JP2012219435A - Control device for vehicle door opening/closing device, control method thereof, and vehicle door opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for a vehicle door opening/closing device, which can reduce sudden operation of a door by regulating the period in which the door can freely slide due to use of a mechanical clutch.SOLUTION: In pinch prevention control, while a door is shifting to the reverse operation, brake control is performed to apply brake force on the door by getting a motor to produce brake torque. At that time, a braking period - t1 to t4 - is changed depending on the door's operation speed during the brake control, a reversing timing of the motor is adjusted, and a free rotation of the output-shaft side in the clutch is regulated.

Description

  The present invention relates to a control device for a vehicle door opening / closing device including a clutch that enables selection between manual opening and closing and automatic opening / closing by a motor, a control method thereof, and a vehicle door opening / closing device.

  As a vehicle door opening / closing device, for example, a power sliding door (PSD) device that opens and closes a sliding door is known. The power slide door device automatically opens and closes the slide door by driving a motor, but it is necessary to open and close the slide door manually, so that a device equipped with a clutch has been proposed.

  Here, in the case of using an electromagnetic clutch as a clutch, in consideration of the fact that power is consumed to drive the electromagnetic clutch, and that a drive circuit, a power supply wiring, etc. are required to drive the electromagnetic clutch. It is advantageous to use a mechanical clutch rather than an electromagnetic clutch. Therefore, as a mechanical clutch, for example, as shown in Patent Document 1, a configuration using a centrifugal force has been proposed.

  This mechanical clutch is provided between a rotating shaft of a motor and an output shaft that rotates by the rotating force of the rotating shaft to open and close the sliding door. When the motor is driven to automatically open and close the slide door, the roller member (power transmission member) of the mechanical clutch moves outward due to the centrifugal force generated by the rotation of the rotation shaft, and the rotation shaft and the output shaft. Are connected, the rotational force of the rotating shaft is transmitted to the output shaft, and the sliding door is automatically opened and closed by the drive of the motor.

  On the other hand, when manually opening and closing the sliding door, since the motor is not driven, centrifugal force due to rotation of the rotating shaft does not occur, so the roller member of the mechanical clutch does not move outward and the rotating shaft and output shaft And cut off. That is, since the rotating shaft of the motor, which is a load when viewed from the door side on the drive transmission path, is separated from the output shaft, the sliding door can be manually opened and closed.

JP 2008-133951 A

  By the way, in the power slide door device as described above, when it is determined that a foreign object is pinched or can be pinched between the slide door that automatically opens and closes by driving the motor and the vehicle body side, a short circuit between the terminals of the motor is once performed. It is equipped with a pinching prevention function that generates brake torque, that is, applies a braking force to the slide door, and then reverses the motor to reverse the slide door to prevent the foreign matter from being released or pinched. .

  However, when the operating speed of the slide door becomes low during the reversal, the rotating shaft of the motor and the output shaft are once disconnected in the mechanical clutch using the centrifugal force, and the idling on the output shaft side, That is, the slide door can run idle. In particular, when the vehicle is stopped on a sloping ground and the weight of the sliding door acts in the operating direction, the sliding door may operate unexpectedly. This is also a concern that the pinching load will increase and that the impact (load torque) applied to the clutch during reverse rotation will increase.

  The present invention has been made to solve the above-mentioned problems, and its purpose is to suppress the time during which the door can run idle by using a mechanical clutch, and to reduce the unexpected operation of the door. Another object of the present invention is to provide a control device for a vehicle door opening / closing device, a control method therefor, and a vehicle door opening / closing device.

  In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that a door for opening and closing an opening provided in a vehicle is opened and closed in accordance with rotation of an output shaft driven by a motor, and the door is automatically opened and closed. When a command occurs, a mechanical clutch is connected with the drive of the motor to transmit the rotational force of the rotating shaft of the motor to the output shaft, and the door is opened and closed by the rotation of the output shaft, When the vehicle is not driven, the clutch is disengaged to disconnect the output shaft and the rotary shaft, and the rotational force of the output shaft from the load side by manual opening and closing of the door is not transmitted to the rotary shaft. In the opening / closing device, a control device for a vehicle door opening / closing device provided with pinching control means for detecting pinching of a foreign object by the door and reversing the door when the pinching is detected. The sandwiching control means includes brake control means for generating brake torque to the motor during the transition to the reversing operation of the door and applying brake force to the door. A door operation speed acquisition means for acquiring an operation speed, a brake control time is changed according to the operation speed at the time of brake control of the door acquired by the door operation speed acquisition means, and the reverse rotation timing of the motor is adjusted. The gist of the invention is that it includes brake time changing means for suppressing idling on the output shaft side in the clutch.

