WO2015093514A1 - 開閉体制御装置及び開閉体制御方法 - Google Patents
開閉体制御装置及び開閉体制御方法 Download PDFInfo
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- WO2015093514A1 WO2015093514A1 PCT/JP2014/083371 JP2014083371W WO2015093514A1 WO 2015093514 A1 WO2015093514 A1 WO 2015093514A1 JP 2014083371 W JP2014083371 W JP 2014083371W WO 2015093514 A1 WO2015093514 A1 WO 2015093514A1
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- motor
- pattern
- opening
- closing body
- sensors
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- 238000000034 method Methods 0.000 title claims description 12
- 238000004804 winding Methods 0.000 claims description 10
- 230000010349 pulsation Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 230000003321 amplification Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/655—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings specially adapted for vehicle wings
- E05F15/659—Control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/04—Doors arranged at the vehicle sides
- B60J5/047—Doors arranged at the vehicle sides characterised by the opening or closing movement
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2201/00—Constructional elements; Accessories therefor
- E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
- E05Y2201/43—Motors
- E05Y2201/434—Electromotors; Details thereof
- E05Y2201/438—Rotors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2201/00—Constructional elements; Accessories therefor
- E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
- E05Y2201/43—Motors
- E05Y2201/434—Electromotors; Details thereof
- E05Y2201/442—Stators
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/40—Control units therefor
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/44—Sensors not directly associated with the wing movement
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Definitions
- the present invention relates to an opening / closing body control device and an opening / closing body control method suitable for controlling an opening / closing body such as a slide door.
- Patent Document 1 describes an example of a configuration of a sliding door unit for opening and closing a vehicle door and the like by sliding.
- a brushless motor is suitable as a power generation source of the slide door unit because it can be thinned and the number of revolutions can be easily detected using a magnetic pole detection sensor.
- the brushless motor includes, for example, a permanent magnet rotor having a plurality of magnetic poles and a stator having a stator coil that is an armature winding, and a plurality of sensors for detecting the magnetic pole position.
- the drive characteristic similar to a brush motor is acquired brushlessly by switching electricity supply to a stator coil based on the output of a some sensor, and rotating a rotor.
- the current flowing through the stator coil is controlled to be switched based on a plurality of sensor outputs. Therefore, for example, when a speed change or a load change occurs, there may be a difference between the sensor output switching timing and the optimum switching timing of the stator coil energization state.
- the motor is used in the vicinity of the lock current (that is, in the vicinity of the maximum current generated when the rotational speed becomes zero due to an excessive load torque)
- a relatively large rotation unevenness may occur in the motor. This rotation unevenness causes current unevenness.
- pinching detection is performed to detect that a person or an object has been pinched when the door is opened or closed.
- This pinching detection can be performed based on, for example, a change in motor current.
- a brushless motor the occurrence of current unevenness in the vicinity of the lock current has been a problem in detecting pinching with higher accuracy.
- the present invention provides an opening / closing body control device and an opening / closing body control method capable of further improving the detection accuracy when pinching detection is performed based on a motor current.
- the opening / closing body control device controls the opening / closing drive of the opening / closing body by the motor.
- the opening / closing body control device is arranged to be deviated by a predetermined electrical angle, with a pinching determination means for determining whether pinching has occurred in the opening / closing body based on a current value flowing through the motor, and the motor has A plurality of sensors for detecting the positions of the magnetic poles, a drive circuit for switching the energization state of the motor, a rotation direction determining means for generating a rotation direction signal indicating normal rotation or reverse rotation of the motor, and outputs of the plurality of sensors Correspondingly, a switching pattern for switching the energization state of the drive circuit, the normal rotation pattern storage unit storing the normal rotation pattern when the motor is normally rotated, the outputs of the plurality of sensors, and the predetermined electrical angle A switching pattern for switching the energization state of the drive circuit in response to a deviation of the motor, and storing
- either the normal rotation pattern storage unit or the reverse rotation pattern storage unit reads out the normal rotation pattern or the reverse rotation pattern and outputs it.
- the drive circuit is controlled using the normal rotation pattern or the reverse rotation pattern output by the switching means, and the pinching determination means has pinched.
- Drive instruction means for controlling the drive circuit in a predetermined pattern for avoiding the pinching when it is determined.
- the motor in the opening / closing body control device, includes a permanent magnet rotor having a plurality of magnetic poles and a stator having a stator coil that is a multiphase armature winding. It is.
