Original assignee: Mitsuba Corp
Current assignee: Mitsuba Corp
Priority date: 2016-07-22
Filing date: 2016-07-22
Publication date: 2020-05-27
Anticipated expiration: 2036-07-22
Also published as: JP2018014863A

Description

本発明は、モータの制御システム及び制御方法に関し、特に、パワースライドドア等の車両用開閉体の動作制御システムに好適なモータ制御システム及びモータ制御方法に関する。 The present invention relates to a motor control system and control method, and more particularly to a motor control system and motor control method suitable for an operation control system for a vehicle opening/closing body such as a power slide door.

一般に、パワースライドドアなど、自動車等の車両に装備される開閉体では、開閉体駆動用モータの母線電流を検出することにより、開閉体の動作速度制御や挟み込みの検知を行っている。ところが、このようなシステムにおいては、エンジンのクランキング時のように電源からの供給電圧が変動すると、母線電流の検出値が変動し、実際には挟み込みが生じていないにも関わらず、挟み込み発生と誤認識してしまうおそれがある。このため、従来より、挟み込み誤検知対策として、電源供給電圧変動時には挟み込みの判定閾値を上げ、挟み込みの誤認識を防止する方策が取られている。 Generally, in an opening/closing body equipped in a vehicle such as an automobile such as a power slide door, the operating speed of the opening/closing body is controlled and pinching is detected by detecting a bus bar current of an opening/closing body driving motor. However, in such a system, when the supply voltage from the power supply fluctuates, such as when the engine is cranking, the detected value of the bus current fluctuates, and pinching occurs even though pinching does not actually occur. There is a risk of erroneously recognizing that. For this reason, conventionally, as a countermeasure against erroneous pinching, a measure has been taken to prevent the erroneous recognition of pinching by raising the threshold value for pinching when the power supply voltage changes.

特開２００５−１４６６８３号公報JP, 2005-146683, A

しかしながら、電圧変動時に挟み込み判定閾値を上げると、クランキング等、電源供給電圧が変動するような外乱が開閉体駆動システムに生じた場合、開閉体の挟み込み反転荷重が通常時よりも大きくなってしまう可能性があるという問題があった。 However, if the entrapment determination threshold value is increased when the voltage changes, if the open/close body drive system experiences a disturbance such as cranking that causes the power supply voltage to change, the entrapment reversal load of the open/close body will be larger than in the normal state. There was a problem that could be.

本発明の目的は、車両用開閉体の動作制御システムにおいて、外乱発生時における挟み込み誤検知を防止し、正確な挟み込み検知を行うことにある。 An object of the present invention is to prevent erroneous pinch detection when a disturbance occurs in an operation control system for an opening/closing body for a vehicle, and perform accurate pinch detection.

本発明のモータ制御システムは、車両に装備された開閉体を駆動するためのモータと、電源と前記モータとの間を接続する電源ライン上に介設されたスイッチ手段と、前記電源ラインを流れる電流値を算出する電流値算出部と、前記電源ライン上の所定位置における電圧値を検出する電圧検出部とを備える駆動制御装置と、を有してなるモータ制御システムであって、前記電源ラインは、スイッチ部を備え、一端側が前記電源と前記スイッチ手段との間に接続され、他端が前記スイッチ手段の前記モータ側に接続された回路と、を有し、前記駆動制御装置はさらに、前記スイッチ手段接続後の第１電流値及び第１電圧値と、前記回路の前記スイッチ部がＯＮされた状態における前記スイッチ手段接続前の第２電流値及び第２電圧値に基づいて、所定の補正係数を算出する補正係数算出部と、前記補正係数を用いて、前記電流値算出部にて算出された前記電流値を補正する電流値補正部と、を有することを特徴とする。
A motor control system according to the present invention flows through a motor for driving an opening/closing body mounted on a vehicle, a switch means provided on a power supply line connecting a power supply and the motor, and a power supply line. A motor control system comprising: a current value calculation unit that calculates a current value; and a drive control device that includes a voltage detection unit that detects a voltage value at a predetermined position on the power supply line. Includes a switch portion, one end side is connected between the power supply and the switch means, and the other end is connected to the motor side of the switch means, and the drive control device, Based on the first current value and the first voltage value after the switch means is connected and the second current value and the second voltage value before the switch means is connected in the state where the switch part of the circuit is turned on, The present invention is characterized by including a correction coefficient calculation unit that calculates a correction coefficient and a current value correction unit that corrects the current value calculated by the current value calculation unit using the correction coefficient.

本発明にあっては、補正係数算出部により、スイッチ手段接続前後の電流値と電圧値に基づいて所定の補正係数を算出する。そして、電流値補正部により、この補正係数を用いて、電流値算出部にて算出された電流値を補正する。これにより、電源供給電圧の変動に合わせて算出電流値が補正され、電源ラインの正しい電流値が算出される。従って、電源供給電圧が変動するような外乱が生じても、電流値を正しく把握することが可能となる。このため、例えば、当該システムをパワースライドドア等の車両用開閉体の動作制御システムに適用した場合、クランキング等によって電源供給電圧が変動しても、正確な挟み込み検知を行うことができ、挟み込みの誤検知や反転荷重の増加を抑制することが可能となる。 In the present invention, the correction coefficient calculation unit calculates the predetermined correction coefficient based on the current value and the voltage value before and after the switch means is connected. Then, the current value correction unit corrects the current value calculated by the current value calculation unit using this correction coefficient. Thereby, the calculated current value is corrected according to the fluctuation of the power supply voltage, and the correct current value of the power supply line is calculated. Therefore, even if a disturbance such as a change in the power supply voltage occurs, the current value can be correctly grasped. Therefore, for example, when the system is applied to an operation control system for a vehicle opening/closing body such as a power slide door, even if the power supply voltage changes due to cranking or the like, it is possible to accurately detect the jamming. It is possible to suppress erroneous detection of and increase in reversal load.

