CN110612378A

CN110612378A - Opening/closing body control device and opening/closing body control method

Info

Publication number: CN110612378A
Application number: CN201880030526.0A
Authority: CN
Inventors: 都军安; 阿部勤
Original assignee: Alps Alpine Co Ltd
Current assignee: Alps Alpine Co Ltd
Priority date: 2017-05-10
Filing date: 2018-05-01
Publication date: 2019-12-24
Also published as: JP6705061B2; WO2018207684A1; JPWO2018207684A1

Abstract

A power window device for controlling the movement of a window glass (2) mounted on a vehicle is provided with: an opening/closing control unit (60) that performs an automatic closing function for automatically closing the window glass (2); a counting unit (63) that counts the number of times a motor (10) that drives the window glass (2) is started; and a function limiting unit (64) that limits the automatic shutdown function on the basis of the number of times the motor (10) is started. The function restriction unit (64) releases the restriction of the automatic closing function when the window glass (2) reaches the fully closed position.

Description

Opening/closing body control device and opening/closing body control method

Technical Field

The present invention relates to an opening/closing body control device for operating an opening/closing body such as a window glass, a sunroof (sunproof), or a mirror of a vehicle by a motor.

Background

Conventionally, a drive control device for an electric motor (motor) for opening and closing a sunroof is known (see patent document 1). The device measures the operating time when the sunroof slides from the fully closed position in the opening direction. When the operating time reaches a predetermined maximum value, the motor is stopped, and the movement of the sunroof can be stopped when the sunroof reaches the fully open position without relying on a limit switch. The same applies to the sliding roof sliding in the closing direction from the fully open position.

Documents of the prior art

Patent document

Patent document 1: japanese Kokai publication Hei-3-114421

Disclosure of Invention

Problems to be solved by the invention

However, the control described above is not suitable for a case where the position of the opening/closing body needs to be detected accurately in units of several millimeters. This is because a detection error of the position of the opening/closing body (a difference between the actual position and the detected position of the opening/closing body) is large. When the position of the opening/closing body needs to be detected with high accuracy, for example, when an automatic closing function for automatically closing the opening/closing body is executed, it is determined whether the opening/closing body has come into contact with a foreign object or has reached a full-close position. In this case, if the detection error of the position of the opening/closing body is large, the automatic closing function may malfunction. Specifically, the state in which the opening/closing body has reached the full-close position may be erroneously recognized as a state in which the opening/closing body has come into contact with a foreign object, and the movement direction of the opening/closing body may be reversed to open the opening/closing body. Alternatively, the state in which the opening/closing body has contacted the foreign object may be erroneously recognized as the state in which the opening/closing body has reached the fully closed position, and the opening/closing body may sandwich the foreign object.

In view of the above, it is desirable to provide an opening/closing body control device capable of more reliably preventing malfunction of an automatic closing function.

Means for solving the problems

An opening/closing body control device according to an embodiment of the present invention controls movement of an opening/closing body mounted on a vehicle, the opening/closing body control device including: an opening/closing control unit that performs an automatic closing function for automatically closing the opening/closing body; a counting unit that counts the number of times of activation of a motor that drives the opening/closing body; and a function limiting unit that limits the automatic shutdown function based on the number of times of activation.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the above-described means, it is possible to provide an opening/closing body control device capable of more reliably preventing malfunction of an automatic closing function.

Drawings

Fig. 1 is a schematic view showing a configuration example of a power window device.

Fig. 2 is a functional block diagram showing an example of the configuration of the arithmetic device in the power window device of fig. 1.

Fig. 3 is a flowchart of the auto-close process.

Fig. 4A is a sectional view showing a positional relationship between the window glass and the upper sash.

Fig. 4B is a sectional view showing a positional relationship between the window glass and the upper sash.

Fig. 5 is a flowchart of the basic process.

Fig. 6 is a schematic diagram showing an example of the configuration of the rotation angle detector.

Fig. 7 is a schematic view of the commutator.

Fig. 8A is a diagram showing an example of the timing of generating the 1 st pulse signal.

Fig. 8B is a diagram showing another example of the timing of generating the 1 st pulse signal.

Fig. 9 is a diagram showing an example of the timing of generating the 2 nd pulse signal.

Fig. 10 is a flowchart of the rotation amount calculation processing.

Fig. 11 is a diagram showing transitions of the synthesized pulse signal and the hall pulse signal, respectively.

Fig. 12 is a flowchart of the update process.

Fig. 13 is a diagram showing an example of a stable rotation state of the motor.

Fig. 14 is a diagram showing a transition of the voltage and current between terminals of the motor and the time of the 1 st pulse signal in the rotation stable state.

Detailed Description

Hereinafter, an electric window device as an example of an opening/closing body control device according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic view showing a configuration example of a power window device.

The power window device controls the movement of a window glass 2 as an opening/closing body of a door 1 mounted on a vehicle. The power window device includes an arithmetic unit 6 that mainly controls the window glass drive mechanism 4. In the example of fig. 1, the arithmetic device 6 is provided in the door 1, but may be provided in another position in the vehicle.

The door 1 includes a window 1 a. The window 1a is opened and closed by the up-and-down movement of the window glass 2. Specifically, the window glass 2 is lowered so that the window 1a is opened, and the window glass 2 is raised so that the window 1a is closed. When the window glass 2 is raised to the fully closed position, the window 1a is in the fully closed state. At this time, the upper end 2t of the window glass 2 contacts the upper sash 3 constituting the upper end of the door 1.

The window glass drive mechanism 4 is a mechanism for moving the window glass 2 up and down, and is housed in the door 1. The window glass drive mechanism 4 includes an electric motor 10 as a power source.

The motor 10 is rotatable in the forward and reverse directions, and rotates in one direction to raise the window glass 2, and rotates in the other direction to lower the window glass 2. In the example of fig. 1, the motor 10 is a dc commutator motor including a commutator. The arithmetic device 6 controls the rotation of the motor 10, thereby controlling the opening and closing of the window 1a by the window glass 2.

Fig. 2 is a functional block diagram showing a configuration example of the arithmetic device 6. The arithmetic device 6 is mainly configured to receive signals from the operation button 7, the voltage detection unit 10a, and the current detection unit 10b, perform various calculations, and output control commands to the 4 switches SW1 to SW 4. In the example of fig. 2, the arithmetic device 6 is a microcomputer including a CPU, a volatile memory, a nonvolatile memory, and the like. The switches SW1 to SW4 are constituted by semiconductor relays. It can also be formed by an electromagnetic relay.

The motor 10 is connected to a power supply via 4 switches SW1 to SW 4. When the switches SW1 and SW3 are in the closed state (on state), the window glass 2 is rotated in the forward direction and lowered. When the switches SW2 and SW4 are closed, the window glass 2 is raised by rotating in the reverse direction. In the example of fig. 2 connected to a power supply, the current flowing through the motor 10 rotating in the forward direction has a positive value, and the current flowing through the motor 10 rotating in the reverse direction has a negative value. During the inertia rotation, the switches SW2 and SW3 are closed, and the current flowing through the motor 10 rotating in the forward direction has a negative value, and the current flowing through the motor 10 rotating in the reverse direction has a positive value. In the present embodiment, rotation is detected also in inertial rotation, and therefore the motor 10 and the current detection section 10 exist in a closed loop. In the present embodiment, since the electric motor 10 has a sufficiently large resistance value, even if 2 terminals of the electric motor 10 are short-circuited, the electric motor rotates by inertia. On the other hand, if the resistance value is small, the motor 10 is rapidly decelerated by short-circuiting 2 terminals of the motor 10. In order to suppress the deceleration of the motor 10 during the inertial rotation, a closed loop through a resistor may be formed.

The voltage detection unit 10a detects the inter-terminal voltage V of the motor 10. The current detection unit 10b detects a current Im flowing through the motor 10.

The operation button 7 is an example of an operation device for operating the window glass 2, and is provided on a surface of the door 1 on the vehicle compartment side, for example. In the present embodiment, the operation buttons 7 include an automatic-on button 7A, a manual-on button 7B, an automatic-off button 7C, and a manual-off button 7D.

The arithmetic device 6 includes an open/close control unit 60, a position detection unit 61, a contact determination unit 62, a counting unit 63, and a function restriction unit 64 as functional elements for performing various calculations.

The opening/closing control portion 60 controls the movement of the window glass 2. In the present embodiment, the opening/closing control section 60 controls the movement of the window glass 2 in accordance with a signal from the operation button 7.

For example, the opening/closing control unit 60 executes an automatic opening function for automatically opening (lowering) the window glass 2 when a predetermined window opening condition is satisfied. For example, when the automatic open button 7A is operated, it is determined that the predetermined window opening condition is satisfied, and the switch SW1 and the switch SW3 are closed, so that the motor 10 is rotated in the forward direction to lower the window glass 2. Then, the forward rotation is continued until another button is operated or the window 2 reaches the fully open position. The normal rotation may be stopped when the automatic open button 7A is operated again.

In addition, the opening/closing control section 60 performs a manual opening function of opening (lowering) the window glass 2 only while the manual opening button 7B is operated when the manual opening button 7B is operated. For example, only while the manual on button 7B is pressed, the switch SW1 and the switch SW3 are closed, and the motor 10 is rotated in the forward direction to lower the window glass 2. When a predetermined time has elapsed after the manual-on button 7B is stopped being pressed, the normal rotation is stopped.

The opening/closing control unit 60 performs an automatic closing function of automatically closing (raising) the window glass 2 when a predetermined window closing condition is satisfied. For example, when the automatic close button 7C is operated, it is determined that the predetermined window closing condition is satisfied, and the switch SW2 and the switch SW4 are closed, so that the motor 10 is rotated in the reverse direction to raise the window glass 2. Then, the reverse rotation is continued until another button is operated or the window glass 2 reaches the fully closed position. The reverse rotation may be stopped when the auto-close button 7C is operated again.

