JP6183911B2 - Opening and closing body control device - Google Patents

Description

  The present invention relates to an opening / closing body control device that opens and closes an opening / closing body by driving a motor, and more particularly to a technique for protecting an opening / closing component when the opening / closing body is fully opened or fully closed and mechanically restrained.

  As an opening / closing body control device mounted on a vehicle, for example, there is a power window control device. The power window control device opens and closes the window glass by rotating the motor forward or backward to operate the power window opening / closing mechanism.

  When the window glass is fully opened or fully closed, the window glass is mechanically restrained by a window frame, a stopper, or the like, and the components of the power window opening / closing mechanism and the motor are also mechanically restrained. At that time, a collision sound is generated by contact between the window glass and the window frame, or contact between the components of the power window opening / closing mechanism. Moreover, when the impact at the time of contact of these mechanical system parts is large, there exists a possibility that mechanical system parts may be damaged. Furthermore, when the motor continues to be driven, an overload state occurs, and there is a risk that electrical parts such as the motor and the motor drive circuit and the mechanical parts will be damaged.

  On the other hand, in Patent Document 1, an overcurrent that appears when an electric motor is actually restrained mechanically is distinguished from an instantaneous overcurrent or a weak overcurrent caused by other factors. Technology for protecting motors and the like from the above has been disclosed. Specifically, a current signal flowing through the electric motor is converted into a voltage signal, and a value at which the voltage signal exceeds a certain first comparison reference voltage is integrated. When the integrated output is smaller than the constant second comparison reference voltage, it is determined that an overcurrent has flowed, and the electric motor is stopped.

  Further, in the DC motor driving apparatus disclosed in Patent Document 2, when the motor current is detected and the detected current is larger than the rated current, the amplified voltage proportional to the detected current is CR-integrated to obtain a CR integrated value. Is calculated. When the CR integrated value is larger than the overload set value, the motor is deenergized.

JP-A-8-220152 JP 2007-259626 A

  As shown in FIG. 7, the current flowing through the motor during the opening / closing operation of the window glass is likely to fluctuate due to the influence of variations in temperature, voltage, load, circuit, parts, and the like. Specifically, the motor current tends to increase at a lower temperature than at a normal temperature. Even at the same temperature, the motor current varies due to the component characteristics of the motor and the opening / closing mechanism.

  Therefore, when integration of the motor current or the like is started based on the result of comparing the motor current or the like (which may be a voltage obtained by converting the motor current) with a constant motor current threshold, the integration start point The variation of the is increased. Further, when the motor is stopped by detecting an overload due to mechanical restraint of the opening / closing body based on the result of comparing the integral value with a certain integral value threshold value, the variation of the stop point also increases. As a result, the overload state is prolonged, and there is a possibility that mechanical parts and electric parts related to opening and closing of the opening / closing body are damaged.

  Moreover, there is an upper limit to the current that can be passed from the motor drive circuit to the motor depending on the performance of the motor. For this reason, when the upper limit of the motor current and the influence of the above-described variation are taken into consideration, the range in which the motor current threshold can be set becomes narrow, and it becomes difficult to set the threshold.

  An object of the present invention is to prevent damage to an opening / closing component due to an overload caused by mechanical restraint during full opening / closing of an opening / closing body, and to easily set a threshold value even under the influence of various variations. It is to provide an opening / closing body control device that can be used.

  An opening / closing body control apparatus according to the present invention includes an electric motor control unit that controls driving of an electric motor for opening / closing an opening / closing body, a position detection unit that detects an opening / closing position of the opening / closing body, and a current detection that detects a current flowing through the electric motor. A change amount calculation unit that calculates a change amount of the current of the motor detected by the current detection unit, and an integration value calculation unit that calculates an integral value based on the current of the motor detected by the current detection unit. Then, when the electric motor is driven by the electric motor control unit to open and close the open / close body, the position detection unit indicates that the open / close body has opened / closed to a predetermined region provided near the fully open position or the fully closed position. When detected, the change amount calculation unit calculates a change amount of the current of the motor, and when the change amount exceeds a predetermined first threshold value, the integration value calculation unit calculates an integration value based on the current of the motor, and the integration value Becomes larger than a predetermined second threshold value, the motor control unit stops the driving of the motor.