前記モータ制御システムにおいて、前記電源ラインに、一端側が前記スイッチ手段の前記モータ側に接続され、他端側が接地された平滑コンデンサを設け、前記回路が、前記スイッチ部をＯＮさせることにより前記平滑コンデンサをチャージするプリチャージ回路であっても良い。また、前記回路に、前記スイッチ部と直列に接続された抵抗を設けても良い。さらに、前記第１電流値及び第１電圧値は、前記電源と前記駆動制御装置の間に前記スイッチ手段を介して形成される通電ルートの電流値及び電圧値であり、前記第２電流値及び第２電圧値は、前記電源と前記駆動制御装置の間に前記回路の前記スイッチ部を介して形成される通電ルートの電流値及び電圧値であっても良い。加えて、前記回路の前記スイッチ部は、前記車両に設けられたイグニッションスイッチがＯＮされたとき、ＯＮとなるようにしても良い。
In the motor control system, a smoothing capacitor whose one end side is connected to the motor side of the switch means and the other end side is grounded is provided in the power supply line, and the circuit causes the smoothing capacitor by turning on the switch section. It may be a precharge circuit for charging the. Further, a resistor connected in series with the switch unit may be provided in the circuit. Further, the first current value and the first voltage value are a current value and a voltage value of an energization route formed between the power source and the drive control device via the switch means, and the second current value and The second voltage value may be a current value and a voltage value of an energization route formed between the power supply and the drive control device via the switch unit of the circuit. In addition, the switch portion of the circuit may be turned on when an ignition switch provided on the vehicle is turned on.

前記モータ制御システムにおいて、前記補正係数算出部は、前記第１電流値Ｉａ及び前記第１電圧値Ｖｍａと、前記第２電流値Ｉｂ及び前記第２電圧値Ｖｍｂに基づいて、補正係数Ｋ＝（Ｉａ−Ｉｂ）／（Ｖｍａ−Ｖｍｂ）を算出し、前記電流値補正部は、現在の前記電流値Ｉｃ及び前記電圧値Ｖｍｃと、補正係数Ｋを用いて、次式Ｉｒ＝Ｉｃ−｛（Ｖｍｃ−Ｖｍａ）×Ｋ｝（Ｉｒ：補正後の電流値）により、前記電流値Ｉｃを補正するようにしても良い。また、前記補正係数算出部は、前記スイッチ手段が接続された直後に前記補正係数を算出し、前記電流値補正部は、前記補正係数が算出された後、前記電流値を前記補正係数にて補正するようにしても良い。
In the motor control system, the correction coefficient calculation unit calculates a correction coefficient K=( based on the first current value Ia and the first voltage value Vma, and the second current value Ib and the second voltage value Vmb. Ia-Ib)/(Vma-Vmb) is calculated, and the current value correction unit uses the current value Ic and the current voltage value Vmc and the correction coefficient K to obtain the following expression Ir=Ic-{(Vmc. The current value Ic may be corrected by −Vma)×K} (Ir: current value after correction). The correction coefficient calculation unit calculates the correction coefficient immediately after the switch means is connected, and the current value correction unit calculates the current value by the correction coefficient after the correction coefficient is calculated. You may make it correct.

また、本発明のモータ制御方法は、車両に装備された開閉体を駆動するためのモータと、電源と前記モータとの間を接続する電源ライン上に介設されたスイッチ手段と、前記電源ラインを流れる電流値を算出する電流値算出部と、前記電源ライン上の所定位置における電圧値を検出する電圧検出部とを備える駆動制御装置と、を有してなるモータ制御システムにおける前記モータの制御方法であって、前記電源ラインは、スイッチ部を備え、一端側が前記電源と前記スイッチ手段との間に接続され、他端が前記スイッチ手段の前記モータ側に接続された回路と、を有し、前記駆動制御装置により、前記電源ラインを流れる電流値を算出すると共に、前記電源ライン上の所定位置における電圧値を検出し、前記駆動制御装置に設けられた補正係数算出部により、前記スイッチ手段接続後の第１電流値及び第１電圧値と、前記回路の前記スイッチ部がＯＮされた状態における前記スイッチ手段接続前の第２電流値及び第２電圧値に基づいて、所定の補正係数を算出し、前記駆動制御装置に設けられた電流値補正部により、前記補正係数を用いて、算出された前記電流値を補正することを特徴とする。
Further, the motor control method of the present invention includes a motor for driving an opening/closing body mounted on a vehicle, a switch means provided on a power supply line connecting a power supply and the motor, and the power supply line. Control of the motor in a motor control system including a drive control device including a current value calculation unit that calculates a current value flowing through the motor and a voltage detection unit that detects a voltage value at a predetermined position on the power supply line. A method, wherein the power supply line comprises a switch section, one end side of which is connected between the power supply and the switch means, and the other end of which is connected to the motor side of the switch means. The drive control device calculates a current value flowing through the power supply line, detects a voltage value at a predetermined position on the power supply line, and a correction coefficient calculation unit provided in the drive control device causes the switch means. Based on the first current value and the first voltage value after the connection and the second current value and the second voltage value before the connection of the switch means in the state where the switch section of the circuit is turned on, a predetermined correction coefficient is set. It is characterized in that the calculated current value is calculated and corrected by the current value correction unit provided in the drive control device using the correction coefficient.

本発明にあっては、スイッチ手段接続前後の電流値と電圧値に基づいて所定の補正係数を算出し、この補正係数を用いて、算出された電源ラインの電流値を補正する。これにより、電源供給電圧の変動に合わせて算出電流値が補正され、電源ラインの正しい電流値が算出される。従って、電源供給電圧が変動するような外乱が生じても、電流値を正しく把握することが可能となる。このため、例えば、当該システムをパワースライドドア等の車両用開閉体の動作制御システムに適用した場合、クランキング等によって電源供給電圧が変動しても、正確な挟み込み検知を行うことができ、挟み込みの誤検知や反転荷重の増加を抑制することが可能となる。 In the present invention, a predetermined correction coefficient is calculated based on the current value and the voltage value before and after the switch means is connected, and the calculated current value of the power supply line is corrected using this correction coefficient. As a result, the calculated current value is corrected according to the fluctuation of the power supply voltage, and the correct current value of the power supply line is calculated. Therefore, even if a disturbance such as a change in the power supply voltage occurs, the current value can be correctly grasped. Therefore, for example, when the system is applied to an operation control system for a vehicle opening/closing body such as a power slide door, even if the power supply voltage changes due to cranking or the like, it is possible to accurately detect the jamming. It is possible to suppress erroneous detection of and increase in reversal load.