- the predetermined electrical angle at which the plurality of sensors are arranged to be shifted is set with reference to the center of the stator coil of the motor.
- the motor in the opening / closing body control device, is a brushless motor having 16 poles and 18 slots. In each slot, 18 coils are wound in a concentrated manner, one adjacent phase is formed by three adjacent coils, and the center of the stator coil is formed by the three adjacent coils. Located in the middle of one phase group.
- the plurality of sensors are arranged within a mechanical angle of 30 degrees.
- the deviation of the predetermined electrical angle is set to a value that reduces the pulsation of the motor when the load is high.
- the opening / closing body control method is an opening / closing body control method for controlling opening / closing driving of the opening / closing body by a motor.
- the opening / closing body control method is arranged to be sandwiched by a predetermined electrical angle, and is included in the motor, with the sandwiching judging means for judging whether or not the sandwiching body has occurred based on the current value flowing through the motor.
- a switching pattern for switching the energization state of the drive circuit, the normal rotation pattern storage unit storing the normal rotation pattern when the motor is normally rotated, the outputs of the plurality of sensors, and the predetermined electrical angle A switching pattern for switching the energization state of the drive circuit in response to a deviation of the motor, and storing a reverse rotation pattern for reverse rotation of the motor.
- either the normal rotation pattern storage unit or the reverse rotation pattern storage unit reads out the normal rotation pattern or the reverse rotation pattern and outputs it.
- Switching means the drive circuit is controlled using the normal rotation pattern or the reverse rotation pattern output by the switching means based on the outputs of the plurality of sensors, and the pinching determination means is pinched.
- the drive circuit is controlled with a predetermined pattern for avoiding the pinching.
- the plurality of sensors are arranged by being shifted by a predetermined electrical angle, and the reverse rotation pattern corresponding to the output of the plurality of sensors and the predetermined electrical angle shift at the time of reverse rotation Is used to control the energization state of the motor.
- the deviation of the electrical angle is set so that the current unevenness in the vicinity of the lock current is as small as possible, the current unevenness in the vicinity of the lock current can be suppressed. Therefore, in this case, pinching detection with higher accuracy can be performed near the lock current.
- FIG. 1 It is the block diagram which showed the structural example of one Embodiment of the opening-closing body control apparatus of this invention. It is explanatory drawing for demonstrating the electricity supply pattern at the time of the normal rotation of the motor 40 shown in FIG. It is explanatory drawing for demonstrating the electricity supply pattern at the time of the reverse rotation of the motor shown in FIG. It is the top view which showed the example of an external appearance structure of the opening-closing body control apparatus 1 shown in FIG. It is explanatory drawing for demonstrating the example of arrangement
- FIG. 1 is a block diagram showing a configuration example of an opening / closing body control device 1 according to an embodiment of the present invention.
- the opening / closing body control apparatus 1 shown in FIG. 1 is an apparatus that controls opening / closing driving of an opening / closing body such as a vehicle-mounted slide door by a motor.
- a battery 2 and an operation switch 3 are connected to the opening / closing body control device 1.
- the battery 2 is a secondary battery such as a DC 12V.
- the operation switch 3 is an operation switch for a power slide door operated by a user.
- An operation signal indicating an opening operation or a closing operation generated according to the operation of the operation switch is sent to the CPU (Central Processing Unit) of the opening / closing body control device 1. ; Central processing unit) 10.
- CPU Central Processing Unit
- the opening / closing body control device 1 includes a CPU 10, a shunt resistor 20, a drive circuit 30, a motor 40, and a sensor group 50.
- the shunt resistor 20 generates a voltage corresponding to the current flowing through the motor 40.
- the drive circuit 30 includes a three-phase H bridge (also called an inverter). The drive circuit 30 is controlled by the CPU 10.
- the drive circuit 30 inputs the DC output of the battery 2 via the shunt resistor 20 and supplies it to the motor 40.
- the motor 40 is a brushless motor.
- the motor 40 includes a stator around which a U-phase stator coil 41, a V-phase stator coil 42, and a W-phase stator coil 43, which are three-phase armature windings connected in a delta connection, and a permanent magnet rotor 44 having a plurality of magnetic poles.
- a sensor group 50 which is a magnetic pole position detection sensor configured using a Hall element or the like, is attached to the motor 40 in the vicinity of the permanent magnet rotor 44.