  According to the above, even if the current flowing through the motor fluctuates due to the influence of various variations during the opening / closing operation of the opening / closing body, the amount of change in the current of the motor that is hardly affected by the variation is greater than the first threshold. Since integration based on the electric current of the electric motor is started, variation in the integration start point can be kept small. Further, when the integral value becomes larger than the second threshold value, it is an overload state due to mechanical restraint of the opening / closing body, and therefore, by stopping the driving of the electric motor, the variation of the stop point is made to be the variation of the integration start point. Can be kept as small as. As a result, it is possible to prevent the overload state due to the mechanical restraint of the opening / closing body from being prolonged, and to prevent damage to the mechanical system parts and electrical system parts for opening / closing the opening / closing body due to the overload.

  In addition, since the amount of change in the current of the motor that is not easily affected by the variation and does not need to consider the upper limit is compared with the first threshold, the first threshold can be easily set. Further, since the integral value based on the electric current of the motor that is not easily affected by the variation and does not need to consider the upper limit is compared with the second threshold value, the second threshold value can be easily set.

  In the present invention, the opening / closing body control device may further include a current correction unit that corrects the current of the motor by subtracting a current component due to voltage fluctuation from the current of the motor detected by the current detection unit. In this case, the change amount calculation unit calculates the change amount of the electric current of the electric motor after correction by the current correction unit, and the integration value calculation unit calculates an integration value based on the electric current of the electric motor corrected by the current correction unit.

  Further, in the present invention, in the opening / closing body control apparatus, the change amount calculation unit may calculate the amount of change in the electric current of the motor from when the opening / closing position of the opening / closing body reaches a predetermined region.

  Further, in the present invention, in the opening / closing body control device, when the amount of change in the current of the motor is equal to or less than a first threshold, the integral value calculation unit stops calculating the integral value and initializes the integral value. Also good.

  Furthermore, in one Embodiment of this invention, an opening / closing body consists of a window glass of a vehicle, and the said opening / closing body control apparatus consists of a power window control apparatus.

  According to the present invention, even when affected by various variations, it is possible to prevent the opening / closing component from being damaged by an overload due to mechanical restraint during full opening / closing of the opening / closing body, and to easily set the threshold value. It becomes possible to provide an openable / closable body control device.

It is the figure which showed the structure of the PW (power window) control system and PW control apparatus by embodiment of this invention. It is the figure which showed the outline | summary of the correction | amendment of the motor current in the PW control apparatus of FIG. 3 is a flowchart showing the operation of the PW control device of FIG. 1. It is the figure which showed an example of the motor current after correction | amendment in the PW control apparatus of FIG. 1, and the change of the integral value. It is the figure which showed an example of the change of the motor current after correction | amendment in the PW control apparatus of FIG. It is the figure which showed an example of the change of the motor drive voltage and motor current in the PW control apparatus of FIG. It is the figure which showed an example of the change of the motor current for demonstrating the conventional problem.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

  First, the configuration of the embodiment will be described with reference to FIG. Hereinafter, the “power window” is expressed as “PW”.

  FIG. 1 is a diagram showing the configuration of the PW control system 100 and the PW control device 1. The PW control system 100 is mounted on an automobile and includes a PW control device 1 and other components 5 to 9.

  The PW control device 1 drives the motor 9 to operate the PW opening / closing mechanism 8 to open / close the window glass 7 of the window 6 provided on the door of the vehicle. The PW control device 1 is an example of the “opening / closing body control device” of the present invention. The window 6 and the window glass 7 are examples of the “opening / closing body” of the present invention. The motor 9 is an example of the “electric motor” in the present invention.

  The PW control device 1 includes a control unit 2, a PW operation unit 3, and a motor drive unit 4.

  The control unit 2 includes a microcomputer and controls opening and closing of the window 6. The control unit 2 includes a storage unit 2a, a motor control unit 2b, a current correction unit 2c, a position detection unit 2d, a change amount calculation unit 2e, and an integral value calculation unit 2f. The storage unit 2a stores data for controlling each unit.

