JPH026648B2 - - Google Patents

Description

[Detailed description of the invention]

[Object of the Invention] (Industrial Application Field) The present invention relates to position control for setting or positioning an electric motor-driven vehicle seat, a mirror, a side window, a roof panel, etc., or other electric equipment, and in particular, This invention relates to overload prevention of drive sources in positioning the electric mechanisms that drive them. (Prior art) For example, a driver who drives a vehicle
Normally, the steering wheel, accelerator, brakes, transmission, switches, etc. are operated as appropriate in response to road conditions, weather, road signs, etc., but the positions of these operating ends are fixed. On the other hand, the physical characteristics of each driver vary widely, and therefore the driver seat can be adjusted in terms of forward/backward movement, up/down, inclination, and cushion according to each driver's preference. Additionally, both the interior and exterior mirrors can be adjusted as appropriate depending on the height and posture of the driver. One car may be used by several people,
Also, even if the same person is driving, it is preferable to adjust the posture of the driver's seat depending on the person's level of fatigue and road conditions (wide roads, narrow roads, expressways, descending roads, ascending boards, curves, etc.). Manual adjustment is cumbersome, and it is also cumbersome to adjust it every time you ride. Therefore, recently, a microcomputer is installed on the vehicle, data indicating physical characteristics is inputted into it, and the corresponding seat posture setting data is calculated.The driver reads this posture data and operates the position adjustment device. , the attitude adjustment
43772), the posture adjustment device is equipped with a position sensor, and also a manual posture adjustment device, and after adjusting the seat posture with the latter, the setting data (position sensor data) is associated with the identification code. Posture memory and settings that are stored in the microcomputer, and after being memorized once, the identification code is input into the microcomputer and the seat posture is automatically set in the setting data (1973-
119135) has been proposed. In addition, posture setting standard data corresponding to physical characteristics is stored in advance in a semiconductor storage device, and by inputting data indicating physical characteristics into a microcomputer, the corresponding seat posture setting standard data can be read. to automatically determine the seat posture, and to adjust and change the seat posture by manual switch operation and/or key operation,
The seat posture settings are stored in a non-volatile semiconductor memory device.
A driver seat that is stored in memory in association with an identification code, and when the identification code is input, reads setting seat posture data stored in a non-volatile semiconductor storage device in association with the identification code and automatically sets the posture indicated by the setting sheet posture data. is provided (Japanese Patent Application Laid-open No. 138024/1983). On the other hand, similar key operation adjustment settings have been proposed for mirrors as well (for example, Japanese Patent Laid-Open No. 7737/1983). However, in this type of adjustment setting for seat posture and mirror posture, data (digital position code) indicating these postures suitable for the driver is stored in a non-volatile read/write semiconductor memory, and the driver instructs the driver to read the memory and set the posture. Then, data (target data) is read from the non-volatile memory, current position data is obtained from the driver seat and mirror, the two are compared, and the attitude setting mechanism is driven until the two match. In addition to the above electric equipment on the vehicle, there is also an automatic seat rotation mechanism that rotates the seat toward the door when the door is opened and returns it to a position facing the front of the vehicle when the door is closed, and a roof panel that slides in response to switch operation. There is an automatic roof panel opening/closing mechanism that opens/closes or tilts the roof panel, and an automatic opening/closing mechanism that drives the side window glass up and down in response to a switch operation. One of the problems with this type of on-vehicle electric equipment is that if a heavy object is placed on the seat, luggage or a person gets stuck, or if a foreign object becomes stuck in the drive mechanism, the motor is energized. However, the mechanism may not operate