Further, the opening/closing control section 60 executes the manual closing function of closing (raising) the window glass 2 only while the manual close button 7D is operated when the manual close button 7D is operated. For example, only while the manual close button 7D is pressed, the switch SW2 and the switch SW4 are closed, and the motor 10 is rotated in the reverse direction to raise the window glass 2. When a predetermined time has elapsed after the manual close button 7D is stopped from being pressed, the reverse rotation is stopped.

The position detecting unit 61 detects the position of the window glass 2. In the present embodiment, the position detection portion 61 calculates the rotation angle of the motor 10. Then, the relative position of the upper end portion 2t of the window glass 2 with respect to the fully closed position is detected based on the rotation angle of the motor 10. The position detecting unit 61 updates the fully closed position, which is the reference position, with the position of the upper end portion 2t detected at that point in time, every time it is determined that the window 1a is in the fully closed state. That is, the current position of the upper end portion 2t becomes the fully closed position.

The contact determination unit 62 determines whether or not the window glass 2 is in contact with another object. In the present embodiment, the contact determination unit 62 determines whether or not the window 2 is in contact with another object during execution of the automatic closing function. For example, the torque is calculated based on the rotational angular velocity of the motor 10, the inter-terminal voltage V, and the current Im calculated by the position detection unit 61. When the calculated torque is equal to or greater than the predetermined 1 st threshold value, it is determined that the window glass 2 is in contact with another object.

The counting unit 63 counts the number of times the motor 10 is started. In the present embodiment, the counter 63 counts the number of times the motor 10 is started in the forward direction when the motor 10 is started, that is, when the rotation of the motor 10 is started. For example, each time the operation button 7 is operated, the number of starts is increased by 1 (increment). In addition, the counting section 63 resets the number of starts to zero every time the window glass 2 reaches the fully closed position.

The function restriction unit 64 restricts a part of the functions of the opening/closing control unit 60. In the present embodiment, the function restricting section 64 restricts the auto-close function when a predetermined function restriction condition is satisfied. For example, the auto-off function is limited based on the number of times the motor 10 is started.

Limitations of the auto-close function include: for example, the execution of the automatic closing function is prohibited, the final arrival position of the upper end portion 2t of the window glass 2 by the automatic closing function is set to a position lower than the fully closed position, and the moving distance (ascending distance) of the window glass 2 by the automatic closing function is limited.

For example, when the number of times the motor 10 is started exceeds a predetermined threshold, the function restricting unit 64 determines that a predetermined function restriction condition is satisfied, and prohibits execution of the auto-off function. This is because the detection error of the position of the window glass 2 increases as the number of times of activation increases, and the possibility of malfunction of the automatic closing function increases.

In this regard, the counting unit 63 may take this difference into account when the increasing/decreasing direction of the detection error is completely opposite between the case where the motor 10 is activated to raise the window glass 2 and the case where the motor 10 is activated to lower the window glass 2. For example, the counting unit 63 may increase the number of times of activation by 1 when the automatic open button 7A or the manual open button 7B is pressed, and decrease the number of times of activation by 1 (decrease) when the automatic close button 7C or the manual close button 7D is pressed.

The function restricting portion 64 releases the restriction of the automatic closing function when the window glass 2 reaches the fully closed position. This is because the detection error of the position of the window glass 2, which causes the malfunction of the automatic closing function, is reset to zero.

Here, with reference to fig. 3, 4A, and 4B, a process (hereinafter referred to as "auto-off process") performed by the operation device 6 when the auto-off button 7C is operated will be described. Fig. 3 is a flowchart of the auto-close process. Fig. 4A and 4B are sectional views showing a positional relationship between the upper end portion 2t of the window glass 2 and the upper sash 3, and correspond to sectional views when a plane including a broken line L1 in fig. 1 is viewed from a direction indicated by an arrow AR 1.

First, the arithmetic device 6 determines whether or not the auto-close function is enabled (step ST 1). The arithmetic device 6 determines that the auto-close function is valid, for example, when the auto-close function is not restricted by the function restricting unit 64. The auto-close function may be determined to be valid even when the auto-close function is not prohibited by the function restricting unit 64. That is, even if the auto-close function is limited, if it is not prohibited, it can be determined that the auto-close function is valid.

When determining that the automatic closing function is not valid (no in step ST1), the opening/closing control unit 60 ends the present automatic closing process without starting the automatic closing function.

If it is determined that the automatic closing function is valid (yes at step ST1), the open/close control unit 60 starts the automatic closing function (step ST 2). For example, the opening/closing control unit 60 closes the switch SW2 and the switch SW4 to rotate the motor 10 in the reverse direction to raise the window glass 2.

Thereafter, the contact determination unit 62 determines whether or not the windowpane 2 is in contact with another object (step ST 3). The contact determination unit 62 determines that the window glass 2 is in contact with another object, for example, when the torque generated by the motor 10 is equal to or greater than the 1 st threshold value.

When it is determined that the windowpane 2 is not in contact with another object (no in step ST3), the contact determination unit 62 repeats the determination in step ST3 until it is determined that the windowpane 2 is in contact with another object.

When it is determined that the windowpane 2 is in contact with another object (yes at step ST3), the position detecting unit 61 determines whether or not the position of the upper end portion 2t of the windowpane 2 is within the non-detection range (step ST 4).

The non-detection range indicates a range in which an object in contact with the window glass 2 is not detected as a foreign object, that is, a range in which the object in contact with the window glass 2 is regarded as the upper sash 3. The "range" is expressed by, for example, a distance from the full-close position.

In the present embodiment, as shown in fig. 4A, when the distance D1 between the fully-closed position and the upper end portion 2t of the window glass 2 is equal to or less than the threshold Dt, the position detection unit 61 determines that the position of the upper end portion 2t of the window glass 2 is within the non-detection range. When the contact determination unit 62 determines that the window glass 2 is in contact with another object and the position detection unit 61 determines that the position of the upper end portion 2t of the window glass 2 is within the non-detection range, the arithmetic device 6 determines that the window 1a is in the fully closed state.

On the other hand, as shown in fig. 4B, when the distance D1 between the fully-closed position and the upper end portion 2t of the window glass 2 is greater than the threshold Dt, the position detection unit 61 determines that the position of the upper end portion 2t of the window glass 2 is not within the non-detection range. When the contact determination unit 62 determines that the window glass 2 is in contact with another object and the position detection unit 61 determines that the position of the upper end portion 2t of the window glass 2 is not within the non-detection range, the arithmetic device 6 determines that the window glass 2 is in contact with a foreign object other than the upper sash 3.

When determining that the position of the upper end portion 2t of the window glass 2 is within the non-detection range (yes at step ST4), the opening/closing control unit 60 determines that the window 1a is in the fully closed state and stops the motor 10 (step ST 5). The reverse rotation of the motor 10 may be continued until the torque generated by the motor 10 reaches the 2 nd threshold (> 1 st threshold), and the reverse rotation of the motor 10 may be stopped when the torque reaches the 2 nd threshold.

After that, the position detection unit 61 resets (initializes) the full-close position (step ST 6). The position detecting unit 61 sets the current position of the upper end portion 2t of the window glass 2 to the full-close position, for example, regardless of whether the current position of the upper end portion 2t of the window glass 2 coincides with the full-close position.

Then, the counting section 63 resets the number of activation times. This is to eliminate a detection error of the position of the window glass 2 by resetting the fully-closed position. Then, when the automatic closing function is restricted, the function restricting unit 64 cancels the restriction. This is because the detection error of the position of the window glass 2 is cancelled, that is, the possibility that the automatic closing function malfunctions due to the detection error disappears.

When determining that the position of the upper end portion 2t of the window glass 2 is not within the non-detection range (no at step ST4), the opening/closing control unit 60 determines that the window glass 2 is in contact with a foreign object other than the upper sash 3 and reverses the rotation direction of the motor 10 (step ST 7). In the present embodiment, the opening/closing control unit 60 rotates the motor 10 rotating in the reverse direction in the forward direction to lower the window glass 2. This is to prevent the sandwiching of foreign matter.

Thereafter, the opening/closing control unit 60 rotates the motor 10 in the forward direction until the window glass 2 reaches the fully open position, and stops the motor 10 when the window glass 2 reaches the fully open position (step ST 8). The opening/closing control unit 60 may stop the forward rotation of the motor 10 when the window glass 2 is lowered by a predetermined distance.

Next, with reference to fig. 5, a basic process (hereinafter, referred to as a "basic process") executed by the arithmetic device 6 during the operation of the power window device will be described. Fig. 5 is a flowchart of the basic process. The arithmetic device 6 repeatedly executes the basic processing at a predetermined control cycle.

First, the arithmetic device 6 determines whether or not the operation button 7 is operated (step ST 11). In the present embodiment, the arithmetic device 6 determines that the operation button 7 is operated when any one of the automatic on button 7A, the manual on button 7B, the automatic off button 7C, and the manual off button 7D is pressed.

When it is determined that the operation button 7 has been operated (yes at step ST11), the counter 63 counts the number of times the motor 10 is started in the forward direction (step ST 12). In the present embodiment, the number of activation times is also increased by 1 when any one of the automatic on button 7A, the manual on button 7B, the automatic off button 7C, and the manual off button 7D is pressed.

Thereafter, the function restricting unit 64 determines whether or not the number of activation times exceeds a threshold value (step ST 13). In the present embodiment, the function restricting section 64 determines whether or not the number of activation times exceeds 10.

When it is determined that the number of activation times exceeds the threshold value (yes at step ST13), the function restricting unit 64 restricts the auto-close function (step ST 14). In the present embodiment, the function restricting section 64 prohibits the execution of the auto-close function.