  The PW operation unit 3 includes a switch for operating opening and closing of the window 6 and is provided in the vehicle. The PW operation unit 3 is operated by the user and outputs a signal corresponding to the operation. The control unit 2 detects the operation state of the PW operation unit 3 based on the signal output from the PW operation unit 3. In this example, a manual opening / closing operation and an automatic opening / closing operation can be performed by the PW operation unit 3.

  The motor 9 is a DC motor. The motor drive unit 4 includes a circuit that drives the motor 9 in the normal rotation or reverse rotation. The motor control unit 2 b controls the drive of the motor 9 by operating the motor drive unit 4 according to the operation state of the PW operation unit 3 and the open / closed state of the window glass 7. When the motor 9 is rotated forward or reverse, the PW opening / closing mechanism 8 is operated, the window glass 7 is lowered or raised, and the window 6 is opened / closed. The motor control unit 2b is an example of the “motor control unit” in the present invention.

  The motor drive unit 4 is provided with a current detection unit 4a. The current detection unit 4a includes a circuit including a shunt resistor and a CR low-pass filter, and detects a current flowing through the motor 9 (hereinafter referred to as “motor current”). The motor current detected by the current detection unit 4a is output to the control unit 2. As will be described later, the current correction unit 2c corrects the motor current detected by the current detection unit 4a.

  The pulse generator 5 is composed of, for example, a rotary encoder, and outputs a pulse signal corresponding to the rotation state of the motor 9 to the control unit 2. The position detector 2d detects the pulse signal output from the pulse generator 5, and detects the open / close position of the window glass 7 based on the pulse signal. Specifically, the position detection unit 2d counts the number of rises of the pulse signal output from the pulse generator 5, for example, and determines the opening / closing position of the window glass 7 from the counted value.

  The change amount calculation unit 2e calculates the change amount of the motor current after being corrected by the current correction unit 2c. The integral value calculation unit 2f calculates an integral value based on the motor current after being corrected by the current correction unit 2c.

  Next, a method of correcting the motor current by the PW control device 1 will be described with reference to FIG.

  FIG. 2 is a diagram showing an outline of motor current correction. In the motor 9, when a motor driving voltage is applied from the motor driving unit 4, a current component based on the voltage is generated by the voltage-current characteristic 11. When an external torque (load) is applied from the PW opening / closing mechanism 8, a current component based on the load is generated by the load-current characteristic 12. Then, the current component based on the voltage and the current component based on the load are added to form a motor current. This motor current is detected by the current detection unit 4 a, input to the control unit 2, and AD converted by the AD (analog / digital) conversion unit 14.

  In the control unit 2, the motor drive voltage input from the motor drive unit 4 is AD converted by the AD conversion unit 15 and input to the current correction unit 2c. In the current correction unit 2c, first, a mechanical current component is calculated from the motor drive voltage after AD conversion and the mechanical characteristics 16, and an electrical current component is calculated from the motor drive voltage after AD conversion and the electrical characteristics 17 Is done. Next, the mechanical current component and the electrical current component are added to calculate a current component (calculated value) due to voltage fluctuation. Then, the current component due to the voltage fluctuation is subtracted from the motor current (AD value) input from the current detection unit 4a and subjected to AD conversion, and the corrected motor current is calculated.

  That is, the current correction unit 2 c calculates a current component due to voltage fluctuation based on the motor drive voltage acquired from the motor drive unit 4. Then, the current component is subtracted from the motor current acquired from the current detection unit 4a, thereby calculating a corrected motor current from which the influence of voltage fluctuation is removed. The corrected motor current is output from the current correction unit 2c to the change amount calculation unit 2e and the integral value calculation unit 2f.

  Next, the operation of the PW control device 1 will be described with reference to FIG. 3 and FIG. Reference is also made to FIG. 1 as appropriate.

  FIG. 3 is a flowchart showing the operation of the PW control device 1. FIG. 4 is a diagram showing an example of changes in the corrected motor current (solid line) and its integrated value (broken line) in the PW control device 1. In FIG. 4, the horizontal axis indicates the time or position where the window glass 7 is opened and closed (the same applies to FIGS. 5 and 6 described later).