smoothly, resulting in overload of the drive source or damage to people or the mechanism. Japanese Utility Model Application Publication No. 56-118116 states that in electric drive of a sunroof, the electric motor is energized through an overcurrent relay until the sunroof reaches the limit position, and when the sunroof reaches the limit position and the limit switch opens, the electric motor is energized. An overload protection circuit is presented to interrupt the According to this, when the sunroof becomes difficult to move due to some obstacle in a section where the sunroof is subjected to a steady low current load between the limit positions and the motor current increases, the overcurrent relay cuts off the power to the motor. (Problem to be Solved by the Invention) In this type of overload prevention circuit, the motor load is high in a steady low current section due to load fluctuations in the electric mechanism over time, such as mechanism wear, play, changes in lubrication state, etc. If the problem occurs, the overcurrent relay will operate even though there is no obstruction, and the motorized mechanism will not work. To prevent this, if the response current value of the overcurrent relay is set relatively high, if the load on the motorized mechanism gradually increases due to a relatively soft obstacle, the overcurrent relay will not work unless the obstacle is pushed considerably. It may not work and may cause damage to the obstruction. Furthermore, even if the response current value of the overcurrent relay is relatively low, even when the load on the motorized mechanism becomes low due to the above-mentioned load fluctuations over time,
A possible problem is that the motor stops being energized due to a soft obstacle. The present invention aims to more accurately prevent obstacles and motor overloads despite temporal load fluctuations in the electric mechanism. [Structure of the Invention] (Means for Achieving the Object) In the present invention, first, the electric drive mechanism includes a rotary encoder, a potentiometer, or a mechanical or electrical switch that changes in conjunction with mechanical motion. A signal generator that generates an electric signal is connected to the signal generator, and an electronic control device such as a microcomputer (microprocessor) refers to the electric signal to grasp the position of the drive mechanism;
Load data during normal operation of the electric motor is stored in advance in a semiconductor memory such as RAM in association with the position of the electric drive mechanism; Load data associated with the position of the drive mechanism is read out from the memory. Use this as a reference value; compare the actual load data at the current position with the reference value, and if the former is greater than the latter by a predetermined value or more, it is assumed that there is an overload (mechanical failure, object or human being stuck) and the motor is stopped. do. The correlation between the mechanism position and the normal motor current of the electric drive mechanism changes over time due to wear, play, changes in the lubrication state, etc. of the mechanism. Therefore, in the present invention, further,
If the actual load data at the current position is within a range that can be considered normal, it is updated and stored in the semiconductor memory and used as the next reference value. (Function) As a result, while the mechanism is operating normally,
The reference value is sequentially updated to a value that matches the current state of the mechanism (load fluctuation over time), and the comparison tolerance is set low to provide more precise overload protection for the electric mechanism itself and relatively soft obstacles. Overload protection against When an electric drive mechanism is stopped and started at any point between two limits, the motor current when starting the motor at a certain point is higher than the motor current when passing through a certain point at steady speed. It's much bigger. Since it is preferable not to detect this as an overload, in a preferred embodiment of the present invention, the above-mentioned overload detection is not performed for a predetermined period of time from when the motor is started until the motor reaches a steady speed. If this predetermined time is a relatively long time that cannot be ignored in terms of the safety of the mechanism, cargo, human body, etc., the pulse width or period of the pulse generated by the signal generator (for example, a rotary encoder) is monitored and If the length is longer than that at normal startup, it is assumed that there is an overload and the motor is stopped. The most