  According to the present invention, in the pinching control, the brake control is performed in which a brake torque is generated in the motor and the brake force is applied to the door during the transition to the reverse operation of the door. At this time, at least the operation speed during the brake control of the door is acquired, the brake control time is changed according to the acquired operation speed at the time of the brake control of the door, the reverse rotation timing of the motor is adjusted, and the output at the clutch The idling on the shaft side is suppressed. In other words, the brake is applied to the door while maintaining the clutch connected state, and the motor is switched to the reverse drive when the door operating speed becomes such that the clutch connected state cannot be guaranteed, and the door reverse operation is performed. To be implemented. As a result, the time during which the door can run idle is suitably suppressed, and an unexpected operation of the door is prevented.

  According to a second aspect of the present invention, in the control device for a vehicle door opening and closing device according to the first aspect, the vehicle door opening / closing device includes a time measuring means for measuring a predetermined time from the detection of the pinching, and the pinching control means is provided in the time counting means. When the brake control time is longer than the predetermined time counted, the gist is that the motor is forcibly reversed when the predetermined time is reached and the door is reversed.

  In this invention, when a predetermined time is counted from the detection of pinching and the brake control time becomes longer than the predetermined time, the motor is forcibly reversed when the predetermined time is reached, and the door reversing operation is performed. To be implemented. In other words, if the door operating speed is slower, the brake control time is longer, and it can be slower to switch from brake control to reverse motor drive, i.e., door reverse operation. In this case, the motor is quickly driven in reverse rotation, and the reverse operation of the door is prevented from becoming unnecessarily long.

  According to a third aspect of the present invention, in the control device for a vehicle door opening / closing device according to the first or second aspect, the motor is integrally assembled with a motor main body that rotationally drives the rotating shaft, and the motor main body. And a speed reduction mechanism having a worm shaft engaged with the worm shaft and a worm wheel meshed with the worm shaft, and the rotational force passing through the worm shaft and the worm wheel being transmitted to the worm wheel. And a speed reduction unit that outputs from the output shaft coupled so as to rotate integrally, and the clutch is provided between the rotation shaft and the worm shaft.

In the present invention, by providing the clutch between the rotating shaft and the worm shaft, that is, before being decelerated, the clutch can be miniaturized and the entire motor can be miniaturized.
A fourth aspect of the present invention is a vehicle door opening and closing device including the control device according to any one of the first to third aspects.

According to the present invention, by performing the control described in the above-mentioned claims, it is possible to provide a vehicle door opening / closing device that suppresses the time during which the door can run idle and reduces the unexpected operation of the door.
According to a fifth aspect of the present invention, when a command for opening / closing a door that opens / closes an opening provided in a vehicle is opened / closed with rotation of an output shaft driven by a motor and the door is automatically opened / closed, a mechanical clutch is generated. Is connected with the drive of the motor to transmit the rotational force of the rotary shaft of the motor to the output shaft, and the door is opened and closed by the rotation of the output shaft, while the clutch is disconnected when the motor is not driven. In the vehicle door opening and closing device that disconnects the output shaft and the rotating shaft and does not transmit the rotational force of the output shaft from the load side by manual opening and closing of the door to the rotating shaft. A vehicle door opening / closing device control method for performing pinching control that reversely operates the door when the pinching is detected, wherein the door in the pinching control is In the middle of the transition to the reversal operation, the brake torque is generated in the motor and the brake control is performed to apply the braking force to the door. The brake control time is changed according to the operating speed at the time of the brake control of the motor, the reverse rotation timing of the motor is adjusted, and the brake time for suppressing the idling on the output shaft side in the clutch is changed. Is the gist.

  In this invention, the same effect as that of the invention of the first aspect can be obtained.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of the vehicle door opening / closing device which can suppress the time which the door can run idle by using a mechanical clutch, and can reduce the unexpected operation | movement of a door, its control method, and vehicle A door opening and closing device can be provided.