  When the opening / closing operation of the window is performed by the PW operation unit 3 (step S1 in FIG. 3), the motor control unit 2b starts driving the motor 9 by the motor driving unit 4 according to the operation state (step in FIG. 3). S2). Thereby, the opening / closing operation | movement of the window glass 7 is started. As described above, the current detection unit 4a starts detecting the motor current A (step S3 in FIG. 3), and the current correction unit 2c starts correcting the motor current A (step S4 in FIG. 3). Moreover, the position detection part 2d starts the detection of the opening / closing position of the window glass 7 (step S5 of FIG. 3).

  During the closing operation of the window glass 7, until the upper end of the window glass 7 enters the closing direction lock detection region Zc shown in FIG. Is called. This pinching detection process is performed by a known method (not described).

  The closing direction side lock detection area Zc shown in FIG. 1 is an area set in the vicinity of the fully closed position of the window glass 7. During the closing operation of the window glass 7, after the upper end of the window glass 7 enters the closing direction side lock detection region Zc, the window glass 7 is fully closed, and the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are mechanically operated. It becomes the locked state restrained by.

  Further, the opening direction side lock detection area Zo shown in FIG. 1 is an area set in the vicinity of the fully opened position of the window glass 7. During the opening operation of the window glass 7, after the upper end of the window glass 7 enters the opening direction side lock detection area Zo, the window glass 7 is fully opened, and the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are mechanically operated. It becomes a restricted lock state. The closing direction side lock detection region Zc and the opening direction side lock detection region Zo are examples of the “predetermined region” in the present invention.

When the motor 9 is driven and the opening / closing operation of the window glass 7 is started, the motor current A and the corrected motor current A ′ once increase and then change substantially constant. In the case of the closing operation, after the window glass 7 is closed to the closing direction side lock detection area Zc (a state where the upper end of the window glass 7 enters the closing direction side lock detection area Zc; P _{1 in} FIG. 4), the window glass 7 and due to component properties of the contact and PW closing mechanism 8 with the window frame, it takes the load, the motor current a, a 'is increased (P ₂ and subsequent FIGS. 4; a motor current a' after the correction only shown). When the window glass 7 is fully closed and the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are in a locked state, an overload is applied and the motor is driven with a lock current which is an upper limit value that can be passed from the motor drive unit 4 to the motor 9. Currents A and A ′ change (P ₄ and P _{5 in} FIG. 4).

Further, even during the opening operation, after the window glass 7 has been opened to the opening direction side lock detection area Zo (the state where the upper end of the window glass 7 has entered the opening direction side lock detection area Zo; P _{1 in} FIG. 4), due part characteristics of contact and PW closing mechanism 8 of the window glass 7 and the window frame, it takes the load, the motor current a, a 'is increased (P ₂ onward in FIG. 4). When the window glass 7 is fully opened and the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are in a locked state, an overload is applied, and the motor currents A and A ′ change with the lock current (P _{4 in} FIG. 4). , P ₅ ).

  If the driving of the motor 9 is continued while the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are locked, the window glass 7, the window frame, the PW opening / closing mechanism 8 and the motor 9 are overloaded. There is a risk of damage. Therefore, the lock state is detected and the overload state is canceled as follows.

When the position detecting unit 2d detects that the window glass 7 during the closing operation is closed to the closing direction side lock detection region Zc or that the window glass 7 during the opening operation is opened to the opening direction side lock detection region Zo ( Step S6 in FIG. 3: YES, P ₁ in FIG. 4), the change amount calculation unit 2e calculates the change amount ΔA ′ of the corrected motor current A ′ (step S7 in FIG. 3). At this time, for example, the amount of change ΔA ′ of the corrected motor current A ′ from when the opening / closing position of the window glass 7 reaches the closing direction lock detection region Zc or the opening direction lock detection region Zo is calculated. The

  Next, the control unit 2 compares the corrected change amount ΔA ′ of the motor current A ′ calculated by the change amount calculation unit 2 e with the integration start determination threshold value X stored in the storage unit 2 a. Until the change amount ΔA ′ becomes larger than the integration start determination threshold value X (ΔA ′ ≦ X, step S8 in FIG. 3: NO), the integral value calculation unit 2f integrates the integrated value 基 づ く based on the corrected motor current A ′. The calculation of A ′ is stopped and the integral value ∫A ′ remains at the initial value (= 0) (step S10 in FIG. 3). The integration start determination threshold value X is an example of the “first threshold value” in the present invention.