likely cause of an overload on an electric drive mechanism is a person or load getting stuck in the driven object, and when the motor is stopped due to this, the motor just before it is stopped should be removed to remove the blockage. It is preferable to drive the motor in a direction opposite to the direction of rotation of the motor. Therefore, in a preferred embodiment of the present invention, when an overload is detected and the motor is stopped, it is possible to energize the motor rotation in the opposite direction to the motor rotation direction immediately before the motor is stopped. After that, it is assumed that the blockage has been removed, and the motor can be urged to rotate in the same direction as the motor rotation direction immediately before the overload stop. The most preferred signal generator is a rotary encoder, but potentiometers, linear encoders, photo switches, or mechanical switches may also be used. In any case, the arrangement is such that it generates electrical signals that can be used to grasp a plurality of positions during linear or rotational movement between two limit points of the mechanism. In a preferred embodiment of the invention, the load on the mechanism or motor is sensed by a resistor inserted in the energizing current loop of the electric motor;
This is A/D converted and read by a microprocessor. In another embodiment of the invention, the motor load is sensed using a signal generator and microprocessor coupled to the mechanism driven by the motor. That is, since the pulse width (=pulse period) of the pulse generated by the signal generator has a correspondence with the mechanical load, this is detected by the microprocessor and used as load data. Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings. (Example) Hereinafter, an example of the present invention for controlling the opening and closing of a sliding type vehicle roof panel will be described. Fig. 1a shows the installed appearance of the vehicle roof panel 1, Figs. 1b, 1d, and 1e are enlarged cross-sectional views taken along the line E-E in Fig. 1a, and Fig. 1c shows the C--C in Fig. 1a. An enlarged cross-sectional view taken along line C is shown. Reference is first made to FIG. 1a. An opening 3 is formed in the vehicle roof 2, and the roof panel 1 opens and closes this opening 3. Along the opening 3 (along the longitudinal direction of the vehicle), the roof panel 1 is pivoted to a shoe 5 ₁ that is slidable along the guide rail 4 ₁ via links 6 ₁ and 6 ₂ on both sides of the opening 3. It is worn. Cables 7 ₁₁ and 7 ₁₂ are fixed to the shoe 5 ₁ , and toothed cables 8 ₁ and 8 ₂ are connected to the cables. The toothed cables 8 ₁ , 8 ₂ mesh with a gear 10 connected to a speed reducer 9 . A rotating shaft of a DC motor 11 is coupled to an input shaft of the reducer 9 . When the motor 11 rotates forward, the gear 10 connects the toothed cable 8 ₁
and 8 ₂ are driven in the panel 1 opening direction, and when the motor 11 rotates in the reverse direction, it is driven in the panel 1 closing direction.
A baffle plate 13 supported by arms 12 ₁ and 12 ₂ is pivotally attached to the front part of the opening 3 so as to be able to stand upside down. A clockwise rotational force is applied to the arms 12 ₁ and 12 ₂ by leaf springs (not shown). When _the panel ₁ is fully opened as shown in FIG.
is standing up. When the motor 11 is driven in the reverse direction in this state, the panel 1 moves forward, and when its tip has traveled a predetermined distance A, the arm 12 moves forward as shown in FIG. 1d.
₁ , 12 Touches on top of ₂ . From this state, panel 1
When the panel 1 moves further forward, the tip of the panel 1 becomes the arm 12 ₁ ,
12 ₂ is lowered, the air baffle plate 13 rotates clockwise, the tip of the panel 1 climbs over the air buff plate 13, and finally the opening 3 is completely closed as shown in FIG. 1b. An enlarged plan view of the reducer 9 is shown in Fig. 2a, and its B
-B line cross section is shown in Fig. 2b. The reducer 9 includes a worm 14 ₁ fixed to the rotating shaft of the motor 11,
A gear 14 ₂ meshes with the worm 14 ₂ and is pivotally connected to the rotation shaft 15, a gear 14 ₃ is connected to the gear 14 ₂ via a friction clutch including a leaf spring 16 and is fixed to the rotation shaft 15, and a gear 14 ₄ A gear train is composed of a large diameter gear 14 ₄ that meshes with the gear 14 4 , a gear 14 ₅ that meshes with the gear 14 ₄ and is fixed to the rotating shaft 18 , a gear 10 that is fixed to the rotating shaft 18 and meshes with the toothed cables 8 ₁ and 8 ₂ , and the like. are doing. As shown in FIG. 2c, the tip of the rotating shaft 15 has an eccentric circumferential surface 15.
