Opening/closing control device
An opening/closing body control device is provided that can quickly detect pinching even when the opening/closing body is bent due to the pinching. An opening/closing body control device includes a motor drive unit that drives a motor for opening and closing the opening/closing body, and a control unit that controls an operation of the motor drive unit. The opening/closing control device includes a difference value calculator that calculates a current difference value that is a difference between a present value and a past value of a motor current, a differential value calculator that calculates a differential value of the current difference value, an adder that adds the current difference value and the differential value, and a pinching detection unit that judges whether or not pinching occurs at the opening/closing body based on a comparison result between the added value and a threshold.
1 . An opening/closing control device comprising:
a motor drive unit that drives a motor to open and close an opening/closing body,
a control unit controls an operation of the motor drive unit,
the control unit includes:
a difference value calculation unit calculates a current difference value, which is a difference between a present value and a past value of a motor current flowing in the motor,
a differential value calculation unit calculates a differential value of the current difference value calculated by the difference value calculation unit,
an adding unit adds the current difference value and the differential value,
a pinching detection unit that judges whether or not there is a pinching at the opening/closing body based on the result of a comparison between an added value calculated by the adding unit and a predetermined threshold value.
2 . An opening/closing control device comprising:
a motor drive unit that drives a motor to open and close an opening/closing body,
a control unit controls an operation of the motor drive unit,
the control unit includes:
a difference value calculation unit calculates a speed difference value, which is the difference between a present value and a past value of a motor speed,
a differential value calculation unit calculates a differential value of the speed difference value calculated by the difference value calculation unit,
an adding unit that adds the speed difference value and the differential value,
a pinching detection unit that judges whether or not there is a pinching at the opening/closing body based on the result of a comparison between an added value calculated by the adding unit and a predetermined threshold value.
3 . The opening/closing control device according to claim 1 ,
wherein the adding unit adds the current difference value and the differential value multiplied by a predetermined coefficient.
4 . The opening/closing control device according to claim 1 ,
wherein the differential value is a differential value obtained by differentiating the current difference value by time, or a differential value obtained by differentiating the current difference value by a position of the opening/closing body.
5 . The opening/closing control device according to claim 1 ,
wherein instead of the motor current, a motor torque, which is proportional to the motor current, is used,
the pinching detection unit judges the presence or absence of pinching by comparing a difference value of the motor torque and its differential value, which are added, with a threshold value.
6 . The opening/closing control device according to claim 2 ,
wherein the adding unit adds the speed difference value and the differential value multiplied by a predetermined coefficient.
7 . The opening/closing control device according to claim 2 ,
wherein the differential value is the differential value obtained by differentiating the speed difference value by time, or the differential value obtained by differentiating the speed difference value by a position of the opening/closing body.
8 . The opening/closing control device according to claim 1 ,
wherein the opening/closing body is a rotary opening/closing body that is supported at one end on a rotary shaft and rotated around the shaft by the motor.
9 . The opening/closing control device according to claim 8 ,
wherein the opening/closing body is a back door provided at the rear of a vehicle,
the motor rotates the back door via an opening/closing mechanism connected to the back door.