Again, the change amount calculation unit 2e calculates the change amount ΔA ′ of the corrected motor current A ′ (step S7 in FIG. 3), and when the change amount ΔA ′ becomes larger than the integration start determination threshold value X (in FIG. 3). Step S8: YES, P ₃ , P ₃ ′ in FIG. 4, the integral value calculation unit 2 f starts calculating the integral value ∫A ′ based on the corrected motor current A ′ (Step S <b> 9 in FIG. 3).

At this time, the integral value calculation unit 2f calculates, for example, the hatched portion shown in FIG. 4 as an integral value ∫A ′ based on the corrected motor current A ′. Specifically, the values of the corrected motor current A ′ after P ₃ and P ₃ ′ in FIG. 4 (when the amount of change ΔA ′ of the corrected motor current A ′ becomes larger than the integration start determination threshold value X), An integrated value ∫A ′ is obtained by integrating the difference between the corrected motor current A ′ in P ₃ and P ₃ ′. Alternatively, the product of the value of the motor current A ′ after correction at P ₃ or P ₃ ′ in FIG. 4 and the value (movement time or movement amount) in the P _{3 to} P ₆ section or P ₃ ′ to P ₇ section ( The integrated value ∫A ′ may be obtained by subtracting the square area below the hatched portion in FIG. 4 from the integrated value of the corrected motor current A ′ after P ₃ or P ₃ ′. .

  As another example, the integrated value ∫A ′ may be obtained by integrating the corrected motor current A ′ itself (not shown).

  Next, the control unit 2 compares the integral value ∫A ′ calculated by the integral value calculating unit 2f with the lock determination threshold value Y stored in the storage unit 2a. Until the integrated value ∫A ′ becomes larger than the lock determination threshold Y (∫A ′ ≦ Y, step S11 in FIG. 3: NO), the motor control unit 2b continues to drive the motor 9 by the motor drive unit 4. (Step S12 in FIG. 3). The lock determination threshold Y is an example of the “second threshold” in the present invention.

  Thereafter, the change amount calculation unit 2e calculates again the change amount ΔA ′ of the corrected motor current A ′ (step S7 in FIG. 3), and the change amount ΔA ′ becomes equal to or less than the integration start determination threshold ( Step S8 of FIG. 3: NO). Then, the integral value calculation unit 2f stops the calculation of the integral value ’A 'based on the corrected motor current A' and initializes the integral value ∫A '(step S10 in FIG. 3).

On the other hand, after the change amount ΔA ′ becomes larger than the integration start determination threshold value X (step S8 in FIG. 3: YES), the calculation of the integral value ∫A ′ is started (step S9 in FIG. 3), and then the integral value ∫A. Assume that 'is greater than the lock determination threshold Y (step S11 in FIG. 3: YES, T ₆ and T _{7 in} FIG. 4). Then, the control unit 2 determines that it is in the locked state (step S13 in FIG. 3). At this time, the window glass 7 is fully closed or fully opened, and the window glass 7, the PW opening / closing mechanism 8, and the motor 9 are mechanically constrained to be overloaded.

In this case, the motor control unit 2b cuts off the current flowing to the motor 9 by the motor driving unit 4 and stops driving the motor 9 (step S14 in FIG. 3). As a result, the motor current A detected by the current detection unit 4a and the corrected motor current A ′ calculated by the current correction unit 2c are reduced to 0 (P ₆ and P _{7 in} FIG. 4), and the window The overload state of the glass 7, the PW opening / closing mechanism 8, and the motor 9 is released.

  Then, the integral value calculator 2f stops the calculation of the integral value ∫A 'and initializes the integral value ∫A' (step S15 in FIG. 3). Further, the current detection unit 4a stops the detection of the motor current A (step S16 in FIG. 3), and the current correction unit 2c stops the correction of the motor current A (step S17 in FIG. 3). Furthermore, the position detector 2d stops detecting the opening / closing position of the window glass 7 (step S18 in FIG. 3).