A ring 19 is fixed to the lower part of the circumferential surface 15a, and a cam plate 20 is pivotally attached to the circumferential surface 15a. A through groove is formed in the cam plate 20, and a pin 21 is driven into the ring 19 through this groove. As a result, the rotation axis 1
5 rotates, the ring 19 rotates, and the pin 2
1, the cam 20 rotates. The cam 20 is eccentric from the axis of the shaft 15. Two grooves 20a and 20b are formed on the circumferential surface of the cam 20, divided into upper and lower parts, and the grooves 20a and 20b are cut into tapered surfaces (groove ends) on the cam circumferential surface furthest from the axis of the shaft 15. 20a ₁ and 20b ₁ are formed. The motor 11 is driven to rotate forward, the cam 20 rotates counterclockwise, the panel 1 is opened, and when the panel 1 reaches the fully open position (Fig. 1e), the tapered surface 20a ₁
presses the actuator of limit switch SWLo to close switch SWLo. The motor 11 is driven in the reverse direction, the cam 20 rotates clockwise, the panel 1 is driven in the direction of closing the opening 3, and when the panel 1 reaches the fully closed position (FIG. 1b), the tapered surface _20b1 acts as a limit switch. Press the SWLc actuator to close the switch SWLc.
When the cable 8 ₁ or 8 ₂ is stopped and restrained by a force exceeding a certain level, the friction clutch 16 slips,
The gear ₁₄₂ is rotationally driven by the motor 11,
The gear 15 and the shaft 15 to which it is fixed do not rotate. Clutch 16 is provided as a mechanical safety mechanism. The rotary shaft of a rotary encoder 22 is fixed to the rotary shaft 17, and electric pulses are generated in conjunction with the rotation of the rotary shaft 17 at a rate of one panel per rotation of the rotary shaft 17 by a predetermined small angle. FIG. 3 shows the energizing current of the motor 11 when the panel 1 is normally driven from the fully open position to the fully closed position. The energizing current of the motor 11 shows a similar value when driving from the fully closed position to the fully open position, but the motor starting current at the fully closed position is higher than the level shown in FIG. The difference is that the motor current immediately before the motor stops at is smaller than the level shown in FIG. Also, if the motor 11 is not fully closed or fully open,
When the panel 1 is once stopped and then the panel 1 is driven to fully open or fully close, the current of the motor becomes higher than the level during steady running shown in FIG. 3 at the time of startup. FIG. 4 shows an electric circuit that controls the forward and reverse drive of the motor 11 (controls the opening/closing positioning of the panel 1). One end of the motor 11 is connected to power supply voltage +B or equipment ground via relay RLo, and the other end is also connected to power supply voltage +B or equipment ground via relay RLc. Relays RLo and RLc are energized by relay drivers RDo and RDc, respectively.
These relays RLo, RLc and relay drivers
RDo and RDc constitute a motor driver in this embodiment. The ground connection side terminals of relays RLo and RLc are connected to equipment ground via a resistor Rmi for motor current detection. relay driver
The input terminal of RDo and RDc is a microcomputer.
CPU output ports _O1 , _O2 and limit switch
Connected to one terminal of SWLo and SWLc. As mentioned above, in SWLo, panel 1 is in the fully open position (1b
) is closed when the relay driver
Connect the RDo input end to equipment ground. SWLc is closed when panel 1 is in the fully closed position (Fig. 1e), and connects the input end of relay driver RDc to equipment ground. SWLc closed (panel 1 fully closed) or
SWLo, SWLc open (Panel 1 is between fully open and fully closed)
When output port _O1 is set to high level "1" = H, relay driver RDo outputs relay RLo.
energize it and connect it to the +B side. This causes the motor 11 to have +B−RLo−11−RLc−Rmi
- Current flows through the ground path, causing the motor 11 to rotate forward. A voltage proportional to the motor current is applied to the amplifier AM1.
Amplified and waveform shaped by A/D converter
Applied to ADC. When output port O ₁ is reset or when panel 1 reaches the fully open position
When SWLo is closed, the input of the relay driver RDo is inverted to a low level "0" = L, and the relay RLo is deenergized and switched to the ground side. This causes the motor 11 to stop. SWLo closed (panel 1 fully open) or
SWLo, SWLc open (Panel 1 is between fully open and fully closed)
When a high level "1" = H is set at the output port _O2 at this time, the relay driver RDc energizes the relay RLc and connects it to the +B side. As a result, current flows through the motor 11 through the +B-RLc-11-RLo-Rmi-ground path, causing the motor 11 to rotate in reverse.