It is sectional drawing of the motor used for the slide door opening / closing apparatus of embodiment. It is a block diagram of the vehicle mounting state of the slide door opening and closing device of the embodiment. It is a block diagram including the control apparatus of the sliding door opening / closing apparatus of embodiment. It is a timing diagram for demonstrating the control aspect in embodiment. It is a timing diagram for demonstrating the control aspect in a comparative example.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings.
A motor 11 shown in FIG. 1 is a motor with a mechanical clutch, and is used as a drive source of the slide door opening and closing device 1 mounted on the vehicle shown in FIG. The slide door opening / closing device 1 is disposed in a lower floor of a passenger entrance 2a provided on the side surface of the vehicle body 2, and opens and closes a slide door 3 that opens and closes the passenger entrance 2a. The sliding door 3 is supported by a connecting tool 5 connected to a plurality of guide rails 4 provided on the vehicle body 2, and a driving belt 6 driven by a motor 11 of the sliding door opening / closing device 1 and the connecting tool 5. Are connected to each other. When the drive belt 6 is driven by the motor 11, the slide door 3 slides in the front-rear direction along the side surface of the vehicle body 2 via the connector 5, thereby opening and closing the entrance / exit 2 a.

  As shown in FIG. 1, the motor 11 is a so-called geared motor including a motor body 12 and a speed reduction unit 13. The motor body 12 includes a yoke housing 14, a pair of magnets 15, an armature 16, a brush holder 17, and a pair of brushes 18.

  The yoke housing 14 has a bottomed cylindrical shape, and a pair of magnets 15 are fixed to the inner surface thereof. An armature 16 is rotatably accommodated inside the magnet 15, and a base end portion of a rotating shaft 20 provided in the armature 16 is supported by a bearing 19 provided at the center of the bottom of the yoke housing 14. A flange portion 14b extending outward in the radial direction is formed in the opening portion 14a of the yoke housing 14, and the flange portion 14b is fixed to the opening portion 31a of the gear housing 31 of the speed reduction portion 13 by a screw 21. ing. At the time of fixing, the brush holder 17 is interposed between the openings 14 a and 31 a of the yoke housing 14 and the gear housing 31.

  The brush holder 17 holds, in the yoke housing 14, a bearing 22 that pivotally supports a distal end portion of the rotary shaft 20 and a pair of brushes 18 that are in sliding contact with a commutator 23 fixed to the rotary shaft 20. . A plurality of terminals 24 are inserted in the brush holder 17, and one end of each terminal 24 is electrically connected to the brush 18, a rotation sensor 40 described later, and the like. Further, a connector portion 17a for connecting to a vehicle body side connector (not shown) extending from the vehicle body 2 side is formed at a portion of the brush holder 17 that protrudes outside the housings 14 and 31, and the connector portion 17a. The other end of the terminal 24 is exposed in the connection recess 17b. When the vehicle body side connector is connected to the connector portion 17a, the motor 11 and the ECU 51 provided on the vehicle body 2 side are electrically connected.

The speed reduction unit 13 includes a gear housing 31, a speed reduction mechanism 34 including a worm shaft 32 and a worm wheel 33, an output shaft 35, and a clutch 45.
The gear housing 31 has an opening 31a facing the opening 14a of the yoke housing 14, and a clutch housing portion 31b is recessed from the opening 31a in the axial direction. The clutch housing portion 31b has a substantially cylindrical shaft housing tube portion 31c that extends in the axial direction from the bottom portion and houses the worm shaft 32, and a substantially circular shape that houses the worm wheel 33 continuously with the shaft housing tube portion 31c. A wheel accommodating portion 31d is formed.

  Bearings 36 and 37 are attached to both ends in the axial direction of the shaft housing cylinder 31c, respectively, and the worm shaft 32 inserted into the shaft housing cylinder 31c can be rotated by the bearings 36 and 37. The rotary shaft 20 is supported so as to be coaxial. A worm gear portion 32 a is formed between the support portions of the worm shaft 32 by the bearings 36 and 37. A thrust receiving ball 38 and a thrust receiving plate 39 for receiving the thrust load of the worm shaft 32 are disposed at the tip-facing portion of the worm shaft 32 in the shaft accommodating cylinder portion 31c.