According to the above-described embodiment, even if the motor current A fluctuates due to various influences such as temperature, voltage, load, circuit, and parts during the opening / closing operation of the window glass 7, the fluctuations Is compared with the change amount ΔA ′ of the corrected motor current A ′ that is not easily affected by the integration start determination threshold value X. Then, when the change amount ΔA ′ becomes larger than the integration start determination threshold value X, the integration is started based on the corrected motor current A ′. Therefore, the integration start point (P ₃ , P ₃ in FIG. 4 and FIG. 5) is started. The variation of ₃ ′) can be reduced.

Further, when the integral value ∫A ′ based on the corrected motor current A ′ becomes larger than the lock determination threshold Y, it is determined that the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are in the locked state, Since the driving of the motor 9 is stopped, the variation of the stop points (P ₆ and P _{7 in} FIG. 4) can be suppressed to be as small as the variation of the integration start point. In addition, an overload state due to mechanical restraint of the window glass 7 is detected by distinguishing it from an overload state due to foreign matter caught in the window 6 or an instantaneous overload state immediately after driving the motor 9 or due to a disturbance. Thus, the motor 9 can be stopped reliably. As a result, it is possible to prevent the overload state due to the mechanical restraint of the window glass 7 from being prolonged, and to prevent damage to the mechanical and electrical parts for opening and closing the window glass 7 due to the overload. Become.

  Further, since the change amount ΔA ′ of the corrected motor current A ′ that is not easily affected by the variation and does not need to consider the upper limit is compared with the integration start determination threshold value X, the integration start determination threshold value X is not limited. Can be set easily. Further, since the integrated value ∫A ′ based on the corrected motor current A ′ that is not easily affected by the variation and does not need to consider the upper limit is compared with the lock determination threshold Y, the lock determination threshold is not limited. Y can also be set easily.

  Further, in the above embodiment, the change amount ΔA ′ of the corrected motor current A ′ from when the opening / closing position of the window glass 7 reaches the lock detection regions Zc, Zo is calculated. Therefore, the overload state due to the window glass 7 being fully opened or fully closed and mechanically restrained is reliably detected, the driving of the motor 9 is stopped, the overload state is released, and the opening and closing It is possible to prevent the parts from being damaged.

  In the above embodiment, when the change amount ΔA ′ of the corrected motor current A ′ is equal to or less than the integration start determination threshold value X, the integrated value calculation unit 2f integrates the integrated value ∫A ′ based on the corrected motor current A ′. And the integral value ∫A ′ is initialized. For this reason, it is possible to prevent a momentary overload state caused by a disturbance from being erroneously detected and stop the driving of the motor 9 and prevent the window 6 from being fully opened or fully closed.

  In addition, after the window glass 7 is opened and closed to the vicinity of the fully open position or the fully closed position, the motor drive voltage may instantaneously decrease as shown in FIG. 6 due to disturbance such as the occurrence of cranking or the operation of the air conditioner. . In this case, if the motor current A is not corrected as in the prior art, the motor current A also decreases instantaneously as shown by the broken line in FIG. When the motor current A falls below a certain motor current threshold value (conventional threshold value), the integration of the motor current A is stopped, the integration value is initialized, the lock state is detected, and the motor 9 is driven. Stop will be delayed.

  However, in the above embodiment, the current correction unit 2c corrects the motor current A by subtracting the current component due to the fluctuation of the motor drive voltage from the motor current A detected by the current detection unit 4a. Therefore, even after the window glass 7 is opened and closed to the lock detection areas Zc and Zo, as shown in FIG. 6, even if the motor drive voltage drops instantaneously due to a disturbance, as shown by the solid line in FIG. The current A ′ does not decrease instantaneously. Then, the amount of change ΔA ′ and the integral value ∫A ′ of the corrected motor current A ′ are calculated and compared with the threshold values X and Y, respectively, so that the influence of fluctuations in the motor drive voltage due to disturbance is suppressed, It is possible to prevent the integration value ∫A ′ from being initialized, or delaying the start of integration, detection of the lock state, and stop of driving of the motor 9. As a result, it is detected at an early stage that the window glass 7, the PW opening / closing mechanism 8 and the motor 9 are in a locked state, the driving of the motor 9 is stopped, and the components for opening / closing the window glass 7 are damaged due to overload. Can be more effectively prevented.