A voltage proportional to the motor current is amplified and waveform-shaped by the amplifier AM1, and then applied to the A/D converter ADC. When output port O ₂ is reset,
Alternatively, when the panel 1 reaches the fully closed position and SWLc is closed, the input of the relay driver RDc is reversed to a low level "0" = L, and the relay RLc is deenergized and switched to the ground side. This causes the motor 11 to stop. Since the input terminals of relay drivers RDo and RDc are connected to input ports I ₁ and I ₂ , when the microcomputer CPU sets output port I ₁ to H (motor forward rotation), input port O ₁ is connected to input ports I 1 and I 2 .
When becomes L, it is determined that SWLo is closed (panel fully open), and when input port O ₂ becomes L while output port I ₂ is set to H (motor reverse).
It is determined that SWLc is closed (panel fully closed). Pulse oscillator OSC for microcomputer CPU
gives a constant-period pulse, and the constant voltage power supply circuit CVR
applies constant voltage Vcc. PFD is a pulse frequency detection circuit, and the CPU uses this to determine the H level width of 2 msec and the L level width of 2 msec.
A pulse of is applied via output port _O4 . The panel frequency detection circuit PFD has a period of input pulse.
When a predetermined time longer than 4 msec is exceeded, a reset signal is given to the CPU. When the CPU receives the reset signal, it returns the control operation to initialization, which will be described later. Microcomputer CPU input ports I ₅ ~ _{I 9}
is the open/close instruction switch SWMo of panel 1, SW1
~SW3, SWF, SWMc and SWC are connected. Also, a switch SWI _R is connected to the input port _I10 . SWI _R is a one-press reversal type switch, and when it is reversed (opened or closed) by one press, it remains in that state until the next press. The opening is closed, and returns to the open position when the button is released. The names of these switches and the indications they mean when closed are shown in Table 1 below.

[Table] A non-volatile random access memory NRAM is connected to the address line and data line of the microcomputer CPU, and a battery backup element BBE constantly supplies memory retention voltage to the NRAM. The internal ROM of the microcomputer CPU contains
A program for controlling the opening and closing of the panel 1 shown in FIGS. 5a to 5d is stored. 5th below
With reference to the flowcharts shown in Figures a to 5d,
Operation of each part of the mechanism and microcomputer
Explain the control operation of the CPU. When the power supply voltage +B is connected to the constant voltage power supply circuit CVR, the constant voltage power supply circuit CVR applies a constant voltage Vcc to each part of the circuit shown in FIG. A microcomputer (hereinafter referred to as microcomputer) CPU performs initial settings when a constant voltage Vcc is applied.
Note that registers and tables are assigned to the microcomputer CPU and NRAM as shown in Table 2 below. In the initial settings, the flags and counters are set as shown in Table 2, and the following settings are made. Set the output port to . a Output port O ₁ , O ₂ reset (set L;
(motor 11 stopped) b Set L to output port _O4 . c Set the output level (H or L) of the encoder 22 in the RP flag.

〔Effect of the invention〕

As described above, according to the present invention, while the electric mechanism is operating normally, the reference value for determining overload is sequentially updated to a value that matches the current state of the mechanism (load fluctuation over time). Therefore, by setting the comparison tolerance low, more precise overload protection of the electric mechanism itself and overload protection against relatively soft obstacles can be performed.

[Brief explanation of drawings]

Fig. 1a is a perspective view showing an outline of the opening/closing mechanism of the roof panel 1 installed on the roof 2 of an automobile; Fig. 1b
Figures 1d and 1e are E- of Figure 1a.
E-line sectional view, Figure 1c is C-C in Figure 1a
FIG. Fig. 2a is an enlarged plan view of the reducer 9 shown in Fig. 1a, and Fig. 2b is an enlarged plan view of the reduction gear 9 shown in Fig. 2a.