  A disc-shaped worm wheel 33 that meshes with the worm gear portion 32a of the worm shaft 32 is rotatably accommodated in the wheel accommodating portion 31d. An output shaft 35 is coupled to the worm wheel 33 so as to rotate integrally with the worm wheel 33. As shown in FIGS. 2 and 3, the output shaft 35 is coupled to rotate integrally with a drive pulley 7 on which a drive belt 6 for opening and closing the slide door 3 is mounted.

The clutch housing portion 31b houses a mechanical clutch 45 that is disposed between the worm shaft 32 and the rotary shaft 20 and connects and disconnects the worm shaft 32 and the rotary shaft 20.
As shown in FIGS. 1 and 3, the mechanical clutch 45 includes a rotary shaft side movable member (not shown) that rotates integrally with the rotary shaft 20, and a worm shaft side driven member that rotates integrally with the worm shaft 32. A member (not shown) is provided. A power transmission member (not shown) is provided between the rotary shaft side movable member and the worm shaft side driven member. The power transmission member is disposed so as to be immovable in the circumferential direction and movable in the radial direction with respect to the rotary shaft side movable member. The power transmission member is given an elastic force by a spring (not shown) so as not to protrude from the outer peripheral surface of the rotary shaft side movable member.

  And if a rotating shaft side movable member rotates with the rotating shaft 20, a centrifugal force will be provided to a power transmission member by the rotation. The power transmission member to which the centrifugal force is applied moves radially outward against the elastic force of the spring and protrudes from the outer peripheral surface of the rotary shaft side movable member. When the power transmission member protrudes from the outer peripheral surface of the rotating shaft side movable member, the power transmission member engages with a fitting recess formed on the inner surface opposite to the outer peripheral surface of the rotating shaft side movable member of the worm shaft driven member. As a result, the worm shaft driven member (worm shaft 32) is connected to the rotating shaft side movable member (rotating shaft 20) via the power transmission member.

  On the contrary, when the rotating shaft 20 (rotating shaft side movable member) does not rotate, no centrifugal force is applied to the power transmission member. Therefore, the power transmission member cannot protrude from the outer peripheral surface of the rotating shaft side movable member by the elastic force of the spring, and does not engage with the fitting recess formed on the inner surface of the worm shaft driven member. Thereby, the worm shaft driven member (worm shaft 32) and the rotary shaft side movable member (rotary shaft 20) are disconnected. Therefore, the worm shaft side driven member idles with respect to the rotating shaft side movable member (rotating shaft 20) as the worm shaft 32 rotates. As a result, when the worm shaft 32 is rotated from the output shaft 35 side, the rotary shaft 20 serving as a rotational load as viewed from the output shaft 35 side is disconnected from the worm shaft 32. As described above, the mechanical clutch 45 of the present embodiment connects / disconnects the worm shaft 32 and the rotary shaft 20 depending on whether or not the rotary shaft 20 is driven. The details of the mechanical clutch 45 can be easily understood by referring to, for example, the gazette shown in Patent Document 1, and further detailed description is omitted for the sake of convenience.

  By providing such a clutch 45, when the motor body 12 is driven and the rotary shaft 20 rotates, the worm shaft 32 rotates via the clutch 45, and the worm shaft 32 rotates via the worm wheel 33. As a result, the output shaft 35 rotates. Then, by the rotation of the output shaft 35, the slide door 3 operates in the fully open direction or the fully closed direction. On the other hand, when the rotating shaft 20 is not rotating, the clutch 45 disconnects the worm shaft 32 and the rotating shaft 20, so that the rotation from the output shaft 35 becomes easy. That is, a large operating force is not required for manually opening and closing the sliding door 3.

  Incidentally, since the output shaft 35 is linked to the slide door 3, the output shaft 35 rotates according to the operation direction of the slide door 3 both when driven by the motor body 12 and during manual operation, and at the same time, the operation speed of the slide door 3 is increased. The relative rotation speed (rotational speed) is obtained. The rotation amount and the rotation position of the output shaft 35 are opposed to the operation amount and the operation position of the slide door 3. Therefore, the worm shaft 32 that is linked to the output shaft 35 rotates relative to the rotation direction of the output shaft 35 (the operation direction of the slide door 3), and the rotation speed of the output shaft 35 (the operation speed of the slide door 3). ). Further, the rotation amount and rotation position of the worm shaft 32 are opposed to the rotation amount and rotation position of the output shaft 35 (the operation amount and the operation position of the slide door 3).