  The present invention can employ various embodiments other than those described above. For example, in the above embodiment, the example in which the change amount ΔA ′ of the corrected motor current A ′ from when the opening / closing position of the window glass 7 reaches the lock detection regions Zc and Zo is calculated has been described. The invention is not limited to this. In addition to this, for example, the change amount ΔA ′ of the corrected motor current A ′ may be calculated at a predetermined time or at an opening / closing amount interval.

  Moreover, although the example which correct | amended the motor current A based on the fluctuation | variation of the motor drive voltage was shown in the above embodiment, this invention is not limited only to this. In addition to this, the motor current A may be corrected based on other variation factors such as the ambient temperature detected by the temperature detecting means. Then, the corrected motor current change amount and the integrated value may be calculated and compared with the threshold values X and Y, respectively.

  Moreover, in the above embodiment, the example which detected that the window glass 7 opened and closed to the lock | rock detection area | region Zc and Zo based on the pulse signal output from the pulse generator 5 according to the rotation state of the motor 9 is shown. However, the present invention is not limited to this. In addition to this, for example, a ripple included in the motor current is extracted by passing the output signal from the current detection unit 4a through a bandpass filter, and the window glass 7 extends to the lock detection regions Zc and Zo based on the ripple. The opening / closing may be detected. Further, for example, a sensor or a switch may be provided on a door, a window frame, or the like, and it may be detected that the window glass 7 has been opened or closed to the lock detection areas Zc and Zo based on output signals thereof.

  Furthermore, although the example which applied this invention to the PW control apparatus 1 of the motor vehicle was given in the above embodiment, it is not restricted to this. The present invention can also be applied to an opening / closing body control device for a vehicle, such as an electric opening / closing roof, or an opening / closing body control device for uses other than a vehicle.

1 Power window control device (opening / closing body control device)
2b Motor control unit (motor control unit)
2c Current correction unit 2d Position detection unit 2e Change amount calculation unit 2f Integral value calculation unit 4a Current detection unit 6 Window (opening / closing body)
7 Window glass (opening and closing body)
9 Motor (electric motor)
A Motor current A ′ Motor current after correction ΔA ′ Motor current change after correction 積分 A ′ Integral value based on motor current after correction Zc Closed direction lock detection area Zo Open direction lock detection area X Integration start determination Threshold (first threshold)
Y lock judgment threshold (second threshold)

Claims (5)

An electric motor control unit for controlling the driving of the electric motor for opening and closing the opening and closing body;
A position detector for detecting an open / close position of the open / close body;
A current detector for detecting a current flowing in the motor;
A change amount calculation unit for calculating a change amount of the current of the electric motor detected by the current detection unit;
An integral value calculation unit that calculates an integral value based on the electric current of the motor detected by the current detection unit, and
When the electric motor controller drives the electric motor to open and close the open / close body,
When the position detecting unit detects that the opening / closing body has opened / closed to a predetermined region provided near the fully open position or the fully closed position, the change amount calculating unit calculates a change amount of the electric current of the motor,
When the amount of change is greater than a predetermined first threshold, the integral value calculation unit calculates an integral value based on the current of the motor,
The opening / closing body control device, wherein when the integrated value is greater than a predetermined second threshold, the motor control unit stops driving the motor. In the opening-closing body control apparatus of Claim 1,
A current correction unit that corrects the current of the motor by subtracting a current component due to voltage fluctuation from the current of the motor detected by the current detection unit;
The change amount calculation unit calculates a change amount of the current of the electric motor after correction by the current correction unit,
The opening / closing body control device, wherein the integral value calculation unit calculates an integral value based on the electric current of the electric motor corrected by the current correction unit. In the opening-closing body control apparatus of Claim 1 or Claim 2,
The change amount calculation unit calculates an amount of change in current of the electric motor from when the open / close position of the open / close body reaches the predetermined region. In the opening-closing body control apparatus in any one of Claim 1 thru | or 3,
When the change amount of the electric current of the electric motor is equal to or less than the first threshold value, the integral value calculation unit stops calculating the integral value and initializes the integral value. In the opening-closing-body control apparatus in any one of Claim 1 thru | or 4,
The opening / closing body is made of a window glass of a vehicle,
The opening / closing body control device comprises a power window control device.

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