If it is determined that the number of activation times does not exceed the threshold (no at step ST13), the arithmetic device 6 executes step ST15 without restricting the auto-close function. If it is determined that the operation button 7 has not been operated (no at step ST11), the arithmetic device 6 executes step ST15 without counting the number of times of activation in the forward direction and without restricting the auto-close function.

In step ST15, the arithmetic device 6 determines whether or not the window 1a is in the fully closed state. In the present embodiment, when the position of the upper end portion 2t of the window glass 2 is within the non-detection range, it is determined that the window 1a is in the fully closed state. For example, when the position of the upper end portion 2t is within the non-detection range by the operation of the manual close button 7D, it is determined that the window 1a is in the fully closed state.

When it is determined that the window 1a is in the fully closed state (yes at step ST 15), the position detecting unit 61 resets the fully closed position, the counting unit 63 resets the number of times of activation, and the function restricting unit 64 releases the restriction when the automatic closing function is being restricted (step ST 16). In the present embodiment, the position detecting portion 61 sets the current position of the upper end portion 2t of the window glass 2 as the fully-closed position. The counting section 63 resets the number of activation times to zero. When the execution of the auto-close function is prohibited, the function restricting unit 64 cancels the prohibition.

When it is determined that the window 1a is not in the fully closed state (no in step ST 15), the arithmetic device 6 ends the present basic processing without performing any of the reset of the fully closed position, the reset of the number of times of activation, and the release of the restriction of the automatic closing function.

As described above, the power window device includes: an opening/closing control unit 60 that performs an automatic closing function for automatically closing the window glass 2; a counting unit 63 for counting the number of times of starting the motor 10 for driving the window glass 2; and a function limiting unit 64 for limiting the automatic shutdown function based on the number of times the motor 10 is started. Therefore, when the detection error of the position of the window glass 2 may become large, the automatic closing function can be restricted. For example, when the number of times the motor 10 is started exceeds a predetermined threshold value, the auto-close function can be restricted. The situation where the number of activation times exceeds the threshold value occurs, for example, when a fine adjustment operation for slightly moving the window glass 2 is repeated. According to this configuration, even if the power window device does not include a sensor (limit switch, hall sensor, or the like) for detecting that the window glass 2 has reached the fully closed position, malfunction of the automatic closing function can be reliably prevented at low cost. That is, even in the configuration as described later in which the position of the window glass 2 is detected based on the pulsation component of the current Im, it is possible to reliably prevent malfunction of the automatic closing function. Specifically, it is possible to prevent the window glass 2 from being opened by reversing the moving direction of the window glass 2 due to the state in which the window glass 2 has reached the fully closed position being erroneously recognized as a state in which the window glass 2 has contacted a foreign object. Further, it is possible to prevent the window glass 2 from being caught by the foreign object and causing a situation in which the foreign object is caught by the window glass 2 due to the state in which the window glass 2 is erroneously recognized as having reached the fully closed position.

The function restricting portion 64 can release the restriction of the automatic closing function when the window glass 2 reaches the fully closed position. According to this configuration, even when the automatic closing function is temporarily restricted, the power window device can be brought into a state in which the restriction is released and the automatic closing function can be reused when the window glass 2 reaches the fully closed position.

The counting unit 63 may count the number of times of starting the motor 10 in the forward direction when the motor 10 is started. For example, the number of times of activation may be counted in the forward direction every time the operation button 7 is operated, or the number of times of activation may be counted in the forward direction every time the rotation of the motor 10 is started, regardless of the signal from the operation button 7. With this configuration, the power window device can easily recognize a state in which a detection error of the position of the window glass 2 is likely to increase.

The counter 63 preferably resets the number of times the motor 10 is started to zero when the window glass 2 reaches the fully closed position. This is because when the window glass 2 reaches the full-close position, the full-close position is reset, and the detection error of the position of the window glass 2 is eliminated. With this configuration, the counter 63 can prevent the automatic closing function from being erroneously limited early.

The function restricting unit 64 may prohibit the execution of the auto-close function when the number of times the motor 10 is started exceeds a predetermined threshold value. The threshold value for prohibiting the execution of the automatic shutdown function may be a value larger than the threshold value for restricting the automatic shutdown function. With this configuration, the power window device can prohibit the execution of the automatic closing function when there is a high possibility that the detection error of the position of the window glass 2 becomes large. As a result, malfunction of the automatic closing function can be prevented more reliably.

Next, the position detection unit 61 will be described in detail with reference to fig. 6 to 14. The rotation angle detector 100 is an example of the position detecting unit 61, and detects the rotation angle of the motor 10 and the position of the window glass 2 based on the rotation angle. In the example of fig. 6, the rotation angle detector 100 detects the rotation angle of the motor 10 based on the inter-terminal voltage V of the motor 10 and the current Im flowing through the motor 10.

Fig. 7 is a schematic diagram of the commutator 20 in the motor 10. As shown in fig. 7, the commutator 20 is composed of 8 commutator segments 20a separated from each other by slits 20 s. The slit angle θ c, which is the central angle of the arc of each commutator segment 20a, is about 45 degrees.

The rotation angle detector 100 mainly includes elements such as a voltage filter unit 30, a rotation angular velocity calculation unit 31, a rotation angle calculation unit 32, a current filter unit 33, a1 st signal generation unit 34, a2 nd signal generation unit 35, a rotation information calculation unit 36, and a resistance setting unit 37. Each element may be configured by a circuit or software.

The voltage filter unit 30 smoothes the waveform of the inter-terminal voltage V output from the voltage detection unit 10 a. The voltage filter unit 30 smoothes the waveform of the inter-terminal voltage V so that the rotational angular velocity calculation unit 31 can calculate the rotational angular velocity of the motor 10 with high accuracy, for example. In the example of fig. 6, the voltage filter unit 30 is a low-pass filter, and outputs the inter-terminal voltage V' with the high-frequency component of the waveform of the inter-terminal voltage V output from the voltage detection unit 10a removed as noise.

The rotational angular velocity calculation unit 31 calculates the rotational angular velocity of the motor 10 based on the inter-terminal voltage V' of the motor 10 and the current Im flowing through the motor 10. In the example of fig. 6, the rotational angular velocity calculation unit 31 calculates the rotational angular velocity ω based on equation (1).

[ equation 1 ]

Ke is a counter electromotive force constant, Rm is a value (set resistance value) corresponding to the internal resistance of the motor 10, Lm is the inductance of the motor 10, and dIm/dt is the first derivative of the current Im. The first derivative of the current Im is, for example, a difference between a value of the current Im of the previous time and a value of the current time. The set resistance value Rm is set by the resistance setting unit 37, for example, at the time of starting the rotation angle detector 100.

The rotational angular velocity calculation unit 31 calculates the rotational angular velocity ω of the motor 10 at regular control intervals, and outputs the calculated rotational angular velocity ω to the rotational angular calculation unit 32.

The rotation angle calculation unit 32 calculates the rotation angle θ of the motor 10. The rotation angle calculation unit 32 calculates the rotation angle θ based on equation (2).

[ equation 2 ]

θ＝∫₀ω×dt…(2)

The rotation angle calculation unit 32 calculates the rotation angle θ by integrating the rotation angular velocity ω output by the rotation angular velocity calculation unit 31 at regular control intervals, for example, and outputs a rotation angle signal, which is a signal related to the calculated rotation angle θ, to the 2 nd signal generation unit 35.

The rotation angle calculation unit 32 resets the rotation angle θ to zero in response to the synchronization command from the 2 nd signal generation unit 35.

The current filter unit 33 outputs a ripple component Ir, which is a specific frequency component included in the current Im output from the current detection unit 10 b. The current filter unit 33 is configured by, for example, a band-pass filter through which the frequency of the ripple component Ir passes so that the 1 st signal generation unit 34 can detect the ripple component Ir of the current Im. The current filter unit 33, which is formed of a band-pass filter, removes frequency components other than the ripple component Ir from the waveform of the current Im output from the current detection unit 10 b. The ripple component Ir used in the present embodiment is generated due to contact and separation between the commutator segment 20a and the brush. Therefore, the angle at which the motor 10 rotates during 1 cycle of the pulsation component Ir is equal to the inter-slit angle θ c.

The 1 st signal generator 34 generates a signal that estimates that the motor 10 has rotated by a certain angle from the waveform of the pulsation component Ir. This signal corresponds to the period of the ripple component Ir. The fixed angle may be an angle corresponding to 1 cycle of the pulsation component Ir or an angle corresponding to a half cycle. In this embodiment, a signal (1 st pulse signal Pa) estimated from the waveform of the pulsation component Ir is generated every time the motor 10 rotates by the inter-slit angle θ c. The 1 st signal generator 34 generates the 1 st pulse signal Pa based on, for example, the waveform of the ripple component Ir output from the current filter 33.

Fig. 8A is a diagram showing an example of the timing at which the 1 st signal generation unit 34 generates the 1 st pulse signal Pa. The 1 st signal generator 34 generates a1 st pulse signal Pa for every 1 cycle of the pulse component Ir. For example, the 1 st pulse signal Pa is generated every time the ripple component Ir exceeds the reference current value Ib. In the example of fig. 8A, the 1 st pulse signal Pa is generated at times t1, t2, t3, ·, tn, and so on. C1, C2, C3, ·, Cn, etc. represent the period of the pulsation component Ir, and θ 1, θ 2, θ 3, ·, θ n, etc. represent the rotation angle θ when the 1 st signal generator 34 generates the 1 st pulse signal. The rotation angle θ is a value calculated by the rotation angle calculation unit 32. In this way, the 1 st signal generator 34 typically generates the 1 st pulse signal Pa every time the rotation angle θ increases by the inter-slit angle θ c.