前記モータ制御方法において、前記電源ラインに、一端側が前記スイッチ手段の前記モータ側に接続され、他端側が接地された平滑コンデンサを設け、前記回路が、前記スイッチ部をＯＮさせることにより前記平滑コンデンサをチャージするプリチャージ回路であっても良い。また、前記補正係数を、前記第１電流値Ｉａ及び前記第１電圧値Ｖｍａと、前記第２電流値Ｉｂ及び前記第２電圧値Ｖｍｂに基づいて、次式により求め、補正係数Ｋ＝（Ｉａ−Ｉｂ）／（Ｖｍａ−Ｖｍｂ）、現在の前記電流値Ｉｃを、前記電圧値Ｖｍｃと、前記補正係数Ｋを用いて、次式Ｉｒ＝Ｉｃ−｛（Ｖｍｃ−Ｖｍａ）×Ｋ｝（Ｉｒ：補正後の電流値）により補正しても良い。
In the motor control method, a smoothing capacitor whose one end side is connected to the motor side of the switch means and the other end side is grounded is provided in the power supply line, and the smoothing capacitor is provided by turning on the switch section by the circuit. It may be a precharge circuit for charging the. Further, the correction coefficient is obtained by the following equation based on the first current value Ia and the first voltage value Vma, the second current value Ib and the second voltage value Vmb, and the correction coefficient K=(Ia −Ib)/(Vma−Vmb), the current value Ic at present, using the voltage value Vmc and the correction coefficient K, the following equation Ir=Ic−{(Vmc−Vma)×K}(Ir: It may be corrected by the corrected current value).

また、前記スイッチ手段が接続された直後に前記補正係数を算出し、前記補正係数が算出された後、前記電流値を前記補正係数にて補正するようにしても良い。 Further, the correction coefficient may be calculated immediately after the switch means is connected, and the current value may be corrected by the correction coefficient after the correction coefficient is calculated.

本発明のモータ制御システムによれば、スイッチ手段接続前後の電流値と電圧値に基づいて所定の補正係数を算出する補正係数算出部と、この補正係数を用いて、算出された電源ラインの電流値を補正する電流値補正部を設けたので、電源供給電圧の変動に合わせて算出電流値を補正することができ、電源ラインの正しい電流値を算出することが可能となる。従って、電源供給電圧が変動するような外乱が生じても、電流値を正しく把握でき、例えば、当該システムをパワースライドドア等の車両用開閉体の動作制御システムに適用した場合、正確な挟み込み検知を行うことが可能となる。 According to the motor control system of the present invention, a correction coefficient calculation unit that calculates a predetermined correction coefficient based on the current value and the voltage value before and after the switch means is connected, and the current of the power supply line calculated using this correction coefficient. Since the current value correction unit that corrects the value is provided, the calculated current value can be corrected according to the fluctuation of the power supply voltage, and the correct current value of the power supply line can be calculated. Therefore, even if a disturbance such as a change in the power supply voltage occurs, the current value can be correctly grasped. For example, when the system is applied to an operation control system for a vehicle opening/closing body such as a power slide door, accurate pinch detection It becomes possible to do.

本発明のモータ制御方法によれば、スイッチ手段接続前後の電流値と電圧値に基づいて所定の補正係数を算出し、この補正係数を用いて、算出された電源ラインの電流値を補正するので、電源供給電圧の変動に合わせて算出電流値を補正することができ、電源ラインの正しい電流値を算出することが可能となる。従って、電源供給電圧が変動するような外乱が生じても、電流値を正しく把握でき、例えば、当該システムをパワースライドドア等の車両用開閉体の動作制御システムに適用した場合、正確な挟み込み検知を行うことが可能となる。 According to the motor control method of the present invention, a predetermined correction coefficient is calculated based on the current value and the voltage value before and after the switch means is connected, and the calculated current value of the power supply line is corrected using this correction coefficient. The calculated current value can be corrected according to the fluctuation of the power supply voltage, and the correct current value of the power supply line can be calculated. Therefore, even if a disturbance such as a change in the power supply voltage occurs, the current value can be correctly grasped. For example, when the system is applied to an operation control system for a vehicle opening/closing body such as a power slide door, accurate pinch detection It becomes possible to do.

本発明の一実施の形態であるモータ制御システムの構成を示す説明図である。It is an explanatory view showing the composition of the motor control system which is one embodiment of the present invention. 図１のモータ制御システムにおける制御処理部内の構成を示す機能ブロック図であるFIG. 2 is a functional block diagram showing a configuration inside a control processing unit in the motor control system of FIG. 1.

以下、本発明の実施の形態を図面に基づいて詳細に説明する。図１は、本発明の一実施の形態であるモータ制御システム１０の構成を示す説明図であり、本発明によるモータ制御方法も当該制御システムにて実施される。モータ制御システム１０は、駆動制御装置２を有しており、自動車のパワースライドドアの駆動源として使用されるブラシレスモータ１の動作を制御する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory diagram showing a configuration of a motor control system 10 according to an embodiment of the present invention, and a motor control method according to the present invention is also implemented in the control system. The motor control system 10 has a drive control device 2 and controls the operation of the brushless motor 1 used as a drive source for a power slide door of an automobile.