  A rotation sensor 40 is provided in the vicinity of the bearing 37 provided at the distal end of the shaft accommodating cylinder portion 31c. The rotation sensor 40 has a sensor magnet 41 attached to the worm shaft 32 and two Hall elements 42a and 42b attached to the inner peripheral surface of the shaft accommodating cylinder portion 31c so as to face the sensor magnet 41. ing. The sensor magnet 41 is a ring-shaped magnet in which N and S poles are magnetized at an equal pitch in the circumferential direction, and is attached to the worm shaft 32 so as to rotate integrally with the worm shaft 32. On the other hand, the Hall elements 42a and 42b attached to the inner peripheral surface of the shaft accommodating cylinder portion 31c output pulse signals that change to the H / L level according to the magnetic poles of the sensor magnet 41, respectively. In addition, the Hall elements 42a and 42b are relatively arranged so that the phases of the pulse signals are output with a 90 degree shift.

  The ECU 51 sequentially calculates the rotation direction, rotation speed, rotation amount, and rotation position of the worm shaft 32 based on both or one of the pulse signals output from the hall elements 42a and 42b. That is, the ECU 51 sequentially calculates the operation direction, operation speed, operation amount, and operation position of the slide door 3 from the calculated rotation direction, rotation speed, rotation amount, and rotation position of the worm shaft 32.

  The ECU 51 opens and closes the open command signal So for opening the slide door 3 from the fully closed position to the fully open position and the slide door 3 from the fully open position to the fully closed position by an open / close operation switch (not shown) provided in the slide door 3 and the like. A close command signal Sc for closing is input. When the opening command signal So is input, the ECU 51 drives and controls the motor body 12 to open the sliding door 3 to the fully opened position. When the closing command signal Sc is input, the ECU 51 sets the sliding door 3 to the fully closed position. The motor main body 12 is driven and controlled to be closed. In addition, when the slide door 3 is opened and closed, the ECU 51 performs PWM control on the motor body 12 and also controls the speed of the door 3.

  Further, a pinch detection sensor 52 is provided at a predetermined portion of the slide door 3, and a detection signal from the pinch detection sensor 52 is input to the ECU 51. Here, the pinch detection sensor 52 is provided, for example, over the entire vertical direction of the front end portion of the slide door 3, and holds or holds a foreign object between the slide door 3 that is closed and the entrance 2a of the vehicle body 2. A possible state is detected, and a pinching detection signal is output to the ECU 51. Based on the pinching detection signal from the pinching detection sensor 52, the ECU 51 determines whether or not the foreign object has been pinched by the slide door 3 (whether pinching can occur).

  If it is determined that pinching has occurred (can occur), the ECU 51 reverses the sliding door 3 that is closed (predetermined amount of opening operation), that is, a motor, in order to allow the foreign object pinched by the sliding door 3 to be released. The drive of the main body 12 is switched from normal rotation to reverse rotation. At this time, the ECU 51 performs a short circuit between the terminals of the motor main body 12 (short circuit between the pair of brushes 18) during the transition from the normal rotation to the reverse rotation of the motor main body 12, and generates brake torque on the rotating shaft 20 of the motor main body 12. The brake control is performed to apply a braking force to the operation of the slide door 3. In the present embodiment, the ECU 51 varies the time for applying the braking force (brake control time) according to the operating speed of the slide door 3 at that time.

  As shown in FIG. 5, a predetermined time ta set in advance at a predetermined time is measured by a timer, and during the specified time ta, brake control is performed by short-circuiting between terminals of the motor body 12, and the sliding door 3 is In the case of applying the braking force, the clutch 45 is disengaged early if the operating speed of the door 3 is rapidly reduced due to the action of its own weight on the slide door 3 due to the inclination of the vehicle body 2. That is, the idle time of the output shaft 35 is advanced from the disconnection of the rotating shaft 20 and the worm shaft 32 of the motor main body 12, and the door 3 can sufficiently run idle until the sliding door 3 actually reverses. May give time.