However, for example, in the inertial rotation period after the power supply of the motor 10 is turned off, when the current Im and the ripple component Ir thereof become small, the 1 st signal generation unit 34 may not detect the ripple component Ir and may not generate the 1 st pulse signal Pa. For example, when a rush current occurs immediately after the power supply of the motor 10 is turned on, the 1 st signal generator 34 may erroneously generate the 1 st pulse signal Pa in accordance with the rush current. Such missing or erroneous generation of the 1 st pulse signal Pa reduces the reliability of the information on the rotation of the motor 10 (hereinafter referred to as "rotation information") output from the rotation angle detector 100.

Therefore, the rotation angle detector 100 can generate a signal indicating the rotation angle of the motor 10 with higher accuracy by the 2 nd signal generating unit 35.

The 2 nd signal generating unit 35 generates a signal indicating that the motor 10 has rotated by a predetermined angle. The 2 nd signal generator 35 generates a2 nd pulse signal Pb for each inter-slit angle θ c, for example, based on the rotation angle signal output from the rotation angle calculator 32 and the 1 st pulse signal Pa output from the 1 st signal generator 34. The 2 nd pulse signal Pb is an example of information indicating that the motor 10 has rotated by a predetermined angle. The 1 st pulse signal Pa is a signal estimated from only the waveform of the pulsation component Ir, and may be erroneously output. On the other hand, the 2 nd pulse signal Pb is a signal estimated from both the 1 st pulse signal Pa and the rotation angle signal, and therefore the error can be made a constant value or less.

Fig. 9 is a diagram showing an example of the timing at which the 2 nd signal generating unit 35 generates the 2 nd pulse signal Pb. The 1 st threshold value θ u and the 2 nd threshold value θ d are threshold values for which the 1 st pulse signal Pa is acceptable, and are set based on, for example, the maximum phase difference between the rotation angle θ and the actual rotation angle of the motor 10.

The 2 nd signal generating unit 35 generates the 2 nd pulse signal Pb based on the 1 st pulse signal Pa that is first generated by the 1 st signal generating unit 34 when the rotation angle θ is equal to or greater than the 1 st threshold θ u and smaller than the inter-slit angle θ c. The 1 st threshold θ u may be a preset value or a dynamically set value. Fig. 9 shows a reception range, which is an angular range in which the rotation angle θ is equal to or greater than the 1 st threshold θ u and smaller than the inter-slit angle θ c, in a dot pattern. In the example of fig. 9, the rotation angles θ 1, θ 2, and θ 5 at which the 1 st pulse signals Pa1, Pa2, and Pa4 are generated by the 1 st signal generator 34 are equal to or greater than the 1 st threshold value θ u and smaller than the inter-slit angle θ c. That is, the remaining angles until the rotation angles θ 1, θ 2, and θ 5 reach the inter-slit angle θ c are smaller than the angle α. The angle α is set based on, for example, the maximum error between the rotation angle θ and the actual rotation angle of the motor 10. In this case, the 2 nd signal generator 35 determines that the 1 st pulse signals Pa1, Pa2, and Pa4 generated by the 1 st signal generator 34 at the times t1, t2, and t5 are not noise. Therefore, the 2 nd signal generator 35 generates the 2 nd pulse signals Pb1, Pb2, and Pb4 at times t1, t2, and t 5. When the 2 nd pulse signal Pb is generated, the 2 nd signal generating unit 35 outputs a synchronization command to the rotation angle calculating unit 32. In addition, when the rotation angle θ is smaller than the inter-slit angle θ c and equal to or larger than the 1 st threshold value θ u, if noise having the same frequency component as the pulsation component Ir occurs, an erroneous 1 st pulse signal Pa may be output and the 2 nd pulse signal Pb may be generated. However, at the next timing, the true pulsation component Ir is detected, and the rotation angle detector 100 can detect the correct rotation angle. Therefore, even if the rotation angle detected by the rotation angle detector 100 is temporarily erroneously detected due to noise, the rotation angle can be returned to the correct rotation angle. The error range is smaller than the angle α, and is practically unproblematic.

The 2 nd signal generating unit 35 generates the 2 nd pulse signal Pb when the magnitude of the rotation angle θ reaches a predetermined angle. The predetermined angle is, for example, an inter-slit angle θ c. The rotation angle θ is the angle calculated by the rotation angle calculation unit 32, and includes an error. In the example of fig. 9, the 2 nd pulse signals Pb3, Pb5, Pb6 are generated when the absolute values of the rotation angles θ 3, θ 7, θ 9 reach the inter-slit angle θ c at times t3, t7, t 9. When the 2 nd pulse signal Pb is generated, the 2 nd signal generating unit 35 outputs a synchronization command to the rotation angle calculating unit 32. Upon receiving the synchronization command, the rotation angle calculation unit 32 resets the rotation angle θ to zero.

That is, for example, after the 2 nd pulse signal Pb2 is generated at the time t2 and the state where the 1 st pulse signal Pa is not received is maintained, the 2 nd signal generating unit 35 generates the 2 nd pulse signal Pb3 when the absolute value of the rotation angle θ reaches the inter-slit angle θ c.

In this way, even when the 1 st pulse signal Pa is not generated for some reason, the 2 nd signal generating unit 35 generates the 2 nd pulse signal Pb as long as the absolute value of the rotation angle θ calculated by the rotation angle calculating unit 32 reaches the inter-slit angle θ c. Therefore, the generation of the leak of the 1 st pulse signal Pa can be reliably prevented.

When the rotation angle θ when the 1 st signal generator 34 generates the 1 st pulse signal Pa is smaller than the 2 nd threshold θ d, the 2 nd signal generator 35 does not generate the 2 nd pulse signal Pb. The 2 nd threshold θ d may be a preset value or a dynamically set value. Such a situation typically occurs after the 2 nd pulse signal Pb is generated when the magnitude of the rotation angle θ reaches a predetermined angle. Fig. 9 shows, in a dot pattern, acceptance ranges, which are angular ranges in which the rotation angle θ is equal to or greater than zero and smaller than the 2 nd threshold θ d. In the example of fig. 9, at a time t4 after the absolute value of the rotation angle θ reaches the inter-slit angle θ c at a time t3 to generate the 2 nd pulse signal Pb3, the 1 st signal generating section 34 generates the 1 st pulse signal Pa 3. The rotation angle θ 4 at this time is smaller than the 2 nd threshold value θ d. That is, the integrated rotation angle θ 4 after being reset at time t3 is not yet the angle β. In this case, the 2 nd signal generator 35 can determine that the 1 st pulse signal Pa3 generated by the 1 st signal generator 34 at the time t4 can be combined with the 2 nd pulse signal Pb3 generated at the time t 3. Specifically, the rotation angle is generated when the rotation angle θ output from the rotation angle calculation unit 32 reaches the inter-slit angle θ c before the actual rotation angle of the motor 10 reaches the inter-slit angle θ c. That is, the second pulse signal Pb3 is generated when the rotation angle θ calculated by the rotation angle calculation unit 32 reaches the inter-slit angle θ c although the actual rotation angle does not reach the inter-slit angle θ c. The time point when the 1 st pulse signal Pa3 is generated immediately after the 2 nd pulse signal Pb3 is generated is the instant when the actual rotation angle reaches the inter-slit angle θ c. Therefore, the 2 nd signal generator 35 outputs the synchronization command to the rotation angle calculator 32 at the time point when the 1 st pulse signal Pa3 is generated. In this case, the 2 nd signal generating unit 35 does not generate the 2 nd pulse signal Pb at time t 4. The dashed arrow toward "x" in fig. 9 indicates that the 2 nd pulse signal Pb is not generated based on the 1 st pulse signal Pa 3. The same applies to the broken-line arrows oriented toward "x" in the other figures.

In addition, the 1 st signal generator 34 may continuously generate the 1 st pulse signal Pa in a short time. As described above, in fig. 8A, the 1 st signal generator 34 generates the 1 st pulse signal Pa each time the ripple component Ir exceeds the reference current value Ib. Even if minute noise is superimposed immediately after or immediately after the ripple component Ir exceeds the reference current value Ib, the 1 st pulse signal Pa is erroneously generated. In this case, the interval at which the 1 st signal generation unit 34 generates the 1 st pulse signal Pa is smaller than the angle β (the 2 nd threshold θ d). In the example of fig. 9, the 1 st signal generator 34 generates the 1 st pulse signal Pa2 at time t 2. The 2 nd signal generating unit 35 generates the 2 nd pulse signal Pb2, and outputs a synchronization command to the rotation angle calculating unit 32. The rotation angle calculation unit 32 resets the rotation angle θ. Thereafter, the 1 st signal generator 34 generates the 1 st pulse signal Pa2 'at time t 2'. The rotation angle θ at the time point at the time t 2' is smaller than the 2 nd threshold value θ d. In this case, the 2 nd signal generating unit 35 does not generate the 2 nd pulse signal Pb and does not output the synchronization command. A broken-line arrow toward "x" in fig. 9 indicates that the 2 nd pulse signal Pb is not generated based on the 1 st pulse signal Pa 3. In addition, when minute noise is superimposed immediately after the pulsation component Ir exceeds the reference current value Ib or immediately after the pulsation component Ir exceeds the reference current value Ib, it is not possible to determine whether any 1 st pulse signal Pa among the plurality of 1 st pulse signals Pa generated continuously in a short time is the 1 st pulse signal Pa indicating that the inter-slit angle θ c has been reached. However, in this case, since the plurality of 1 st pulse signals Pa are generated in a short period (smaller than the angle β), there is no problem in practical use even if the rotation angle θ is considered to have reached the inter-slit angle θ c at the time point of the first 1 st pulse signal Pa. Even if the same noise is generated every time the ripple component Ir exceeds the reference current value Ib, the error is suppressed to be smaller than the angle β. I.e. the errors do not accumulate. Therefore, the error can be suppressed to a range that is practically unproblematic.