図１に示すように、ブラシレスモータ１は、駆動制御装置２に接続されている。駆動制御装置２は電源（バッテリ）３と接続されており、ブラシレスモータ１には、駆動制御装置２による通電制御が実施される。駆動制御装置２は、操作スイッチ１１の状態に基づいて所定の処理を行う制御処理部４と、制御処理部４の指示に基づいてブラシレスモータ１を駆動する通電駆動部５を有している。制御処理部４は、例えば、シングルチップマイコンなどによって構成される。 As shown in FIG. 1, the brushless motor 1 is connected to the drive control device 2. The drive control device 2 is connected to a power supply (battery) 3, and the brushless motor 1 is energized by the drive control device 2. The drive control device 2 includes a control processing unit 4 that performs a predetermined process based on the state of the operation switch 11, and an energization drive unit 5 that drives the brushless motor 1 based on an instruction from the control processing unit 4. The control processing unit 4 is composed of, for example, a single chip microcomputer or the like.

図２は、制御処理部４内の構成を示す機能ブロック図である。図２に示すように、制御処理部４内には、ＣＰＵ２０と、ＲＯＭ２１,ＲＡＭ２２が設けられている。ＣＰＵ２０にはモータ動作制御部２３が設けられており、モータ動作制御部２３の出力は、３相インバータを備えた通電駆動部５に接続されている。通電駆動部５は、電源ライン６によって電源３と接続されている。通電駆動部５は、制御処理部４の指示に基づいてブラシレスモータ１に通電を行う。 FIG. 2 is a functional block diagram showing a configuration inside the control processing unit 4. As shown in FIG. 2, the control processing unit 4 is provided with a CPU 20, a ROM 21, and a RAM 22. The CPU 20 is provided with a motor operation control section 23, and the output of the motor operation control section 23 is connected to the energization drive section 5 having a three-phase inverter. The energization drive unit 5 is connected to the power supply 3 by the power supply line 6. The energization drive unit 5 energizes the brushless motor 1 based on an instruction from the control processing unit 4.

電源ライン６上の通電駆動部５の前段には、電源ライン６の電流値（母線電流値）を検出するためのシャント抵抗７が設けられている。シャント抵抗７の前後の所定位置（図１の点Ｐ,Ｑ）は、オペアンプを備えた電圧差検出回路８に接続されている。電圧差検出回路８は制御処理部４と接続されており、シャント抵抗７前後の電位差は、電圧差検出回路８によって検出・増幅されて制御処理部４に入力される。制御処理部４のＣＰＵ２０には電流値算出部２４が設けられており、電圧差検出回路８からの出力は電流値算出部２４に入力される。電流値算出部２４は、シャント抵抗７前後における電圧降下に基づいて、電源ライン６の電流値を算出する（算出電流値）。 A shunt resistor 7 for detecting a current value (busbar current value) of the power supply line 6 is provided in the preceding stage of the energization drive unit 5 on the power supply line 6. Predetermined positions before and after the shunt resistor 7 (points P and Q in FIG. 1) are connected to a voltage difference detection circuit 8 including an operational amplifier. The voltage difference detection circuit 8 is connected to the control processing unit 4, and the potential difference across the shunt resistor 7 is detected and amplified by the voltage difference detection circuit 8 and input to the control processing unit 4. The CPU 20 of the control processing unit 4 is provided with a current value calculation unit 24, and the output from the voltage difference detection circuit 8 is input to the current value calculation unit 24. The current value calculator 24 calculates the current value of the power supply line 6 based on the voltage drop across the shunt resistor 7 (calculated current value).

電源ライン６には、電源３とシャント抵抗７との間に、逆接防止用のフェイルセーフリレー（スイッチ手段；以下、Ｆ／Ｓリレーと略記する）９が設けられている。Ｆ／Ｓリレー９は、通常時はＯＦＦ（非接続）状態となっており、本システムでは、操作スイッチ１１がＯＮされたとき（使用者がドアノブを開／閉方向に動かしたとき）ＯＮ（接続）状態となる。制御処理部４のＣＰＵ２０にはスイッチ状態検出部２５が設けられており、スイッチ状態検出部２５は、操作スイッチ１１がＯＮされると、Ｆ／Ｓリレー９をＯＮさせる。Ｆ／Ｓリレー９がＯＮ状態になると電源ライン６が開通し、電源３から通電駆動部５に対し電力が供給される。 A fail-safe relay (switch means; hereinafter abbreviated as F/S relay) 9 for preventing reverse connection is provided on the power supply line 6 between the power supply 3 and the shunt resistor 7. The F/S relay 9 is normally in an OFF (unconnected) state, and in this system, when the operation switch 11 is turned ON (when the user moves the door knob in the opening/closing direction), it is turned ON ( Connected) state. The CPU 20 of the control processing unit 4 is provided with a switch state detecting unit 25, and the switch state detecting unit 25 turns on the F/S relay 9 when the operation switch 11 is turned on. When the F/S relay 9 is turned on, the power supply line 6 is opened and power is supplied from the power supply 3 to the energization drive unit 5.

シャント抵抗７の後段側（図１の点Ｑ）は、電圧差検出回路８に加えて、制御処理部４とも接続されている。ＣＰＵ２０には、モータ端子電圧検出部（電圧検出部）２６が設けられており、モータ端子電圧検出部２６は点Ｑと接続されている。ＣＰＵ２０は、モータ端子電圧検出部２６により、点Ｑの電圧値、すなわち、ブラシレスモータ１の端子電圧値を検出・把握している。また、Ｆ／Ｓリレー９とシャント抵抗７との間には、モータ駆動時のスイッチング等による電圧リップルを抑制するための平滑コンデンサ１２が接続されている。 The subsequent stage side (point Q in FIG. 1) of the shunt resistor 7 is connected to the control processing unit 4 in addition to the voltage difference detection circuit 8. The CPU 20 is provided with a motor terminal voltage detector (voltage detector) 26, and the motor terminal voltage detector 26 is connected to a point Q. The CPU 20 detects and grasps the voltage value at the point Q, that is, the terminal voltage value of the brushless motor 1, by the motor terminal voltage detection unit 26. Further, a smoothing capacitor 12 is connected between the F/S relay 9 and the shunt resistor 7 for suppressing voltage ripple due to switching or the like when driving the motor.