The sectional view taken along the line B and FIG. 2C are perspective views showing an enlarged part of the rotating shaft 15. FIG. 3 shows when the panel 1 is driven from the fully open position to the fully closed position.
It is a graph showing the current of the drive motor. FIG. 4 is an embodiment of the present invention, and is a block diagram showing the configuration of an electric circuit for driving and energizing the electric motor 11 of the opening/closing mechanism shown in FIG. 1a etc. in the forward and reverse directions, FIG. , 5c and 5d are flowcharts showing the opening/closing control operation of the panel 1 by the microcomputer CPU shown in FIG. 1: roof panel, 2: roof, 3: opening,
4: Guide rail (support means), 5 ₁ : Shoe (support means), 6 ₁ , 6 ₂ : Link, 7 ₁₁ , 7 ₁₂ : Cable, 8 ₁ , 8 ₂ : Toothed cable (electric drive mechanism),
9: Reducer (electric drive mechanism), 10, 14 ₂ ~ 14
₅ : Gear, 11: Motor (electric drive mechanism), 12 ₁ ,
12 ₂ : Arm, 13: Air conditioning plate, 14 ₁ : Worm, 15, 17, 18: Rotating shaft, 16: Leaf spring,
19: Ring, 20: Cam plate, 20a, 20b:
Groove, 20a ₁ , 20b ₁ : Tapered surface, 21 : Pin,
22: Rotary encoder (signal generator),
SWLo, SWLc: Limit switch, RLo,
RLc: Relay (electrical driver), Rmi: Resistor (means to detect load), NRAM: Non-volatile random access memory (semiconductor memory), CPU: Microcomputer (electronic control unit), RDo,
RDc: Relay driver (electric driver).

Claims (1)

[Scope of Claims] 1. Supporting means for movably supporting on-vehicle equipment; An electric drive mechanism for driving on-vehicle equipment; Connected to the electric drive mechanism, and transmitting an electric signal that changes in conjunction with the operation of the electric drive mechanism. an electric driver for energizing the electric motor of the electric drive mechanism; means for detecting a load on the electric motor; and instructing the electric driver to energize the electric motor and monitoring said electrical signal during energization. to obtain location information,
The reference data stored in the semiconductor memory and associated with the position is read and the load on the electric motor is compared with this, and when the load is less than a predetermined value, the reference data in the semiconductor memory is rewritten to the load data, and the load corresponds to the load. A drive control device for on-vehicle electric equipment, comprising: an electronic control device that stops energizing an electric motor when a predetermined value determined by reference data is exceeded; 2. The drive control device for on-vehicle electric equipment according to claim 1, wherein the electronic control device does not perform the comparison for a predetermined period of time from the start of energization of the electric motor, but performs the comparison after a predetermined period of time. 3. After the electronic control unit stops energizing the electric motor when the load exceeds a predetermined value, the energizing in the same direction as the electric motor's rotation before stopping remains stopped, and it issues an energizing instruction in the opposite direction. Claims 1 or 2, wherein the electric driver is instructed to energize the electric motor in response to an energization instruction in the same direction, and thereafter the electric driver is instructed to energize the electric motor in response to an energization instruction in the same direction. The drive control device for the on-vehicle electric equipment described above. 4 The signal generator is a rotary encoder,
2. The drive control device for on-vehicle electric equipment according to claim 1, wherein the electronic control device adds or subtracts pulses generated by the rotary encoder according to the rotational direction of the electric motor, and uses the count value as position information. 5. The drive control device for on-vehicle electric equipment according to claim 4, wherein the electronic control device sets the count value to a predetermined value at a scheduled limit position of the on-board electric equipment. 6. The drive control device for on-vehicle electric equipment according to claim 1, wherein the means for detecting the load of the electric motor is a resistor inserted in the energizing current loop of the electric motor. 7. The drive control device for on-vehicle electric equipment according to claim 4, wherein the means for detecting the load of the electric motor is a rotary encoder and an electronic control device for detecting the pulse width or cycle of the generated pulses.