Further, the 2 nd signal generator 35 may be configured not to generate the 2 nd pulse signal Pb and to output the synchronization command to the rotation angle calculator 32 when the rotation angle θ at the time of generating the 1 st pulse signal Pa by the 1 st signal generator 34 is equal to or greater than the 2 nd threshold value θ d and less than the 1 st threshold value θ u, that is, when the rotation angle θ is within the angle range R1. In the example of fig. 9, the rotation angle θ 6 at the time when the 1 st signal generation section 34 generates the 1 st pulse signal Pa5 at time t6 is equal to or greater than the 2 nd threshold value θ d and smaller than the 1 st threshold value θ u. That is, the remaining angle until the rotation angle θ 6 reaches the inter-slit angle θ c is larger than the angle α, and the rotation angle θ 6 integrated after being reset at time t5 is equal to or larger than the angle β. In this case, the 2 nd signal generating unit 35 can determine that the 1 st pulse signal Pa5 is a signal based on noise. Therefore, the 2 nd signal generator 35 does not generate the 2 nd pulse signal Pb at time t6, and does not output a synchronization command to the rotation angle calculator 32. That is, the influence of the 1 st pulse signal Pa5 due to noise can be eliminated.

The 2 nd signal generator 35 does not generate the 2 nd pulse signal Pb when the 1 st signal generator 34 generates the 1 st pulse signal Pa at the rotation angle θ smaller than the 2 nd threshold θ d. However, when the rotation angle θ at which the 1 st signal generator 34 generates the 1 st pulse signal Pa is smaller than the 2 nd threshold θ d, the 2 nd signal generator 35 may output the synchronization command to the rotation angle calculator 32 or may not output the synchronization command. When the 1 st pulse signal Pa is generated before the 1 st pulse signal Pa is generated, after the rotation angle θ reaches the inter-slit angle θ c, and when the rotation angle θ is smaller than the 2 nd threshold value θ d, the 2 nd signal generation unit 35 transmits a synchronization command to the rotation angle calculation unit 32. However, when a plurality of 1 st pulse signals Pa are generated before the 1 st pulse signal Pa is generated, after the rotation angle θ reaches the inter-slit angle θ c, and when the rotation angle θ is smaller than the 2 nd threshold value θ d, the 1 st pulse signals Pa after the 2 nd pulse signal Pa are disregarded. That is, the 2 nd signal generating unit 35 does not output the synchronization command. Further, even if the 1 st pulse signal Pa is generated before the rotation angle θ reaches the inter-slit angle θ c and then the 1 st pulse signal Pa is generated when the rotation angle θ is smaller than the 2 nd threshold value θ d, the 2 nd signal generation unit 35 does not output the synchronization command. That is, when a plurality of 1 st pulse signals Pa are generated while the 1 st pulse signal Pa is smaller than the 2 nd threshold θ d (angle β), the 1 st pulse signals Pa after the 2 nd are disregarded. That is, the 2 nd signal generating unit 35 does not output the synchronization command. In the example of fig. 9, the rotation angle θ 4 ' at the time when the 1 st signal generation section 34 generates the 1 st pulse signal Pa3 ' is smaller than the 2 nd threshold value θ d at time t4 '. However, the 1 st pulse signal Pa 3' is the 2 nd 1 st pulse signal Pa after the most recent 2 nd pulse signal Pb3 is generated. Therefore, when receiving the 1 st pulse signal Pa 3', the 2 nd signal generator 35 does not generate the 2 nd pulse signal Pb and does not output a synchronization command to the rotation angle calculator 32.

With the above configuration, the rotation angle detector 100 can suppress the detection error of the rotation angle θ of the motor 10 to a range that does not pose a practical problem. In particular, in the rotation angle detector 100, errors are not accumulated. Therefore, the error can be suppressed within a certain range regardless of the rotation speed of the motor 10. The inventors have found that the following preconditions hold and invented the above-described rotation angle detector 100. (1) The erroneous detection of the ripple component Ir due to the minute noise is limited to immediately before or immediately after the ripple component Ir exceeds the reference current value Ib. In this case, the erroneous 1 st pulse signal Pa is generated only in a short time (from before the angle α to after the angle β) before and after the 1 st pulse signal Pa generated correctly. (2) The large noise is caused by a rush current or the like immediately after the power is turned on, and occurs at an interval sufficiently longer than the inter-slit angle θ c. (3) The rotation angle calculation unit 32 calculates the rotation angle θ based on the inter-terminal voltage V' and the current Im, and the error is sufficiently smaller than the inter-slit angle θ c.

According to the above configuration, for example, even when the current Im and the ripple component Ir thereof become small during the inertial rotation after the power supply of the motor 10 is turned off, and the 1 st signal generator 34 cannot generate the 1 st pulse signal Pa based on the waveform of the ripple component Ir, the 2 nd signal generator 35 can generate the 2 nd pulse signal Pb.

For example, even when a rush current occurs immediately after the power supply of the motor 10 is turned on and the 1 st signal generator 34 erroneously generates the 1 st pulse signal Pa in accordance with the rush current, the 2 nd signal generator 35 does not generate the 2 nd pulse signal Pb corresponding to the 1 st pulse signal Pa. That is, the influence of the 1 st pulse signal Pa can be eliminated.

For example, even when the 1 st signal generator 34 erroneously generates the 1 st pulse signal Pa due to the influence of noise or the like, the 2 nd signal generator 35 does not generate the 2 nd pulse signal Pb corresponding to the 1 st pulse signal Pa and does not output the synchronization command to the rotation angle calculator 32.

Therefore, the rotation angle detector 100 can improve the reliability of the rotation information of the motor 10 by calculating the rotation information of the motor 10 based on the 2 nd pulse signal Pb generated from both the 1 st pulse signal Pa and the rotation angle signal.

The 2 nd signal generating unit 35 outputs a direction signal indicating the rotation direction of the motor 10. For example, the 2 nd signal generating unit 35 outputs a positive value as the rotation angle θ if the rotation direction is the forward rotation direction, and outputs a negative value as the rotation angle θ if the rotation direction is the reverse rotation direction. The rotation angle θ has a positive value when the current flowing through the motor 10 is positive, and has a negative value when the current flowing through the motor 10 is negative. However, in the inertial rotation, the rotation angle θ has a positive value when the current flowing through the motor 10 is a negative value, and the rotation angle θ has a negative value when the current flowing through the motor 10 is a positive value.

The rotation information calculation unit 36 calculates rotation information of the motor 10. The rotation information of the motor 10 may be, for example: the values are converted into values such as a rotation amount (rotation angle) from the reference rotation position, a rotation speed from the reference rotation position, a relative position of the upper end portion 2t of the window glass 2 with respect to the reference position (fully closed position), and an opening amount of the window 1 a. The rotation angular velocity ω may include statistical values such as an average value, a maximum value, a minimum value, and a median of the rotation angular velocity ω during a certain period. In the example of fig. 6, the rotation information calculation unit 36 calculates the rotation information of the motor 10 based on the output of the 2 nd signal generation unit 35. For example, the rotation amount after the start of rotation of the motor 10 is calculated by multiplying the number of the 2 nd pulse signals Pb generated after the start of rotation of the motor 10 by the inter-slit angle θ c. At this time, the rotation information calculating unit 36 determines whether to increase or decrease the number of the 2 nd pulse signal Pb based on the direction signal output from the 2 nd signal generating unit 35 together with the 2 nd pulse signal Pb. Alternatively, the rotation information calculating unit 36 may count the number of the 2 nd pulse signals Pb received together with the direction signal indicating the forward rotation direction and the number of the 2 nd pulse signals Pb received together with the direction signal indicating the reverse rotation direction, respectively, and calculate the rotation amount of the motor 10 based on the difference between the numbers.

The resistance setting unit 37 sets a resistance value corresponding to the resistance characteristic of the motor 10. The resistance setting unit 37 sets a value stored in advance in the nonvolatile storage medium to the set resistance value Rm in expression (1) at the time of activation of the rotation angle detector 100, for example. The set resistance value Rm may be dynamically updated.

Next, with reference to fig. 10, a flow of a process of calculating the rotation amount of the motor 10 by the rotation angle detector 100 (hereinafter referred to as "rotation amount calculation process") will be described. Fig. 10 is a flowchart of the rotation amount calculation processing. The rotation angle detector 100 executes the rotation amount calculation process during driving of the motor 10.

First, the rotation angle detector 100 acquires the inter-terminal voltage V and the current Im (step ST 21). In the example of fig. 6, the rotation angle detector 100 acquires the inter-terminal voltage V output from the voltage detection unit 10a and the current Im output from the current detection unit 10b for each predetermined control cycle.

Then, the rotation angle detector 100 calculates the rotation angular velocity ω and the rotation angle θ (step ST 22). In the example of fig. 6, the rotational angular velocity calculation unit 31 of the rotational angular detector 100 substitutes the inter-terminal voltage V' and the current Im into equation (1) and calculates the rotational angular velocity ω for each predetermined control cycle. The rotation angle calculation unit 32 of the rotation angle detector 100 integrates the rotation angular velocity ω calculated for each control cycle to calculate the rotation angle θ.

Thereafter, the rotation angle detector 100 determines whether the rotation angle θ is smaller than a predetermined angle (step ST 23). In the example of fig. 6, the 2 nd signal generating unit 35 of the rotation angle detector 100 determines whether or not the rotation angle θ is smaller than the inter-slit angle θ c.