さらに、当該モータ制御システム１０には、Ｆ／Ｓリレー９がＯＮされたとき、平滑コンデンサ１２に過大電流が流れ込むのを防止するプリチャージ回路１３が設けられている。プリチャージ回路１３は、トランジスタを用いたスイッチ部１４を介して電源３と接続されており、回路中には、抵抗１５やダイオード１６設けられている。スイッチ部１４は、車両のイグニッションスイッチ１７がＯＮされると、システムスリープ時以外はＯＮ状態となり、平滑コンデンサ１２がチャージされる。これにより、Ｆ／Ｓリレー９がＯＮされたとき、平滑コンデンサ１２へ瞬間的に過大電流が流れるのを防止でき、Ｆ／Ｓリレー９の保護が図られる。 Further, the motor control system 10 is provided with a precharge circuit 13 that prevents an excessive current from flowing into the smoothing capacitor 12 when the F/S relay 9 is turned on. The precharge circuit 13 is connected to the power supply 3 via a switch section 14 using a transistor, and a resistor 15 and a diode 16 are provided in the circuit. When the ignition switch 17 of the vehicle is turned on, the switch unit 14 is turned on except during the system sleep, and the smoothing capacitor 12 is charged. As a result, when the F/S relay 9 is turned on, it is possible to prevent an instantaneous current from flowing to the smoothing capacitor 12, and the F/S relay 9 is protected.

このようなモータ制御システム１０では、イグニッションスイッチ１７がＯＮされ、操作スイッチ１１がＯＦＦの場合は、Ｆ／Ｓリレー９がＯＦＦであるため、電源３と制御処理部４との間に、プリチャージ回路１３を介して図１のＸのような通電ルートが形成される。このとき、ＣＰＵ２０では、モータ端子電圧検出部２６によって、点Ｑの電圧値（Ｖｍｂ）が検出されると共に、電流値算出部２４によって、点Ｐ,Ｑの電位差に基づき、電源ライン６の電流値（Ｉｂ）が算出される。これに対し、操作スイッチ１１が操作され、Ｆ／Ｓリレー９がＯＮになると、電源３と制御処理部４との間には、図１のＹのような通電ルートが構成される。この際、ＣＰＵ２０では、モータ端子電圧検出部２６によって、点Ｑの電圧値（Ｖｍａ）が検出されると共に、電流値算出部２４によって、点Ｐ,Ｑの電位差に基づき、電源ライン６の電流値（Ｉａ）が算出される。 In such a motor control system 10, when the ignition switch 17 is turned on and the operation switch 11 is turned off, the F/S relay 9 is turned off. Therefore, the precharge between the power source 3 and the control processing unit 4 is performed. An energization route such as X in FIG. 1 is formed through the circuit 13. At this time, in the CPU 20, the motor terminal voltage detection unit 26 detects the voltage value (Vmb) at the point Q, and the current value calculation unit 24 determines the current value of the power line 6 based on the potential difference between the points P and Q. (Ib) is calculated. On the other hand, when the operation switch 11 is operated and the F/S relay 9 is turned on, an energization route such as Y in FIG. 1 is formed between the power source 3 and the control processing unit 4. At this time, in the CPU 20, the motor terminal voltage detection unit 26 detects the voltage value (Vma) at the point Q, and the current value calculation unit 24 causes the current value of the power line 6 based on the potential difference between the points P and Q. (Ia) is calculated.

この場合、Ｆ／Ｓリレー９がＯＦＦの場合の通電ルートＸには、抵抗１５やダイオード１６が存在するため、Ｆ／Ｓリレー９がＯＮの場合に比して、点Ｑの電圧値が低くなる。つまり、Ｆ／Ｓリレー９のＯＮ／ＯＦＦにより、モータ端子電圧検出部２６にて把握される電圧値が変動する（約３Ｖ）。また、点Ｑの電圧変動に伴い、電圧差検出回路８の出力も変動する。そこで、当該モータ制御システム１０においては、Ｆ／ＳリレーＯＮ／ＯＦＦ時におけるモータ端子電圧の変動を利用して、電圧変動に対する電流値変動の割合を示す補正係数Ｋを求め、この補正係数Ｋを用いて電源ライン６の算出電流値を補正する。 In this case, since the resistor 15 and the diode 16 are present in the energizing route X when the F/S relay 9 is OFF, the voltage value at the point Q is lower than when the F/S relay 9 is ON. Become. That is, when the F/S relay 9 is turned ON/OFF, the voltage value grasped by the motor terminal voltage detection unit 26 varies (about 3V). Further, the output of the voltage difference detection circuit 8 also changes with the voltage change at the point Q. Therefore, in the motor control system 10, the variation of the motor terminal voltage at the time of ON/OFF of the F/S relay is used to obtain the correction coefficient K indicating the ratio of the variation of the current value to the variation of the voltage, and the correction coefficient K The calculated current value of the power supply line 6 is corrected using this.

ここで、クランキング時等における電圧変動時に、その電圧値から電流値算出部２４によって電流値を算出すると、前述のように、電源ライン６の実電流値とは異なる算出電流値が得られ、挟み込みの誤認識が生じるおそれがある。これに対し、本発明においては、別途設けられているプリチャージ回路１３を利用し、Ｆ／ＳリレーＯＦＦ時とＯＮ直後の電流値算出部２４の算出電流値及びモータ端子電圧（点Ｑの電圧値）から、次式のような補正係数Ｋを求め、その後の算出電流値の補正を行う。ＣＰＵ２０には、モータ端子電圧検出部２６と電流値算出部２４からの出力に基づいて補正係数Ｋを算出する補正係数算出部２７が設けられており、補正係数Ｋは、Ｆ／Ｓリレー９がＯＮ状態となったとき、その都度新たに算出・更新される。 Here, when the current value is calculated from the voltage value by the current value calculation unit 24 when the voltage changes during cranking or the like, a calculated current value different from the actual current value of the power supply line 6 is obtained as described above, There is a risk of misrecognition of entrapment. On the other hand, in the present invention, the precharge circuit 13 provided separately is used to calculate the calculated current value and the motor terminal voltage (the voltage at the point Q) of the current value calculation unit 24 when the F/S relay is OFF and immediately after the F/S relay is ON. From the value), a correction coefficient K as shown in the following equation is obtained, and the calculated current value is corrected thereafter. The CPU 20 is provided with a correction coefficient calculation unit 27 that calculates the correction coefficient K based on the outputs from the motor terminal voltage detection unit 26 and the current value calculation unit 24. The correction coefficient K is calculated by the F/S relay 9. When it is turned on, it is newly calculated and updated each time.