- the sensor group 50 includes a sensor U51, a sensor V52, and a sensor W53, which are three sensors that detect the position of the magnetic pole of the motor 40. Each of these three sensors is shifted by a predetermined electrical angle.
- the sensor U51, the sensor V52, and the sensor W53 detect the switching of the magnetic poles of the permanent magnet rotor 44, and output the detected result as a high or low binary signal.
- the sensors U51 to W53 are installed at positions where the advance angle is adjusted for forward rotation described later (that is, positions shifted by a predetermined electrical angle).
- the CPU 10 includes a rotation direction determination unit 11, a switching unit 12, a normal rotation (CW; Clock Wise) pattern storage unit 13, a reverse rotation (CCW; Counter Clock Wise) pattern storage unit 14, a pinching determination unit 15, and a drive command unit 16.
- the CPU 10 is provided with a volatile and nonvolatile storage device, an input / output device, an A / D (analog / digital) conversion device, a counter, a clock generation circuit, a register circuit, etc. in addition to an arithmetic device and a control device. Yes.
- CPU10 performs each process as the rotation direction determination means 11, the switching means 12, the pinching determination means 15, and the drive command means 16 by running the program memorize
- the rotation direction determining means 11 determines whether to rotate the motor 40 forward or backward according to the operation signal output from the operation switch 3, and generates and outputs a rotation direction signal that is a signal representing the rotation direction. .
- the switching unit 12 reads out and outputs either the normal rotation pattern or the reverse rotation pattern from the normal rotation pattern storage unit 13 or the reverse rotation pattern storage unit 14 based on the rotation direction signal output by the rotation direction determination unit 11.
- the normal rotation pattern storage unit 13 stores a normal rotation pattern which is a switching pattern of the energization state of the drive circuit 30 corresponding to the outputs of the plurality of sensors U51 to W53 and which is a switching pattern at the time of normal rotation of the motor 40. Yes.
- the normal rotation pattern stored in the normal rotation pattern storage unit 13 will be described with reference to FIG. FIG. 2 shows the electrical angle, the induced voltages of the stator coils 41 to 43, the output waveforms of the sensors U51 to W53, and the two cases of the case where the motor 40 is rotated forward and the case where there is no advance angle.
- FIG. 2 shows the electrical angle, the induced voltages of the stator coils 41 to 43, the output waveforms of the sensors U51 to W53, and the two cases of the case where the motor 40 is rotated forward and the case where there is no advance angle.
- the normal rotation pattern storage unit 13 associates the output waveform patterns of the sensors U51 to W53 with the advance angle and the energization patterns Pa1 to Pa6 and stores them as normal rotation patterns. That is, the normal rotation pattern is information representing the correspondence between the output waveform patterns of the sensors U51 to W53 and the energization patterns Pa1 to Pa6.
- the electrical angle represents 360 degrees as one cycle of the change in the magnetic pole position (that is, the change in the magnetic field).
- No advance angle refers to the case where the installation positions of the sensors U51 to W53 for detecting the magnetic pole positions are the normal positions (that is, the positions where there is no deviation of the electrical angle). In other words, when the outputs of the sensors U51 to W53 change, the position without advance angle is the position where it is optimal to immediately switch the stator coils 41 to 43 to the energized state corresponding to the change. It means that W53 is installed.
- with advance angle refers to a case where the installation positions of the sensors U51 to W53 for detecting the magnetic pole positions are positions advanced by a predetermined electrical angle.
- the electrical angle advance angle (ie, the predetermined advance angle)
- the deviation of the electrical angle is set to a value that reduces the pulsation of the motor 40 when the load is high.
- the electrical angle advance angle can be determined, for example, by an experiment.
- the electrical angle advance angle is 30 degrees. Therefore, when there is an advance angle, the outputs of the sensors U51 to W53 change 30 degrees earlier in electrical angle than when there is no advance angle.
- the energization pattern includes six different patterns Pa1 to Pa6 each corresponding to an electrical angle of 60 degrees, and is configured with one cycle of electrical angle.
- no advance angle for example, when the sensor U51 is at a high level, the sensor V52 is at a low level, and the sensor W53 is at a high level, the pattern Pa1 is selected.
- the pattern Pa1 both the high-voltage side output and the low-voltage side output voltage are applied to both ends of the U-phase stator coil 41 from the drive circuit 30.
- the V-phase stator coil 42 and the W-phase stator coil 43 are connected in series, half the voltage applied to the U-phase stator coil 41 is applied.