When determining that the rotation angle θ is equal to or larger than the inter-slit angle θ c (no in step ST23), the 2 nd signal generating unit 35 determines that the 1 ST pulse signal Pa is not generated at the timing up to the inter-slit angle θ c. In this case, the 2 nd signal generating unit 35 sets the flag F to "False" to indicate that the 1 ST pulse signal Pa is not generated (step ST 23A). The flag F is a flag indicating whether or not the 1 st pulse signal Pa is generated. The initial value of the flag F is "False" indicating that the 1 st pulse signal Pa is not generated. The flag F being "True" indicates that the 1 st pulse signal Pa has been generated. Then, the 2 nd pulse signal Pb is generated (step ST29), and the rotation angle θ is reset to zero (step ST 30). This is the case where the rotation angle θ reaches the inter-slit angle θ c before the 1 st pulse signal Pa is generated, and corresponds to the case where the rotation angle θ reaches the rotation angles θ 3, θ 7, and θ 9 at the times t3, t7, and t9 in the example of fig. 9.

On the other hand, when determining that the rotation angle θ is smaller than the inter-slit angle θ c (yes in step ST23), the 2 nd signal generator 35 determines whether or not the 1 ST pulse signal Pa is generated (step ST 24). In the example of fig. 6, it is determined whether or not the 1 st pulse signal Pa is generated by the 1 st signal generation unit 34.

When the 2 nd signal generator 35 determines that the 1 ST pulse signal Pa is not generated (no at step ST24) at the stage when the rotation angle θ is smaller than the inter-slit angle θ c (yes at step ST23), the rotation angle detector 100 calculates the rotation amount (step ST 27). Then, the rotation information calculation unit 36 calculates the amount of rotation of the motor 10 based on the output of the 2 nd signal generation unit 35. In this case, the calculated rotation amount does not change. This corresponds to the case where the rotation angle θ reaches the rotation angle θ 0 at time t0 in the example of fig. 9.

Thereafter, the rotation angle detector 100 determines whether the rotation angular velocity ω is zero (step ST 28). When determining that the rotational angular velocity ω is not zero (no at step ST28), the rotational angle detector 100 returns the process to step ST1, and when determining that the rotational angular velocity ω is zero (yes at step ST28), ends the rotational amount calculation process.

When determining that the 1 ST pulse signal Pa is generated (yes at step ST24), the 2 nd signal generator 35 determines whether or not the rotation angle θ is smaller than the 1 ST threshold θ u (step ST 25). This is because the 1 st pulse signal Pa generated at a timing smaller than the 1 st threshold θ u has high noise-based reliability.

When determining that the rotation angle θ is equal to or greater than the 1 ST threshold θ u (no at step ST25), the 2 nd signal generator 35 sets the flag F to "True" to indicate whether or not the 1 ST pulse signal Pa is generated (step ST 25A). Then, the 2 nd signal generating section 35 generates the 2 nd pulse signal Pb (step ST29), and resets the rotation angle θ to zero (step ST 30). This is because, when the 1 st pulse signal Pa is generated when the rotation angle θ is equal to or greater than the 1 st threshold value θ u, the actual rotation angle at the time point when the 1 st pulse signal Pa is generated approaches the inter-slit angle θ c. This corresponds to the case where the 1 st pulse signals Pa1, Pa2, Pa4 are generated at times t1, t2, t5 in the example of fig. 9.

When determining that the rotation angle θ is smaller than the 1 ST threshold θ u (yes in step ST25), the 2 nd signal generator 35 cannot determine that the 1 ST pulse signal Pa is not a signal based on noise at the current time point. The rotation angle θ sometimes includes a slight error. The generation timing of the 1 st pulse signal Pa may be slightly shifted due to the influence of noise or the like. Therefore, the timing when the rotation angle θ reaches the inter-slit angle θ c may be deviated from the generation timing of the 1 st pulse signal Pa. Therefore, it is not known which of the timing at which the rotation angle θ reaches the inter-slit angle θ c and the generation timing of the 1 st pulse signal Pa is earlier. Therefore, the 2 nd signal generator 35 determines whether or not the rotation angle θ is smaller than the 2 nd threshold θ d with respect to the 1 ST pulse signal Pa received first after the 2 nd pulse signal Pb is generated most recently (step ST 26).

When it is determined that the rotation angle θ of the first 1 ST pulse signal Pa is smaller than the 2 nd threshold θ d (yes at step ST26), the 2 nd signal generator 35 checks the flag F (step ST 26A). The flag F is a flag for judging that the 1 st pulse signal Pa is continuously generated. When the flag F is "True", the 1 st pulse signal Pa is the 2 nd and subsequent 1 st pulse signals Pa that are continuously generated. If the flag F is "True" (yes at step ST26A), the rotation angle detector 100 calculates the amount of rotation (step ST 27). This corresponds to the case where the 1 st pulse signals Pa2 ', Pa 3' are generated at the times t2 ', t 4' in the example of fig. 9. If the flag F is "False" (no in step ST26A), the 2 nd signal generator 35 sets the flag F to "True" (step ST 26B). After that, the 2 nd signal generating unit 35 resets the rotation angle θ to zero (step ST 30). This is because, when the rotation angle θ is smaller than the 2 nd threshold value θ d, the actual rotation angle when the 1 st pulse signal Pa is generated approaches the inter-slit angle θ c. That is, this is because, when the 1 st pulse signal Pa is smaller than the 2 nd threshold θ d, it can be determined that the 2 nd pulse signal Pb generated immediately before corresponds to the 1 st pulse signal Pa. This corresponds to the case where the 1 st pulse signals Pa3, Pa6 are generated at the times t4, t8 in the example of fig. 9. That is, it can be determined that the 1 st pulse signals Pa3, Pa6 correspond to the 2 nd pulse signals Pb3, Pb 5.

When it is determined that the rotation angle θ of the first 1 ST pulse signal Pa is equal to or greater than the 2 nd threshold value θ d (no at step ST26), that is, when it is determined that the rotation angle θ is within the angle range R1, the 2 nd signal generator 35 determines that the 1 ST pulse signal Pa is a signal based on noise. In this case, the 2 nd signal generating unit 35 does not generate the 2 nd pulse signal Pb and does not reset the rotation angle θ. Then, the rotation information calculation unit 36 calculates the amount of rotation of the motor 10 based on the output of the 2 nd signal generation unit 35. This corresponds to the case where the 1 st pulse signal Pa5 is generated at time t6 in the example of fig. 9. That is, the 2 nd signal generator 35 determines that the 1 st pulse signal Pa5 is a signal based on noise.

Thereafter, the rotation angle detector 100 calculates the rotation amount of the motor 10 (step ST 27). In the example of fig. 6, the rotation information calculating section 36 of the rotation angle detector 100 calculates the amount of rotation after the start of rotation of the motor 10 by multiplying the number of the 2 nd pulse signals Pb generated after the start of rotation of the motor 10 by the inter-slit angle θ c.

Next, with reference to fig. 11, the experimental results regarding the reliability of the rotation amount of the motor 10 calculated by the rotation angle detector 100 will be described. Fig. 11 is a diagram showing transitions of the synthesized pulse signal and the hall pulse signal, respectively.

The synthesized pulse signal is a signal obtained by synthesizing a plurality of pulses of the 2 nd pulse signal Pb into 1 pulse. In the example of fig. 11, the inter-slit angle θ c is 90 degrees. The 1 st pulse signal Pa and the 2 nd pulse signal Pb are generated substantially every time the rotation shaft of the motor 10 rotates by 90 degrees. The synthesized pulse signal is generated by synthesizing 2 pulses of the 2 nd pulse signal Pb into 1 pulse. That is, the rotation angle detector 100 is configured to generate 1 composite pulse signal every time the rotation shaft of the motor 10 rotates 180 degrees.

The hall pulse signal is a pulse signal output by the hall sensor. The hall sensor detects a magnetic flux generated by a magnet mounted on a rotating shaft of the motor 10 to perform comparison of the 2 nd pulse signal Pb with the hall pulse signal. In the example of fig. 11, the rotation angle detector 100 is configured to generate 1 hall pulse signal every time the rotation shaft of the motor 10 rotates 180 degrees.

The broken-line arrows toward "x" in fig. 11 indicate that the 2 nd pulse signal Pb is not generated based on the 1 st pulse signal Pa. That is, the 1 st pulse signal Pa is shown to be ignored as noise. Note that 8 solid arrows in fig. 11 indicate that the 2 nd pulse signal Pb is added at the time of generating the drain of the 1 st pulse signal Pa.

In the example of fig. 11, the following is confirmed: the numbers of the synthesized pulse signals and the hall pulse signals generated during a period from the start of the forward rotation of the motor 10 to the stop of the forward rotation are equal to each other. That is, it is confirmed that the rotation amount of the motor 10 calculated based on the 2 nd pulse signal Pb is equal to the rotation amount of the motor 10 detected by the hall sensor.

Next, a process (hereinafter referred to as "update process") in which the resistance setting unit 37 updates the resistance value corresponding to the resistance characteristic of the motor 10 will be described with reference to fig. 12. Fig. 12 is a flowchart of the update process. The resistance setting unit 37 repeatedly executes the update process at a predetermined control cycle.

First, the resistance setting unit 37 determines whether or not the motor 10 is in a rotationally stable state in which the rotation is stable (step ST 31). The rotational steady state includes, for example: a state in which the fluctuation width of the inter-terminal voltage V of the motor 10 in a predetermined period is smaller than a predetermined value, the fluctuation width of the current Im flowing through the motor 10 in the predetermined period is smaller than a predetermined value, and the fluctuation width of the period of the 1 st pulse signal Pa in the predetermined period is smaller than a predetermined value.