補正係数Ｋ＝（Ｉａ−Ｉｂ）／（Ｖｍａ−Ｖｍｂ）・・・・・式（１）
Ｉａ：Ｆ／ＳリレーＯＮ後の電源ライン算出電流値（第１電流値）
Ｉｂ：Ｆ／ＳリレーＯＦＦ時の電源ライン算出電流値（第２電流値）
Ｖｍａ：Ｆ／ＳリレーＯＮ後のモータ端子電圧（第１電圧値）
Ｖｍｂ：Ｆ／ＳリレーＯＦＦ時のモータ端子電圧（第２電圧値） Correction coefficient K=(Ia-Ib)/(Vma-Vmb) (1)
Ia: Power line calculation current value after F/S relay is turned on (first current value)
Ib: Power line calculation current value (second current value) when F/S relay is OFF
Vma: Motor terminal voltage (first voltage value) after F/S relay is turned on
Vmb: Motor terminal voltage when F/S relay is OFF (second voltage value)

そして、このような補正係数Ｋを算出した上で、補正係数算出後の電源ライン６の算出電流値を補正する。その際、現在の算出電流値Ｉｃは、下記の式（２）のように補正される。ＣＰＵ２０には、補正係数Ｋを用いて式（２）の補正を行う算出電流値補正部（電流値補正部）２８が設けられており、算出電流値の補正は、操作スイッチ１１がＯＮされた後、５ｍｓごとに実施される。
Ｉｒ＝Ｉｃ−｛（Ｖｍｃ−Ｖｍａ）×Ｋ｝・・・・・式（２）
Ｉｒ：補正後の算出電流値
Ｉｃ：現在の電源ライン算出電流値（Ｆ／ＳリレーＯＮ）
Ｖｍｃ：現在のモータ端子電圧（Ｆ／ＳリレーＯＮ） Then, after calculating such a correction coefficient K, the calculated current value of the power supply line 6 after the correction coefficient calculation is corrected. At that time, the current calculated current value Ic is corrected as in the following equation (2). The CPU 20 is provided with a calculated current value correction unit (current value correction unit) 28 that corrects the equation (2) using the correction coefficient K, and the operation switch 11 is turned on to correct the calculated current value. After that, it is performed every 5 ms.
Ir=Ic-{(Vmc-Vma)×K}...Equation (2)
Ir: Calculated current value after correction Ic: Current power line calculated current value (F/S relay ON)
Vmc: Current motor terminal voltage (F/S relay ON)

この場合、式（１）から分かるように、補正係数Ｋは、点Ｑの電圧値が変化したとき、その変化に対して、どれぐらい電源ライン６の算出電流値が変化するかを、点Ｑの電圧値の変化をパラメータとして表した比となっている。従って、式（２）において、現在のモータ端子電圧ＶｍｃとＦ／ＳリレーＯＮ後のモータ端子電圧Ｖｍａの差を求め（Ｖｍｃ−Ｖｍａ）、これに補正係数Ｋを乗じることにより、電圧変化に伴う電源ライン６の算出電流値の変動を求めることができる。そして、算出電流値の変動を、現在の電源ライン算出電流値から減ずることにより、電圧変動により、電源ライン６の実際の電流値と現在の算出電流値との間に生じている差違を補正する。これにより、クランキング等によって電源供給電圧が変動しても、ソフトウエア上の対応により、その変動に合わせて算出電流値が補正され、電源ライン６の現在の電流値を正しく把握することが可能となる。 In this case, as can be seen from the equation (1), the correction coefficient K indicates how much the calculated current value of the power supply line 6 changes in response to the change in the voltage value at the point Q. The ratio represents the change in the voltage value of as a parameter. Therefore, in the equation (2), the difference between the current motor terminal voltage Vmc and the motor terminal voltage Vma after the F/S relay is turned on is calculated (Vmc-Vma), and this is multiplied by the correction coefficient K to change the voltage. The fluctuation of the calculated current value of the power supply line 6 can be obtained. Then, by subtracting the fluctuation of the calculated current value from the current power line calculated current value, the difference between the actual current value of the power line 6 and the current calculated current value due to the voltage fluctuation is corrected. .. As a result, even if the power supply voltage fluctuates due to cranking or the like, the current value of the power supply line 6 can be correctly grasped by correcting the calculated current value according to the fluctuation due to the software. Becomes

制御処理部４は、式（２）のような補正を行った上で、補正電流値Ｉｒを用いて挟み込みの有無を判断する。ＣＰＵ２０には、補正電流値Ｉｒに基づいて、挟み込み発生の有無を判断する挟み込み判定部２９が設けられている。スライドドアに物や人が挟まり、ドアが停止しブラシレスモータ１がロック状態になると、電源ライン６の電流値が急増する。挟み込み判定部２９は、電源ライン６の電流値が所定の閾値を超えた場合、挟み込み発生と判断し、モータ動作制御部２３に対し、ブラシレスモータ１の停止や逆転を指示する。その際、電源ライン６の電圧変動を閾値の変更によって対応すると、前述のように、挟み込み反転荷重の増加を招くおそれがある。 The control processing unit 4 determines the presence or absence of entrapment by using the corrected current value Ir after performing the correction as in the equation (2). The CPU 20 is provided with an entrapment determination unit 29 that determines whether entrapment has occurred based on the corrected current value Ir. When an object or a person is caught in the sliding door, the door stops, and the brushless motor 1 is locked, the current value of the power supply line 6 rapidly increases. When the current value of the power supply line 6 exceeds a predetermined threshold value, the pinch determination unit 29 determines that pinching has occurred, and instructs the motor operation control unit 23 to stop or reverse the brushless motor 1. At that time, if the voltage fluctuation of the power supply line 6 is dealt with by changing the threshold value, there is a possibility that the sandwiching reversal load increases as described above.

