Opening/closing control apparatus of opening/closing body for vehicle and method thereof

• US 20020093301A1
• Filed: 12/27/2001
• Published: 07/18/2002
• Est. Priority Date: 12/27/2000
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: Suzuki, Shintaro, Fukumoto, Ryoichi, Itami, Eiji, Yogo, Hiroyuki, Ohhashi, Masao
• Granted Patent: US 6,580,243 B2
• Time in Patent Office: Days
• US Class Current: 318/452
• CPC Class Codes: B60J 5/04 arranged at the vehicle sides panel mounted arm-rests B60N2/78; wall liners B60R13/02; door edge guards B60R13/043; padded linings associated with the side doors B60R21/0428
• CPC Class Codes: E05F 15/632 for horizontally-sliding wings
• CPC Class Codes: E05Y 2201/434 Electromotors; Details thereof
• CPC Class Codes: E05Y 2400/31 Force or torque control
• CPC Class Codes: E05Y 2400/36 Speed control, detection or monitoring
• CPC Class Codes: E05Y 2600/41 Concealed
• CPC Class Codes: E05Y 2600/46 in or on the wing
• CPC Class Codes: E05Y 2800/00 Details, accessories and auxiliary operations not otherwise provided for
• CPC Class Codes: E05Y 2900/531 Doors
• CPC Class Codes: G05B 19/40 Open loop systems, e.g. using stepping motor
• CPC Class Codes: G05B 2219/43114 Detect position, speed or time of object between begin and end, adapt motion
• CPC Class Codes: G05B 2219/45242 Door, panel, window operation, opening, closing

Abstract

A door speed is detected at every predetermined detecting time, and a door position is calculated at a timing detected the door speed. A target speed according to the door position is obtained by a map. A microcomputer calculates a speed difference ΔVD between the target speed and the actual or present speed, and an acceleration/deceleration value ΔVC such as the speed difference between the door speed at the last detecting time and the present detecting time. A duty increasing value and the decreasing value of a PWM duty command value for adjusting a torque of the motor are set based on the speed difference ΔVD and the acceleration/deceleration value ΔVC, the motor is driven by the PWM duty command value based on the duty increasing value and the decreasing value.

Claims

1. An opening/closing control method of an opening/closing body for a vehicle involving detecting a position of the opening/closing body within an opening/closing area, moving the opening/closing body and a motion speed of the opening/closing body based on a position of the opening/closing body, obtaining a predetermined target speed of the opening/closing body, controlling a feeding value for a motor moving the opening/closing body based on actual speed and the target speed, driving the motor by a torque depend on the feeding amount, the method comprising:

calculating a speed difference between the actual speed and the target speed for the position of the opening/closing body at every predetermined detecting time of the motion speed;

calculating an acceleration/deceleration value of a speed difference between a last detected motion speed and a present detected motion speed;

setting a feeding amount increasing/decreasing value for changing the torque of the motor based on at least the speed difference and the acceleration/deceleration value; and

controlling the motor by a torque depending on one of a feeding value added the feeding amount increasing/decreasing value to a last obtained feeding value and a feeding value subtracted the feeding amount increasing/decreasing value from the last obtained feeding value.

2. An opening/closing control apparatus of an opening/closing body for a vehicle comprising:

motor operating means for operating a motor driving the opening/closing body by a torque depending on a feeding amount;

position detecting means for detecting a position of the opening/closing body within an opening/closing area moving of the opening/closing body;

target speed memory means for memorizing a target speed of the opening/closing body to be set at the position of the opening/closing body within the opening/closing area;

motion speed detecting means for detecting a motion speed of the opening/closing body;

speed difference obtaining means for calculating the difference between the target speed at the position of the opening/closing body and the motion speed at every detecting time of the motion speed;

acceleration/deceleration value obtaining means for calculating the acceleration/deceleration value such as a speed difference between the last detected motion speed and the present detected motion speed;

feeding amount increasing/decreasing value setting means for setting a feeding increasing/decreasing value changing the torque of the motor based on the speed difference and the acceleration/deceleration value; and

motor control means for controlling the motor by one of a feeding value added the feeding increasing/decreasing value to a last obtained feeding value and a feeding value subtracted the feeding increasing/decreasing value from the last obtained feeding value.

3. The opening/closing control apparatus of an opening/closing body for a vehicle according to claim 2, further comprising:

moving direction detecting means for detecting a moving direction of the opening/closing body;

the feeding increasing/decreasing value setting means setting the feeding increasing/decreasing value based on the speed difference, the acceleration/deceleration value and the motion direction when the positions of the opening/closing body is in an acceleration/deceleration area where the target speed is increased/decreased depending on a change of the position of the opening/closing body.

4. The opening/closing control apparatus of an opening/closing body for a vehicle according to claim 3, wherein

the feeding increasing/decreasing value setting means sets an increasing value from a sum of plural feeding increasing/decreasing values to be predetermined set in the acceleration/deceleration area when the moving direction of the opening/closing body is a direction increasing the target speed in the acceleration/deceleration area, and sets an decreasing value from a sum of plural feeding increasing/decreasing values to be predetermined set in the acceleration/deceleration area when the moving direction of the opening/closing body is a direction decreasing the target speed in the acceleration/deceleration area.

5. The opening/closing control apparatus of an opening/closing body for a vehicle according to claim 2, wherein

the feeding increasing/decreasing value setting means sets such that each sum of the increasing value and the decreasing value of plural feeding increasing/decreasing values to be predetermined set in a large load area is larger than each sum of the increasing value and the decreasing value of plural feeding increasing/decreasing values to be predetermined set in an area except the large load area when the position of the opening/closing body is in a large load area where a load resistance by a moving of the opening/closing body is large.

6. The opening/closing control apparatus of an opening/closing body for a vehicle according to claim 2, further comprising:

overload detecting means for detecting whether the load resistance against the opening/closing body is more than a predetermined load judging value; and

reverse control means for controlling the motor by a predetermined overload feeding amount when the load resistance is more than the load judging value, and moving the opening/closing body in a reverse direction.