  Based on this, as shown in FIG. 4, the ECU 51 of the present embodiment compares the operation speed with the determination speed va based on the calculated operation speed of the slide door 3. The determination speed va is set to, for example, a lower limit speed (lower limit rotation speed) that maintains the engaged state of the clutch 45. That is, when the operating speed of the slide door 3 becomes equal to or lower than the determination speed va, the worm shaft 32 interlocked with the door 3 is insufficiently rotated, the clutch 45 is switched to the disconnected state, and the slide door 3 can run idle. Therefore, the ECU 51 switches from the brake control to the reverse drive of the motor body 12 when the operating speed of the slide door 3 becomes equal to or lower than the determination speed va. Incidentally, the brake control time when the vehicle is stopped on a flat ground is time t1, whereas when the operating speed of the slide door 3 is fast and low when the vehicle is stopped on a sloping ground, the brake control time is shorter than the previous time t1. Thus, when the operating speed of the slide door 3 is slow and slow, the brake control time is a time t3 longer than the previous time t1.

  Further, in the present embodiment, the measurement of the specified time ta by the timer is also used. That is, when the operating speed of the slide door 3 is slower, the brake control time is longer, and there is a concern that switching from the brake control to the reverse drive of the motor main body 12 is delayed. Therefore, before the operation speed of the slide door 3 becomes equal to or less than the determination speed va, when the time count of the specified time ta by the timer is finished, the brake control is forcibly switched to the reverse rotation drive of the motor body 12, and the slide door 3 The reversing operation is not unnecessarily long. When the operating speed of the slide door 3 is further slow as described above, the brake control time is the same time t4 as the specified time ta. That is, the brake control time does not become longer than time t4.

  Thus, in the brake control set in the middle of the reversing operation of the slide door 3 by the pinching, the brake control time is made variable based on the operation speed of the slide door 3 acquired at that time, and the clutch 45 is connected. The brake is applied to the slide door 3 while maintaining the above. When the operating speed of the door 3 at which the clutch 45 cannot be assured, the motor body 12 is switched to reverse driving, and the sliding door 3 is reversed to release the trapped foreign matter. Thereby, since the time during which the slide door 3 can run idle is suitably suppressed, the unexpected operation of the door 3 is prevented, the pinching load is reduced, and the impact (load torque) applied to the clutch 45 during reverse rotation is reduced. Figured.

Next, characteristic effects of the present embodiment will be described.
(1) In the pinching control in the ECU 51, brake control is performed in which a brake torque is generated in the motor body 12 and a brake force is applied to the door 3 during the transition to the reversing operation of the slide door 3. At this time, the brake control time (t1 to t4) is changed according to the operating speed at the time of brake control of the slide door 3, the reverse rotation timing of the motor body 12 is adjusted, and the worm shaft 32 side (output shaft) of the clutch 45 is adjusted. 35 side) idling is suppressed. That is, the brake body is applied to the slide door 3 while maintaining the connected state of the clutch 45, and the motor main body 12 is switched to the reverse drive when the operating speed of the door 3 at which the connected state in the clutch 45 cannot be guaranteed. The reversing operation of the door 3 is performed. Thereby, the time which the slide door 3 can run idle can be suppressed suitably, and the unexpected action | operation of the door 3 can be prevented.

  (2) The specified time ta is counted by the timer from the detection of the jamming, and when the brake control time becomes longer than the measured specified time ta, the motor body 12 is forcibly reversed when the specified time ta is reached. Then, the reversing operation of the slide door 3 is performed. That is, when the operation speed of the slide door 3 is slower, the brake control time is longer, and it is possible to delay the switching from the brake control to the reverse drive of the motor body 12, that is, the reverse operation of the door 3. It is possible to prevent the motor body 12 from being driven to reversely rotate for a specified time ta or longer, and the reverse operation of the door 3 to be unnecessarily prolonged.

  (3) The clutch 45 is provided between the rotating shaft 20 of the motor body 12 and the worm shaft 32 of the speed reduction mechanism 34. That is, by providing the clutch 45 at a position before being decelerated by the speed reduction mechanism 34, it is possible to reduce the size of the motor 11 because it does not receive a large torque, and to reduce the size of the entire motor 11.

In addition, you may change embodiment of this invention as follows.
Although not specifically mentioned in the above embodiment, the actual value of the operating speed is compared with the determination speed va in the comparison between the operation speed of the door 3 and the determination speed va. This may be estimated, for example, from the initial degree of change in the operating speed of the door 3, and the brake control time may be set by comparing the estimated value with the determination speed va.

  In the above embodiment, the brake control time is made variable by using the comparison with the determination speed va of the operation speed of the door 3 and the measurement of the specified time ta by the timer, but the determination speed va of the operation speed of the door 3 If only the comparison is made, the timer can be omitted.