- the correspondence between the output patterns of the sensors U51 to W53 and the energization patterns Pa1 to Pa6 is the same as that without the advance angle.
- the outputs of the sensors U51 to W53 change quickly by 30 degrees in electrical angle. Accordingly, the energization patterns Pa1 to Pa6 are switched by 30 degrees earlier in electrical angle than in the case of no advance angle.
- the reverse rotation pattern storage unit 14 is a pattern corresponding to the outputs of the plurality of sensors U51 to W53 and a predetermined electrical angle advance angle (however, it is retarded during reverse rotation).
- a reverse rotation pattern that is a switching pattern of the energization state by the drive circuit 30 is stored.
- FIG. 3 is an explanatory diagram similar to FIG. 2, and shows the electrical angle and the induced voltages of the stator coils 41 to 43 in the two cases of the case where there is no advance angle and the case where the motor 40 is reversed.
- FIG. 3 is an explanatory diagram similar to FIG. 2, and shows the electrical angle and the induced voltages of the stator coils 41 to 43 in the two cases of the case where there is no advance angle and the case where the motor 40 is reversed.
- the reverse pattern storage unit 14 stores the patterns of the sensors U51 to W53 and the energization patterns Pb1 to Pb6 in association with the advance angle.
- the reverse pattern is information representing the association between the patterns of the sensors U51 to W53 and the energization patterns Pb1 to Pb6.
- the sensors U51 to W53 of this embodiment are installed at positions where the advance angle is adjusted for normal rotation. Therefore, if the correspondence between the sensors U51 to W53 without advance angle and the energization patterns Pb1 to Pb6 is used as they are, the energization pattern is indicated by a broken line when the sensors U51 to W53 with advance angle are used. Conversely, it will be delayed by 30 degrees. Therefore, the outputs of the sensors U51 to W53 and the energization patterns Pb1 to Pb6 are associated with each other with an association different from the association when there is no advance angle.
- the pattern Pb1 is selected when the sensor U51 is at a high level, the sensor V52 is at a high level, and the sensor W53 is at a low level.
- the pattern Pb1 is selected when the sensor U51 is at the low level, the sensor V52 is at the high level, and the sensor W53 is at the low level.
- the pinch determination means 15 shown in FIG. 1 determines whether pinching has occurred in an opening / closing body such as a slide door based on the value of the current flowing through the motor 40. That is, the pinch determination means 15 takes in the voltage generated by the shunt resistor 20 by amplification and A / D conversion, and determines whether pinching has occurred based on the current value. When it is determined that the pinching has occurred, the pinching determination unit 15 generates a pinching determination signal (or a signal that directly instructs the motor 40 to stop driving) indicating that the pinching has occurred. Output to means 16. Regarding the pinching determination, for example, it can be determined that pinching has occurred when the amount of change in current per predetermined time exceeds a predetermined threshold.
- the drive command means 16 switches based on the outputs of the plurality of sensors 51 to 53 and the rotation direction signal output by the rotation direction determination means 11 (however, the rotation direction signal can be omitted by using a normal rotation pattern or a reverse rotation pattern).
- the drive circuit 30 is controlled using the normal rotation pattern or the reverse rotation pattern output by the means 12.
- the drive command means 16 generates a speed command value of the motor 40 while changing it according to time based on a preset set value in accordance with the operation of the operation switch 3, and the speed command value and the plurality of sensors 51 to 53 are generated.
- the drive circuit 30 is driven in the normal rotation pattern or the reverse rotation pattern while performing duty control according to the deviation of the rotation speed of the motor 40 obtained from the output.
- the drive command unit 16 controls the drive circuit 30 with a predetermined pattern for avoiding the pinching.
- the predetermined pattern for avoiding pinching is that when the motor 40 is determined to be pinched during forward rotation driving, reverse rotation driving is performed, and when the motor 40 is determined to be pinched during reverse rotation driving.
- a pattern for performing forward rotation driving can be obtained.
- a pattern in which the motor 40 is stopped immediately a pattern in which the motor 40 is stopped after a short time reverse driving in the normal rotation state, or a short time forward driving in the reverse rotation state.
- a pattern for stopping the motor 40 may be used.
- the drive command means 16 switches based on the outputs of the plurality of sensors 51 to 53 and the rotation direction signal output by the rotation direction determination means 11 (however, the rotation direction signal can be omitted by using a normal rotation pattern or a reverse rotation pattern).
