Door opening and closing device
A door opening and closing device includes a motor which generates drive power for a door in an opening and closing direction of the door, a door position sensor which detects an opening and closing position of the door, and a controller which controls the motor based on the opening and closing position. The motor includes a stator having at least three-phase coils and a rotor. The motor generates the drive power when the rotor rotates with respect to the stator. The controller performs door holding control of generating, as the drive power, a holding force for holding the door at the opening and closing position, in a case where the opening and closing position is within a predetermined range. In the door holding control, the controller energizes at least two phases of the motor such that rotation of the rotor is braked to generate the holding force.
1 . A door opening and closing device, comprising:
a motor configured to generate drive power for a door in an opening direction and a closing direction of the door;
a door position sensor configured to detect an opening and closing position of the door; and
a controller configured to control the motor based on the opening and closing position detected by the door position sensor,
wherein:
the motor comprises a stator comprising at least three-phase coils and a rotor configured to rotate with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator;
the controller is configured to enter a door holding control mode when the door position sensor detects that the opening and closing position of the door lies within a predetermined range, wherein in the door holding control mode, the controller energizes at least two phases of the motor to brake rotation of the rotor and generate a holding force, thereby inhibiting opening and closing of the door;
the controller is configured to enter the door holding control mode, in a case where an acceleration in the opening direction or the closing direction of the door is less than a predetermined value and the opening and closing position of the door lies within the predetermined range, and
the controller is configured to not enter the door holding control mode regardless of the opening and closing position of the door when the acceleration is equal to or larger than the predetermined value.
2 . The door opening and closing device according to claim 1 ,
wherein the controller is configured to exit the door holding control mode when the opening and closing position of the door lies outside the predetermined range under the door holding control mode.
3 . The door opening and closing device according to claim 1 ,
wherein in the door holding control mode, the controller energizes two phases corresponding to a rotation position of the rotor with respect to the stator.
4 . The door opening and closing device according to claim 1 ,
wherein the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position, and
the controller increases the holding force as the opening and closing position of the door lies closer to the predetermined position, and decreases the holding force as the opening and closing position of the door lies apart away from the predetermined position.
5 . The door opening and closing device according to claim 1 ,
wherein the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position, and
the controller decreases the magnitude of the holding force in a case where the opening and closing position is the predetermined position to be smaller than a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the first position to the predetermined position, and a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the predetermined position to the second position.
6 . A door opening and closing device, comprising:
a motor configured to generate drive power for a door in an opening direction and a closing direction of the door;
a door position sensor configured to detect an opening and closing position of the door; and
a controller configured to control the motor based on the opening and closing position detected by the door position sensor,
wherein:
the motor comprises a stator comprising at least three-phase coils and a rotor configured to rotate with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator;
the controller is configured to enter a door holding control mode when the door position sensor detects that the opening and closing position of the door lies within a predetermined range, wherein in the door holding control mode, the controller energizes at least two phases of the motor to brake rotation of the rotor and generate a holding force, thereby inhibiting opening and closing of the door;
in the door holding control mode, the controller changes a magnitude of the holding force depending on the opening and closing position of the door;
the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position; and
the controller increases the holding force as the opening and closing position of the door lies closer to the predetermined position, and decreases the holding force as the opening and closing position of the door lies apart away from the predetermined position.
7 . A door opening and closing device, comprising:
a motor configured to generate drive power for a door in an opening direction and a closing direction of the door;
a door position sensor configured to detect an opening and closing position of the door; and
a controller configured to control the motor based on the opening and closing position detected by the door position sensor,
wherein:
the motor comprises a stator comprising at least three-phase coils and a rotor configured to rotate with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator;
the controller is configured to enter a door holding control mode when the door position sensor detects that the opening and closing position of the door lies within a predetermined range, wherein in the door holding control mode, the controller energizes at least two phases of the motor to brake rotation of the rotor and generate a holding force, thereby inhibiting opening and closing of the door;
in the door holding control mode, the controller changes a magnitude of the holding force depending on the opening and closing position of the door; the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position, and
the controller decreases the magnitude of the holding force in a case where the opening and closing position is the predetermined position to be smaller than a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the first position to the predetermined position, and a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the predetermined position to the second position.