Fig. 13 shows an example of a rotation stable state of the motor 10 used for raising and lowering the window glass 2. Specifically, the time transition of the inter-terminal voltage V, the current Im, and the 1 st pulse signal Pa when the trimming operation for lowering the window glass 2 is performed is shown. The fine adjustment operation for lowering the window glass 2 is, for example, a short-time pressing operation of the manual close button 7D. Fig. 13 shows how switches SW1 and SW3 (see fig. 6) are closed and the inter-terminal voltage V and the current Im increase when the manual close button 7D is pressed at time t 1. At time t4, after switch SW1 is opened and switch SW2 (see fig. 6) is closed, inter-terminal voltage V and current Im fluctuate according to inertial rotation of motor 10. At time t5, the motor 10 is stopped, and the inter-terminal voltage V and the current Im reach zero. The time t2 represents the start time point of the first rotational steady state, and the time t3 represents the end time point of the first rotational steady state. Fig. 14 shows the transition of the inter-terminal voltage V, the current Im, and the 1 st pulse signal Pa in the first rotational steady state.

As shown in fig. 14, each time the 1 st pulse signal Pa of a predetermined number is detected, the resistance setting unit 37 calculates the average value of each of the inter-terminal voltage V and the current Im during that period. Other statistical values such as median, mode, maximum, minimum, and the like may be used. In the example of fig. 14, the average values of the inter-terminal voltage V and the current Im in the period T are calculated every time the 8 1 st pulse signals Pa are detected. The periods T1, T2, T3, ·, Tn represent the periods required to detect the 8 1 st pulse signals Pa. The average inter-terminal voltages V1, V2, V3, ·, Vn represent the average value of the inter-terminal voltages V in the periods T1, T2, T3, ·, Tn. The average currents Im1, Im2, Im3,. cndot.imn represent the average of the currents Im in the periods T1, T2, T3,. cndot.tn.

The resistance setting unit 37 determines that the motor 10 is in a rotation stable state when, for example, the following conditions are satisfied.

[ equation 3 ]

|T1-Ti|＜ΔT

|Im1-Imi|＜ΔIm

|V1-Vi|＜ΔV

Δ T denotes a period threshold value, Δ Im denotes a current threshold value, and Δ V denotes a voltage threshold value. i represents an integer of 1 to n. Specifically, the resistance setting unit 37 determines that the motor 10 is in the rotation stable state when the absolute value of the difference between the periods T1 to Tn with respect to the period T1 is smaller than the period threshold Δ T, the absolute value of the difference between the average currents Im1 to Imn with respect to the average current Im1 is smaller than the current threshold Δ Im, and the absolute value of the difference between the average inter-terminal voltages V1 to Vn with respect to the average inter-terminal voltage V1 is smaller than the voltage threshold Δ V. That is, when the interval of generation of the 1 st pulse signal Pa, the current Im, and the inter-terminal voltage V are all stable, it is determined that the motor 10 is in the rotation stable state.

The dashed line graph of fig. 14 indicates that the absolute value of the difference between the periods T2, T3, and Tn with respect to the period T1 is smaller than the period threshold Δ T. The dot pattern area of fig. 14 represents the range of T1 ± Δ T. The one-dot chain line graph of fig. 14 indicates that the absolute value of the difference of the average inter-terminal voltages V2, V3, Vn with respect to the average inter-terminal voltage V1 is smaller than the voltage threshold Δ V. The two-dot chain line graph of fig. 14 shows that the absolute value of the difference of the average currents Im2, Im3, Imn with respect to the average current Im1 is smaller than the current threshold Δ Im.

In the example of fig. 14, the resistance setting unit 37 can determine at time t3 that the motor 10 is in the rotation stable state from time t2 to time t 3. That is, it can be determined that the motor 10 is in the rotation stable state at the current time point.

Reference is again made to fig. 12 herein. When it is determined that the motor 10 is in the rotation stable state (yes at step ST31), the resistance setting unit 37 calculates the rotational angular velocity ω' based on the cycle of the 1 ST pulse signal Pa (step ST 32). The resistance setting unit 37 calculates the rotational angular velocity ω' based on, for example, the following expression (3).

[ equation 4 ]

n represents the number of periods T, and M represents the number of 1 st pulse signals Pa in the period T. For example, when n is 10, M is 8, and the inter-slit angle θ c is 45 degrees, the rotational angular velocity ω' represents an average rotational angular velocity [ rad/s ] during 10 rotations of the motor 10. In this way, the resistance setting unit 37 can calculate the rotational angular velocity ω' based on the cycle (80 cycles in the above example) of the 1 st pulse signal Pa.

Then, the resistance setting unit 37 calculates the estimated resistance value R'm based on the rotational angular velocity ω' (step ST 33). The resistance setting unit 37 calculates the estimated resistance value R'm based on, for example, the following equation (4).

[ equation 5 ]

Equation (4) is a basic theoretical equation of the motor, Ke represents a back electromotive force constant, and Ke × ω' represents a back electromotive force estimated value. That is, a value obtained by dividing a value obtained by subtracting the estimated back electromotive force value from the average value of the average inter-terminal voltages V1 to Vn by the average value of the average currents Im1 to Imn is derived as the estimated resistance value R'm. The average value may be other statistical values such as a median, a mode, a maximum value, and a minimum value.

Thereafter, the resistance setting unit 37 determines whether the estimated resistance value R'm is within the normal range (step ST 34). The resistance setting unit 37 determines whether or not the estimated resistance value R'm is within the normal range, for example, by referring to the upper limit and the lower limit of the normal range registered in advance in the nonvolatile storage medium. At least one of the upper limit and the lower limit of the normal range may be dynamically changed in accordance with the outside air temperature, the temperature of the motor 10, and the like.

When it is determined that the estimated resistance value R'm is within the normal range (yes at step ST34), the resistance setting unit 37 updates the set resistance value Rm using the estimated resistance value R'm (step ST 35). In the example of fig. 12, the resistance setting unit 37 updates the set resistance value Rm using the estimated resistance value R'm at the same cycle as the cycle at which the estimated resistance value R'm is calculated. However, the resistance setting unit 37 may update the set resistance value Rm at a different cycle from the cycle at which the estimated resistance value R'm is calculated. For example, the set resistance value Rm may be updated at a cycle shorter than the cycle at which the estimated resistance value R'm is calculated.

Specifically, the resistance setting unit 37 may update the set resistance value Rm with a resistance value R ″ m derived from the following equation (5), for example.

[ equation 6 ]

R"m＝Rm+Km×(R′m-Rm)…(5)

Km represents a positive real constant of 1.0 or less. That is, as the value of Km approaches 1.0, the set resistance value Rm is updated with a resistance value R ″ m that approaches the estimated resistance value R'm. Typically, Km is less than 1.0. This is to prevent sudden changes, vibrations, and the like in the set resistance value Rm. Km may be a fixed value or a variable value registered in advance in the nonvolatile storage medium, or may be a value dynamically calculated and set. For example, Km when a fine adjustment operation (a relatively short pressing operation) is performed may be set to be larger than Km when a normal operation (a relatively long pressing operation) is performed. This is because the time available for repeatedly executing the process of updating the set resistance value Rm is shorter when the trimming operation is performed than when the normal operation is performed.

As can be seen from equation (5), the resistance setting unit 37 updates the set resistance value Rm such that the difference between the updated set resistance value Rm (resistance value R ″ m) and the estimated resistance value R'm is smaller than the difference between the set resistance value Rm and the estimated resistance value R'm before updating. This is to gradually bring the set resistance value Rm closer to the estimated resistance value R'm while preventing a sudden change in the set resistance value Rm. For example, when the estimated resistance value R'm repeatedly derived using expression (4) hardly changes, the resistance setting unit 37 can gradually bring the set resistance value Rm closer to the estimated resistance value R'm. In particular, when the set resistance value Rm is updated at a cycle shorter than the cycle at which the estimated resistance value R'm is calculated, the resistance setting unit 37 can gradually bring the set resistance value Rm close to the estimated resistance value R'm before calculating a new estimated resistance value R'm. This is because the resistance value R "m is closer to the inferred resistance value R'm each time it is derived.

When it is determined that the motor 10 is not in the rotation stable state (no at step ST31) or when it is determined that the estimated resistance value R'm is not within the normal range (no at step ST34), the resistance setting unit 37 ends the current updating process without updating the set resistance value Rm. In this case, the rotational angular velocity calculation unit 31 calculates the rotational angular velocity ω based on the equation (1) using the current set resistance value Rm.

In this way, the resistance setting unit 37 calculates the rotational angular velocity ω' of the motor 10 based on the period of the 1 st pulse signal Pa when the motor 10 is in the rotation stable state. Then, the estimated resistance value R'm is derived based on the calculated rotational angular velocity ω ', and the set resistance value Rm in the new model (1) can be updated using the estimated resistance value R'm. Therefore, the set resistance value Rm can be appropriately updated in accordance with a change in the resistance characteristic of the motor 10 due to a change in the temperature of the motor 10, an aging change, or the like. The secular change includes, for example, wear of the commutator segment 20a, wear of the brush, and the like. As a result, for example, when the current Im and the ripple component Ir thereof become small during the inertial rotation period after the power supply of the motor 10 is turned off, and the 1 st signal generator 34 cannot generate the 1 st pulse signal Pa based on the waveform of the ripple component Ir, the rotation angle detector 100 can acquire the information on the rotation of the motor 10 with higher reliability. Specifically, the 2 nd pulse signal Pb is generated more accurately based on the rotational angular velocity ω and the rotational angle θ calculated in real time using an appropriate set resistance value Rm without using the 1 st pulse signal Pa, and information on the rotation of the motor 10 can be acquired with higher reliability. For example, with respect to the motor 10 used for raising and lowering the window glass 2, even during the inertial rotation of the motor 10 when a fine adjustment operation for raising and lowering the window glass 2 is performed, information on the rotation of the motor 10 can be acquired with higher reliability.