- the drive circuit 30 is controlled using the normal rotation pattern or the reverse rotation pattern output by the means 12.
- the drive command means 16 generates a speed command value of the motor 40 while changing it according to time based on a preset set value in accordance with the operation of the operation switch 3, and the speed command value and the plurality of sensors 51 to 53 are generated.
- the drive circuit 30 is driven in the normal rotation pattern or the reverse rotation pattern while performing duty control according to the deviation of the rotation speed of the motor 40 obtained from the output.
- the drive command unit 16 controls the drive circuit 30 with a predetermined pattern for avoiding the pinching.
- the predetermined pattern for avoiding pinching is that when the motor 40 is determined to be pinched during forward rotation driving, reverse rotation driving is performed, and when the motor 40 is determined to be pinched during reverse rotation driving.
- a pattern for performing forward rotation driving can be obtained.
- a pattern in which the motor 40 is stopped immediately a pattern in which the motor 40 is stopped after a short time reverse driving in the normal rotation state, or a short time forward driving in the reverse rotation state.
- a pattern for stopping the motor 40 may be used.
- the drive command means 16 switches based on the outputs of the plurality of sensors 51 to 53 and the rotation direction signal output by the rotation direction determination means 11 (however, the rotation direction signal can be omitted by using a normal rotation pattern or a reverse rotation pattern).
- the drive circuit 30 is controlled using the normal rotation pattern or the reverse rotation pattern output by the means 12.
- the drive command means 16 generates a speed command value of the motor 40 while changing it according to time based on a preset set value in accordance with the operation of the operation switch 3, and the speed command value and the plurality of sensors 51 to 53 are generated.
- the drive circuit 30 is driven in the normal rotation pattern or the reverse rotation pattern while performing duty control according to the deviation of the rotation speed of the motor 40 obtained from the output.
- the drive command unit 16 controls the drive circuit 30 with a predetermined pattern for avoiding the pinching.
- the predetermined pattern for avoiding pinching is that when the motor 40 is determined to be pinched during forward rotation driving, reverse rotation driving is performed, and when the motor 40 is determined to be pinched during reverse rotation driving.
- a pattern for performing forward rotation driving can be obtained.
- a pattern in which the motor 40 is stopped immediately a pattern in which the motor 40 is stopped after a short time reverse driving in the normal rotation state, or a short time forward driving in the reverse rotation state.
- a pattern for stopping the motor 40 may be used.
- the motor 40 is configured as a brushless motor having 16 poles and 18 slots.
- the shaded permanent magnet rotor 44 has 16 poles of N and S poles.
- the stator 45 has 18 slots 46, and 18 stator coils 41-1 to 41-3 and the like are wound in the slot 46 in a concentrated manner.
- a substrate 60 is attached to the motor 40. On the substrate 60, in addition to the sensors 51 to 53 shown in FIG. 4, a CPU 10, a shunt resistor 20, and a drive circuit 30 (not shown) are mounted.
- the stator coils 41 to 43 shown in FIG. 4 constitute one phase group with three adjacent coils (for example, U-phase stator coils 41-1, 41-2 and 41-3), and the phase groups of the same phase are included. It is arranged at a position facing the center point O of the stator 45 and has six phase groups as a whole.
- the U-phase stator coil 41 is connected in series with the opposing U-phase stator coil 41 to constitute one U-phase stator coil 41.
- the U-phase stator coil 41-2 and the other two U-phase stator coils 41-1 and 41 are used.
- the winding direction of -3 is different.
- the other V-phase stator coil 42 and W-phase stator coil 43 the winding direction of the coil located in the middle in each phase group is different from the winding direction of the other coils.
- FIG. 5 is an enlarged view of a part of FIG.
- the motor 40 constitutes one phase group from three adjacent coils, and has six phase groups as a whole.
- a sensor for detecting the position of the magnetic pole is disposed between each phase group.
- the sensors 51 to 53 are arranged every 60 degrees.
- the three sensors 51 to 53 have a mechanical angle spread of 120 degrees as a whole. For this reason, the arrangement every 60 degrees has a problem in terms of space saving.
- the position of the second sensor is changed from the mechanical angle 60 degrees with the position of the first sensor as a reference (that is, the mechanical angle 0 degree).
- the third sensor position is shifted from the mechanical angle of 120 degrees to a mechanical angle of 90 degrees and moved to a mechanical angle position of 30 degrees.