In the above embodiment, the clutch 45 is provided between the rotation shaft 20 of the motor body 12 and the worm shaft 32 of the speed reduction mechanism 34, but may be provided on a drive transmission path other than this.
In the above embodiment, the operation state of the slide door 3 is detected based on the detection of the rotation state of the worm shaft 32. However, the operation state of the door 3 is detected using other members on the drive transmission path as detection targets. You may make it do.

  In the above embodiment, the present invention is applied to a vehicle door opening / closing device that opens and closes the slide door 3, but may be applied to other vehicle doors, for example, a door opening / closing device such as a back door.

  DESCRIPTION OF SYMBOLS 3 ... Slide door (door), 11 ... Motor, 12 ... Motor main body, 13 ... Deceleration part, 20 ... Rotating shaft, 32 ... Worm shaft, 33 ... Worm wheel, 34 ... Deceleration mechanism, 35 ... Output shaft, 45 ... Clutch 51 ... ECU (pinch control means, brake control means, door operation speed acquisition means, brake time change means, timekeeping means).

Claims (5)

When a command for opening / closing a door that opens / closes an opening provided in a vehicle is opened / closed with rotation of an output shaft driven by a motor and the door is automatically opened / closed, a mechanical clutch is connected together with the driving of the motor. The rotational force of the rotating shaft of the motor is transmitted to the output shaft, and the door is opened and closed by the rotation of the output shaft, while the clutch is disconnected when the motor is not driven, and the output shaft and the rotating shaft In the vehicle door opening and closing device that does not transmit the rotational force of the output shaft from the load side due to manual opening and closing of the door to the rotating shaft, the foreign object is caught by the door, and the jam is detected. A control device for a vehicle door opening and closing device provided with a pinching control means for reversing the door sometimes,
The sandwiching control means includes
For the one provided with brake control means for generating a brake torque in the motor during the transition to the reversing operation of the door and applying a braking force to the door,
Door operating speed acquisition means for acquiring an operating speed during at least brake control of the door;
The brake control time is changed according to the operation speed at the time of brake control of the door acquired by the door operation speed acquisition means, the reverse rotation timing of the motor is adjusted, and the idling on the output shaft side in the clutch is performed. A control device for a vehicular door opening and closing device, comprising: a brake time changing means for suppressing. The control device for a vehicle door opening and closing device according to claim 1,
A time measuring means for measuring a predetermined time from detection of the pinching,
When the brake control time is longer than the predetermined time counted by the time measuring means, the pinching control means forcibly reverses the motor when the predetermined time is reached, and performs the reverse operation of the door. A control device for a vehicle door opening and closing device. In the control device for a vehicle door opening and closing device according to claim 1 or 2,
The motor includes a motor main body that rotationally drives the rotary shaft, a worm shaft that is integrally assembled with the motor main body and that transmits the rotational force of the rotary shaft, and a worm wheel meshed with the worm shaft. A reduction mechanism that includes a reduction mechanism that outputs the output from the output shaft that is coupled so as to rotate integrally with the worm wheel.
The control device for a vehicle door opening and closing device, wherein the clutch is provided between the rotating shaft and the worm shaft.   A vehicle door opening and closing device comprising the control device according to claim 1. When a command for opening / closing a door that opens / closes an opening provided in a vehicle is opened / closed with rotation of an output shaft driven by a motor and the door is automatically opened / closed, a mechanical clutch is connected together with the driving of the motor. The rotational force of the rotating shaft of the motor is transmitted to the output shaft, and the door is opened and closed by the rotation of the output shaft, while the clutch is disconnected when the motor is not driven, and the output shaft and the rotating shaft In the vehicle door opening and closing device that does not transmit the rotational force of the output shaft from the load side due to manual opening and closing of the door to the rotating shaft, the foreign object is caught by the door, and the jam is detected. A control method for a vehicle door opening and closing device that performs pinching control to reversely operate the door sometimes.
In the brake control for generating a brake torque to the motor during the transition to the reversing operation of the door in the sandwiching control and applying a brake force to the door,
Obtaining an operating speed at least during brake control of the door;
The brake control time is changed according to the acquired operation speed at the time of brake control of the door, the reverse rotation timing of the motor is adjusted, and the brake time for suppressing idling on the output shaft side in the clutch is changed. A control method for a vehicle door opening and closing device, characterized in that it is configured as described above.

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