As described above, the rotation angle detector 100 for acquiring the rotation information of the motor 10 including the commutator 20 includes: a resistance setting unit 37 for setting a resistance value corresponding to the resistance characteristic of the motor 10; and a rotation information calculation unit 36 for calculating information on the rotation of the motor 10 based on the detected voltage value detected by the voltage detection unit 10a, the detected current value detected by the current detection unit 10b, and the set resistance value Rm set by the resistance setting unit 37. The resistance setting unit 37 is configured to derive the estimated resistance value R'm in real time based on the detected voltage value and the detected current value detected in the rotation stable state in which the rotation of the motor 10 is stable, and update the set resistance value Rm in real time using the estimated resistance value R'm. Therefore, even if a rotation sensor such as a hall sensor is not provided, the rotation information of the motor 10 can be acquired with high reliability. This means that components such as sensor interface circuits and harness (harness) necessary for utilizing the rotation sensor can be omitted. Therefore, weight reduction, cost reduction, size reduction, and the like can be achieved.

The resistance setting unit 37 is configured to update the set resistance value Rm using the estimated resistance value R'm when the estimated resistance value R'm is within a predetermined range, and to not update the set resistance value Rm when the estimated resistance value R'm is outside the predetermined range, for example. Therefore, the set resistance value Rm can be prevented from being updated by the abnormal estimated resistance value R'm.

The rotation stable state is, for example, a state in which the fluctuation width of the inter-terminal voltage V in a predetermined period is smaller than a predetermined value, the fluctuation width of the current Im in the predetermined period is smaller than a predetermined value, and the fluctuation width of the period of the 1 st pulse signal Pa in the predetermined period is smaller than a predetermined value. The rotation stable state may be another state determined using at least 1 of the inter-terminal voltage V, the current Im, and the 1 st pulse signal Pa in the period. For example, the standard deviation of the inter-terminal voltage V in a predetermined period may be smaller than a predetermined value, the standard deviation of the current Im in the predetermined period may be smaller than a predetermined value, and the standard deviation of the period of the 1 st pulse signal Pa in the predetermined period may be smaller than a predetermined value. Alternatively, the integrated value of the inter-terminal voltage V during a predetermined period may be within a predetermined range, and the integrated value of the current Im during the predetermined period may be within the predetermined range. With this configuration, the resistance setting unit 37 can appropriately derive the estimated resistance value R'm.

Preferably, the resistance setting unit 37 is configured to update the set resistance value Rm such that a difference between the updated set resistance value Rm and the estimated resistance value R'm is smaller than a difference between the set resistance value Rm and the estimated resistance value R'm before the update. This is to gradually bring the set resistance value Rm closer to the estimated resistance value R'm while preventing a sudden change in the set resistance value Rm.

The rotation angle detector 100 generates a2 nd pulse signal Pb using the 1 st pulse signal Pa generated based on the ripple component Ir of the current Im and the rotation angle θ calculated based on the inter-terminal voltage V and the current Im. That is, the 2 nd pulse signal Pb is generated using the 2 parameters derived by different methods, that is, the 1 st pulse signal Pa and the rotation angle θ. Therefore, even if one parameter is not properly derived, the defect can be compensated for by another parameter. As a result, the rotation information of the motor 10 can be acquired with higher reliability.

The rotation angle calculation unit 32 is configured to calculate the rotation angle θ by integrating the rotation angular velocity ω of the motor 10 calculated based on the inter-terminal voltage V and the current Im, for example. Therefore, the rotation angle calculation unit 32 can stably and continuously calculate the rotation angle θ throughout the entire period including the period immediately after the start of the motor 10, the inertial rotation period, and the like. The 2 nd signal generating unit 35 is configured to generate the 2 nd pulse signal Pb immediately when the rotation angle θ reaches a predetermined angle, for example. Therefore, even when the 1 st pulse signal Pa is not generated, the 2 nd signal generating unit 35 can generate the 2 nd pulse signal Pb indicating that the rotation is performed by the predetermined angle in real time based on the rotation angle θ calculated stably and continuously. Therefore, the rotation angle detector 100 can calculate the rotation information of the motor 10 without hysteresis.

The 2 nd signal generator 35 is configured to output a command to reset the rotation angle θ to zero to the rotation angle calculator 32, for example, when the rotation angle θ reaches a predetermined angle. Therefore, in the rotation angle detector 100, the maximum value of the rotation angle θ calculated by the rotation angle calculation unit 32 is limited to a predetermined angle, and therefore the size of the memory required for storing the rotation angle θ can be reduced.

The predetermined angle is, for example, an inter-slit angle θ c, which is a central angle of an arc of the commutator segment 20 a. Therefore, the rotation angle detector 100 can set the maximum value of the accumulated error of the rotation angle θ calculated by the rotation angle calculation unit 32 as the inter-slit angle θ c.

The acceptance range is, for example, a range of a maximum error of the rotation angle θ generated every time the motor 10 rotates the inter-slit angle θ c. That is, when the rotational angular velocity calculation unit 31 calculates the rotational angular velocity ω to be larger than the actual value, the maximum value of the rotational angle θ that generates the 1 st pulse signal Pa based on the actual rotational angle (including the error) becomes the 2 nd threshold value θ d. When the rotational angular velocity calculation unit 31 calculates the rotational angular velocity ω to be smaller than the actual value, the minimum value of the rotational angle θ that generates the 1 st pulse signal Pa based on the actual rotational angle (including the error) becomes the 1 st threshold value θ u. Therefore, in the rotation angle detector 100, the error of the rotation angle θ calculated by the rotation angle calculation section 32 is not accumulated. That is, the error can be set to a range of- α to + β regardless of the rotation of the motor 10.

For example, when the 1 st pulse signal Pa is received and the rotation angle θ is equal to or greater than the 1 st threshold θ u, the 2 nd signal generator 35 is configured to generate the 2 nd pulse signal Pb. The 1 st threshold θ u is set in advance to a value smaller than a predetermined angle (inter-slit angle θ c), for example. According to this configuration, the 2 nd signal generating unit 35 regards the 1 st pulse signal Pa generated when the rotation angle θ is equal to or greater than the 1 st threshold value θ u as not being a signal based on noise. Then, even if the 1 st pulse signal Pa is not generated, if the rotation angle θ reaches a predetermined angle (inter-slit angle θ c), the 2 nd pulse signal Pb is generated. Therefore, the influence of the leak generation of the 1 st pulse signal Pa on the calculation result of the rotation information can be reliably eliminated.

The 2 nd signal generator 35 is configured not to generate the 2 nd pulse signal Pb, for example, if the rotation angle θ is smaller than the 1 st threshold θ u when the 1 st pulse signal Pa is received. According to this configuration, the 2 nd signal generator 35 can determine that the 1 st pulse signal Pa generated when the rotation angle θ is smaller than the 1 st threshold value θ u is a signal based on noise. Further, it is possible to prevent the 2 nd pulse signal Pb corresponding to the 1 st pulse signal Pa generated based on the noise from being generated. Therefore, the influence of the 1 st pulse signal Pa generated based on the noise on the calculation result of the rotation information can be reliably eliminated.

The 2 nd signal generator 35 is configured to output a command to reset the rotation angle θ to zero to the rotation angle calculator 32, for example, if the rotation angle θ is smaller than the 2 nd threshold θ d when the 1 st pulse signal Pa is received. The 2 nd threshold θ d is set in advance as a value delayed by β from the predetermined angle (inter-slit angle θ c), for example. According to this configuration, the 2 nd signal generating unit 35 regards the 1 st pulse signal Pa as not being a signal based on noise when the 1 st pulse signal Pa is received immediately after the 2 nd pulse signal Pb is generated and before the generation of the leak of the 1 st pulse signal Pa. The 1 st pulse signal Pa can be associated with the 2 nd pulse signal Pb generated immediately before. Therefore, the influence of the deviation of the generation timing of the 1 st pulse signal Pa on the calculation result of the rotation information can be reliably eliminated.

The preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments. Various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention.

For example, the opening/closing body control device may be a device that operates an opening/closing body other than the window glass 2 such as a sunroof, a mirror, and a sliding door of a vehicle by a motor.

The present application claims priority based on japanese patent application No. 2017-093675, filed on 5/10/2017, and the entire contents of the japanese patent application are incorporated herein by reference.

Description of the reference symbols

1. door 1 a. Window 2. Window drive mechanism 6. operation device 7. automatic opening button 7B. Manual opening button 7℃ automatic closing button 7D. Manual closing button 10. Motor 10 a. Voltage detection section 10B. Current detection section 20. commutator 20 a. commutator 20 s. Voltage filter section 31. Voltage detection section 32. rotation angle calculation section 33. Current filter section 34. Window 2. Window drive mechanism 32. operational window drive mechanism 7. Electrical operation device 32. Voltage detection section 32. Electrical operation device, and Electrical operation device, operational device, Electrical operation, operational device, Electrical operation device, operational device, Electrical operation, operational device The determination section 63-counting section 64-function limitation section 100-rotation angle detectors SW 1-SW 4-switch

Claims

1. An opening/closing body control device that controls the movement of an opening/closing body mounted on a vehicle, the opening/closing body control device comprising:

an opening/closing control unit that performs an automatic closing function for automatically closing the opening/closing body;

a counting unit that counts the number of times of activation of a motor that drives the opening/closing body; and

and a function limiting unit that limits the auto-close function based on the number of times of activation.

2. The opening-closing body control device according to claim 1,

the function restricting unit releases restriction of the automatic closing function when the opening/closing body reaches a fully closed position.

3. The opening-closing body control device according to claim 1 or 2,

the counting unit resets the number of times of activation to zero when the opening/closing body reaches a fully closed position.

4. The opening-and-closing body control device according to any one of claims 1 to 3,

the function limiting unit prohibits execution of the auto-close function when the number of activation times exceeds a predetermined threshold value.

5. An opening/closing body control method for controlling a motion of an opening/closing body mounted on a vehicle, the opening/closing body control method comprising the steps of:

a step of executing an automatic closing function for automatically closing the opening/closing body;

counting the number of times of activation of a motor that drives the opening/closing body; and

and limiting the automatic closing function based on the starting times.