- Sensors 51 to 53 are arranged within a mechanical angle range of 30 degrees. By arranging in this way, the three sensors 51 to 53 can be concentrated in a relatively narrow area on the substrate 60.
- the advance angle adjustment of 30 degrees is performed with the electrical angle. In the case of 16 poles, this corresponds to 3.75 degrees in mechanical angle.
- the stator coils 41 to 43 are delta-connected, when a one-phase group is constituted by three coils in 18 slots, the sensor 51 located in the intermediate portion is not connected to the coil 41 in the intermediate portion. The position shifted from ⁇ 2 by 3.75 degrees in mechanical angle is 0 degrees in electrical angle.
- the position shifted from the center C of the coil 41-2 in the intermediate portion by the mechanical angle of 7.5 degrees which is the total of the mechanical angle of 3.75 degrees corresponding to the advance angle and the mechanical angle deviation of 3.75 degrees due to the delta connection, is obtained.
- the position is advanced by 30 degrees in electrical angle.
- the sensor V52 and the sensor W53 are arranged at positions shifted by 15 degrees with respect to the position of the sensor U51.
- the three sensors 51 to 53 are advanced by 30 degrees in electrical angle, and are disposed in a range of 30 degrees in the mechanical angle as a whole.
- the angle from the center line C is not a mechanical angle of 7.5 degrees but a mechanical angle of 3.75 degrees (only corresponding to an electrical angle of 30 degrees).
- the horizontal axis is time, and the vertical axis is current.
- the sensor waveform is a high level or low level waveform.
- “Motor current (raw value)” is a value obtained by directly amplifying the output voltage of the shunt resistor.
- the “motor current (CPU recognition value)” plots the value obtained by A / D conversion by the CPU after passing the same waveform through the low-pass filter.
- a plurality of sensors are arranged with a predetermined electrical angle shifted, and a reversal pattern corresponding to the outputs of the plurality of sensors and a predetermined electrical angle shift is used during reverse rotation.
- the energization state of the motor is controlled. For example, if the deviation of the electrical angle is set so that the current unevenness in the vicinity of the lock current is as small as possible, the current unevenness in the vicinity of the lock current can be suppressed. Therefore, in this case, pinching detection with higher accuracy can be performed near the lock current.
- the motor a brushless motor having a permanent magnet rotor having a plurality of magnetic poles and a stator having a stator coil that is a multi-phase armature winding, it is easy to reduce the thickness and increase the life by brushless. Can be planned.
- the plurality of sensors can be easily arranged in a narrow range.
- the motor is a brushless motor with 16 poles and 18 slots, and 18 coils are wound in each slot in concentrated winding, and one phase group is formed by three adjacent coils to form a stator coil.
- the arrangement of a plurality of sensors is compared with, for example, the arrangement between phase groups. They can be easily arranged in a narrow range. Further, in this configuration, a plurality of sensors can be arranged in a mechanical angle range of 30 degrees.
- each unit in the CPU 10 in FIG. 1 is integrated or distributed, or provided in the drive circuit 30 instead of the shunt resistor. It is possible to make appropriate changes such as providing a current detection unit.
- the plurality of sensors are arranged by being shifted by a predetermined electrical angle, and the reverse rotation pattern corresponding to the output of the plurality of sensors and the predetermined electrical angle shift at the time of reverse rotation Is used to control the energization state of the motor.
- the deviation of the electrical angle is set so that the current unevenness in the vicinity of the lock current is as small as possible, the current unevenness in the vicinity of the lock current can be suppressed. Therefore, in this case, pinching detection with higher accuracy can be performed near the lock current.