これに対し、当該制御システム１０においては、電源供給電圧の変動に合わせて算出電流値が補正され、電源ライン６の正しい電流値が算出される。発明者らの実験によれば、電源電圧が１２.５Ｖから８Ｖに低下した場合、従来に比して、算出電流値の変動が１／１２に抑えられた。また、電源電圧が１２.５Ｖから１４.５Ｖに増加した場合は、従来に比して、算出電流値の変動が１／２０に抑えられた。さらに、クランキングを行った場合の算出電流値の変動も、従来に比して、１／６〜１／８に抑えられることが分かった。従って、クランキング等、電源供給電圧が変動するような外乱が生じても、正確な挟み込み検知を行うことが可能となり、挟み込みの誤検知や反転荷重の増加を抑制することが可能となる。 On the other hand, in the control system 10, the calculated current value is corrected according to the fluctuation of the power supply voltage, and the correct current value of the power line 6 is calculated. According to the experiments by the inventors, when the power supply voltage is reduced from 12.5 V to 8 V, the fluctuation of the calculated current value is suppressed to 1/12 as compared with the conventional case. When the power supply voltage was increased from 12.5 V to 14.5 V, the fluctuation of the calculated current value was suppressed to 1/20 as compared with the conventional case. Further, it has been found that the fluctuation of the calculated current value when the cranking is performed is suppressed to 1/6 to 1/8 as compared with the conventional case. Therefore, even if a disturbance such as a cranking that causes the power supply voltage to fluctuate occurs, it is possible to perform the pinch detection accurately, and it is possible to prevent erroneous pinch detection and an increase in the reverse load.

本発明は前記実施形態に限定されるものではなく、その要旨を逸脱しない範囲で種々変更可能であることは言うまでもない。
例えば、前述の実施形態では、既存のプリチャージ回路１３を利用し、電源ライン６の電圧変動と算出電流値の変動との関係を求めて補正係数Ｋを算出しているが、供給電圧の変動と算出電流値の変動との関係を求め得るものであれば、プリチャージ回路１３以外の回路や手段を用いることも可能である。すなわち、Ｆ／Ｓリレー９のＯＮ時とＯＦＦ時に基準位置の電圧値に差違が生じるような回路であれば、プリチャージ回路１３に代えて使用することができる。 It is needless to say that the present invention is not limited to the above-described embodiment and can be variously modified without departing from the scope of the invention.
For example, in the above-described embodiment, the existing precharge circuit 13 is used to calculate the correction coefficient K by obtaining the relationship between the voltage fluctuation of the power supply line 6 and the fluctuation of the calculated current value. It is also possible to use a circuit or means other than the precharge circuit 13 as long as the relationship between the calculated current value and the calculated current value can be obtained. That is, any circuit that causes a difference in the voltage value at the reference position when the F/S relay 9 is turned on and off can be used in place of the precharge circuit 13.

また、算出電流値の補正実施間隔も前述の数値（５ｍｓごと）には限定されない。補正の実施自体も、操作スイッチ１１がＯＮ状態の全てで実施する必要はなく、例えば、スライドドア等の開閉体が自動的に全開・全閉まで移動するオート動作の場合に補正を行うようにしても良い。手動にて開閉体を操作する場合は、操作者が容易に挟み込みの有無を判断し得るが、オート動作の場合は、操作者が挟み込みを認識できないおそれがあるため、本発明のような補正は特に有効である。 Further, the correction execution interval of the calculated current value is not limited to the above-mentioned numerical value (every 5 ms). The correction itself does not have to be performed when the operation switch 11 is in the ON state. For example, the correction is performed in the case of an automatic operation in which an opening/closing body such as a slide door is automatically moved to fully open/fully closed. May be. When manually operating the opening/closing body, the operator can easily determine the presence or absence of the pinch, but in the case of the automatic operation, the operator may not be able to recognize the pinch. Especially effective.

本発明によるモータ制御システム及びモータ制御方法は、自動車のパワースライドアのみならず、パワーウインドや電動サンルーフなどの車両用開閉体に広く適用可能である。 INDUSTRIAL APPLICABILITY The motor control system and the motor control method according to the present invention are widely applicable not only to power slides of automobiles but also to vehicle opening/closing bodies such as power windows and electric sunroofs.