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- Engineering & Computer Science (AREA)
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Power-Operated Mechanisms For Wings (AREA)
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Abstract
Description
本願は、2013年12月19日に、日本に出願された特願2013-262860号に基づき優先権を主張し、その内容をここに援用する。
11 回転方向決定手段
12 切り替え手段
13 正転パターン記憶部
14 逆転パターン記憶部
15 挟み込み判定手段
16 駆動指令手段
40 モータ
41、42、43 ステータコイル
44 永久磁石ロータ
51、52、53 センサー
Claims (7)
- モータによって開閉体の開閉駆動を制御する開閉体制御装置であって、
前記モータに流れる電流値に基づいて前記開閉体で挟み込みが発生しているか否かを判定する挟み込み判定手段と、
所定の電気角だけずらして配置され、前記モータが有する磁極の位置を検出する複数のセンサーと、
前記モータの通電状態を切り替える駆動回路と、
前記モータの正転又は逆転を表す回転方向信号を生成する回転方向決定手段と、
前記複数のセンサーの出力に対応して前記駆動回路の通電状態を切り替える切り替えパターンであって、前記モータを正転させるときの正転パターンを記憶した正転パターン記憶部と、
前記複数のセンサーの出力と前記所定の電気角のずれとに対応して前記駆動回路の通電状態を切り替える切り替えパターンであって、前記モータを逆転させるときの逆転パターンを記憶した逆転パターン記憶部と、
前記回転方向決定手段が出力した前記回転方向信号に基づいて前記正転パターン記憶部又は前記逆転パターン記憶部から前記正転パターン又は前記逆転パターンのいずれかを読み出して出力する切り替え手段と、
前記複数のセンサーの出力に基づき、前記切り替え手段が出力した前記正転パターン又は前記逆転パターンを用いて前記駆動回路を制御するとともに、前記挟み込み判定手段が挟み込みが発生していると判定した場合にその挟み込みを回避するための所定のパターンで前記駆動回路を制御する駆動指令手段と
を備える開閉体制御装置。 - 前記モータが、複数の磁極を有する永久磁石ロータと多相の電機子巻線であるステータコイルを有するステータとを備えたブラシレスモータである請求項1に記載の開閉体制御装置。
- 前記複数のセンサーをずらして配置する前記所定の電気角が、前記モータが有するステータコイルの中心を基準として設定される請求項1又は2に記載の開閉体制御装置。
- 前記モータが16極18スロットのブラシレスモータであって、
前記各スロットにはそれぞれ集中巻で18個のコイルが巻かれていて、隣接する3個のコイルで1つの相群を形成し、
前記ステータコイルの中心が前記隣接する3個のコイルで形成される1つの相群の中間に位置する請求項3に記載の開閉体制御装置。 - 前記複数のセンサーは、機械角で30度の範囲に配置されている請求項4に記載の開閉体制御装置。
- 前記所定の電気角のずれは、前記モータの高負荷時の脈動を低減させる値に設定されている請求項1から5のいずれか1項に記載の開閉体制御装置。
- モータによって開閉体の開閉駆動を制御する開閉体制御方法であって、
前記モータに流れる電流値に基づいて前記開閉体で挟み込みが発生しているか否かを判定する挟み込み判定手段と、
所定の電気角だけずらして配置され、前記モータが有する磁極の位置を検出する複数のセンサーと、
前記モータの通電状態を切り替える駆動回路と、
前記モータの正転又は逆転を表す回転方向信号を生成する回転方向決定手段と、
前記複数のセンサーの出力に対応して前記駆動回路の通電状態を切り替える切り替えパターンであって、前記モータを正転させるときの正転パターンを記憶した正転パターン記憶部と、
前記複数のセンサーの出力と前記所定の電気角のずれとに対応して前記駆動回路の通電状態を切り替える切り替えパターンであって、前記モータを逆転させるときの逆転パターンを記憶した逆転パターン記憶部と、
前記回転方向決定手段が出力した前記回転方向信号に基づいて前記正転パターン記憶部又は前記逆転パターン記憶部から前記正転パターン又は前記逆転パターンのいずれかを読み出して出力する切り替え手段と
を用い、
前記複数のセンサーの出力に基づき、前記切り替え手段が出力した前記正転パターン又は前記逆転パターンを用いて前記駆動回路を制御するとともに、前記挟み込み判定手段が挟み込みが発生していると判定した場合にその挟み込みを回避するための所定のパターンで前記駆動回路を制御する開閉体制御方法。
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US15/038,150 US9816306B2 (en) | 2013-12-19 | 2014-12-17 | Opening/closing body control device and opening/closing body control method |
CN201480068606.7A CN105829629B (zh) | 2013-12-19 | 2014-12-17 | 开闭体控制装置及开闭体控制方法 |
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JP2019002224A (ja) * | 2017-06-16 | 2019-01-10 | アイシン精機株式会社 | 車両用開閉体制御装置 |
CN110656834A (zh) * | 2018-09-05 | 2020-01-07 | 辽宁智在前行科技有限公司 | 尾门智能防夹装置 |
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JP7192587B2 (ja) * | 2019-03-12 | 2022-12-20 | 株式会社アイシン | 車両用開閉体制御装置 |
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