１ブラシレスモータ
２駆動制御装置
３電源
４制御処理部
５通電駆動部
６電源ライン
７シャント抵抗
８電圧差検出回路
９フェイルセーフリレー
１０モータ制御システム
１１操作スイッチ
１２平滑コンデンサ
１３プリチャージ回路
１４スイッチ部
１５抵抗
１６ダイオード
１７イグニッションスイッチ
２０ＣＰＵ
２１ＲＯＭ
２２ＲＡＭ
２３モータ動作制御部
２４電流値算出部
２５スイッチ状態検出部
２６モータ端子電圧検出部
２７補正係数算出部
２８算出電流値補正部
２９挟み込み判定部
ＩａＦ／ＳリレーＯＮ後の電源ライン算出電流値（第１電流値）
ＩｂＦ／ＳリレーＯＦＦ時の電源ライン算出電流値（第２電流値）
Ｉｃ現在の電源ライン算出電流値（Ｆ／ＳリレーＯＮ）
Ｉｒ補正後の算出電流値
ＶｍａＦ／ＳリレーＯＮ後のモータ端子電圧（第１電圧値）
ＶｍｂＦ／ＳリレーＯＦＦ時のモータ端子電圧（第２電圧値）
Ｖｍｃ現在のモータ端子電圧（Ｆ／ＳリレーＯＮ）
Ｋ補正係数
ＸＦ／ＳリレーＯＦＦ時の通電ルート
ＹＦ／ＳリレーＯＮ時の通電ルート 1 Brushless Motor 2 Drive Control Device 3 Power Supply 4 Control Processing Unit 5 Energization Drive Unit 6 Power Supply Line 7 Shunt Resistor 8 Voltage Difference Detection Circuit 9 Fail Safe Relay 10 Motor Control System 11 Operation Switch 12 Smoothing Capacitor 13 Precharge Circuit 14 Switch Unit 15 Resistor 16 Diode 17 Ignition switch 20 CPU
21 ROM
22 RAM
23 Motor Operation Control Section 24 Current Value Calculation Section 25 Switch State Detection Section 26 Motor Terminal Voltage Detection Section 27 Correction Coefficient Calculation Section 28 Calculated Current Value Correction Section 29 Entrapment Determination Section Ia F/S Power Line Calculated Current Value after Relay ON ( 1st current value)
Power line calculation current value when Ib F/S relay is OFF (second current value)
Ic Current power line calculation current value (F/S relay ON)
Calculated current value after Ir correction Vma F/S motor terminal voltage after relay ON (first voltage value)
Motor terminal voltage (second voltage value) when Vmb F/S relay is OFF
Vmc Current motor terminal voltage (F/S relay ON)
K Correction factor X Energizing route when F/S relay is OFF Y Energizing route when F/S relay is ON

Claims

A motor for driving the opening/closing body equipped in the vehicle,
Switch means provided on the power supply line connecting between the power supply and the motor,
A motor control system comprising: a drive control device including a current value calculation unit that calculates a current value flowing through the power supply line and a voltage detection unit that detects a voltage value at a predetermined position on the power supply line. hand,
The power supply line includes a switch section, one end side of which is connected between the power supply and the switch means, and the other end of which is connected to the motor side of the switch means.
The drive control device further includes
Based on the first current value and the first voltage value after the switch means is connected and the second current value and the second voltage value before the switch means is connected in the state where the switch part of the circuit is turned on, A correction coefficient calculation unit for calculating a correction coefficient,
A motor control system, comprising: a current value correction unit that corrects the current value calculated by the current value calculation unit using the correction coefficient.

The motor control system according to claim 1,
The power supply line has a smoothing capacitor having one end connected to the motor side of the switch means and the other end grounded.
The motor control system is characterized in that the circuit is a precharge circuit that charges the smoothing capacitor by turning on the switch unit.

The motor control system according to claim 1 or 2,
The motor control system according to claim 1, wherein the circuit further includes a resistor connected in series with the switch unit.

The motor control system according to any one of claims 1 to 3,
The first current value and the first voltage value are a current value and a voltage value of an energization route formed between the power source and the drive control device via the switch means,
The motor is characterized in that the second current value and the second voltage value are current values and voltage values of an energization route formed between the power source and the drive control device via the switch unit of the circuit. Control system.

The motor control system according to any one of claims 1 to 4,
The motor control system, wherein the switch portion of the circuit is turned on when an ignition switch provided on the vehicle is turned on.

The motor control system according to any one of claims 1 to 5,
The correction coefficient calculation unit calculates the correction coefficient K=(Ia-Ib)/( based on the first current value Ia and the first voltage value Vma, and the second current value Ib and the second voltage value Vmb. Vma-Vmb),
The current value correction unit uses the current value Ic and the current voltage value Vmc and the correction coefficient K to obtain the following equation Ir=Ic-{(Vmc-Vma)×K} (Ir: current value after correction) )
The motor control system is characterized in that the current value Ic is corrected by:

The motor control system according to any one of claims 1 to 6,
The correction coefficient calculation unit calculates the correction coefficient immediately after the switch means is connected,
The motor control system, wherein the current value correction unit corrects the current value with the correction coefficient after the correction coefficient is calculated.

A motor for driving the opening/closing body equipped in the vehicle,
Switch means provided on the power supply line connecting between the power supply and the motor,
In a motor control system including a drive control device including a current value calculation unit that calculates a current value flowing through the power supply line and a voltage detection unit that detects a voltage value at a predetermined position on the power supply line. A method of controlling a motor,
The power supply line includes a switch section, one end side of which is connected between the power supply and the switch means, and the other end of which is connected to the motor side of the switch means.
The drive control device calculates a current value flowing through the power supply line and detects a voltage value at a predetermined position on the power supply line,
A correction coefficient calculation unit provided in the drive control device causes a first current value and a first voltage value after the switch unit is connected and a first current value before the switch unit is connected in a state where the switch unit of the circuit is turned on. 2 A predetermined correction coefficient is calculated based on the current value and the second voltage value,
A motor control method, wherein a current value correction section provided in the drive control device corrects the calculated current value using the correction coefficient.

The motor control method according to claim 8,
The power supply line has a smoothing capacitor whose one end side is connected to the motor side of the switch means and the other end side is grounded,
The motor control method, wherein the circuit is a precharge circuit that charges the smoothing capacitor by turning on the switch unit.

The motor control method according to claim 8 or 9 ,
The correction coefficient is obtained by the following equation based on the first current value Ia and the first voltage value Vma, the second current value Ib and the second voltage value Vmb,
Correction coefficient K=(Ia-Ib)/(Vma-Vmb)
The current value Ic at present is calculated by using the voltage value Vmc and the correction coefficient K as follows: Ir=Ic-{(Vmc-Vma)×K} (Ir: current value after correction)
A motor control method characterized by being corrected by.

The motor control method according to any one of claims 8 to 10 ,
The motor control method , wherein the correction coefficient is calculated immediately after the switch means is connected, and the current value is corrected by the correction coefficient after the correction coefficient is calculated.