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A platform for research: civil engineering, architecture and urbanism
MOVABLE BODY CONTROL DEVICE
To provide a movable body control device that can surely detect tucking even if a movable body and an object have flexibility and suppress wrong detection due to a disturbance.SOLUTION: The movable body control device comprises: a tucking detection part that detects tucking of an object on the basis of change in motor currents; and a control part that controls operation of a motor on the basis of the detected result by the tucking detection part. The tucking detection part calculates as a first difference ΔI a difference (a current difference) between motor currents at the beginning and the end of a first time period T, and calculates as a second difference ΔIs (m) a difference (a trend difference) between the motor currents at the beginning and the end of each of a plurality of second time periods W1-W6 obtained by dividing the first time period T. When the first difference ΔI is equal to or greater than a first threshold and when the second differences ΔIs (m) equal to or greater than a second threshold account for a ratio equal to or greater than a third threshold, of the plurality of second differences ΔIs (m), the tucking detection part determines that tucking of the object occurs.SELECTED DRAWING: Figure 4
【課題】移動体や物体が柔軟性を有していても挟み込みを確実に検出でき、かつ外乱による誤検出を抑制できる移動体制御装置を提供する。【解決手段】移動体制御装置は、モータ電流の変化に基づいて物体の挟み込みを検出する挟み込み検出部と、この挟み込み検出部の検出結果に基づいてモータの動作を制御する制御部とを備えている。挟み込み検出部は、第１期間Ｔの最初と最後における各モータ電流の差（電流差分）を第１差分ΔＩとして算出し、第１期間Ｔを分割して得られる複数の第２期間Ｗ１～Ｗ６のそれぞれにつき、当該第２期間の最初と最後における各モータ電流の差（傾向差分）を第２差分ΔＩs(m)として算出する。そして、第１差分ΔＩが第１閾値以上であって、かつ、複数の第２差分ΔＩs(m)のうち、第２閾値以上の第２差分ΔＩs(m) の割合が第３閾値以上である場合に、挟み込み検出部は、物体の挟み込みが発生したと判定する。【選択図】図４
MOVABLE BODY CONTROL DEVICE
To provide a movable body control device that can surely detect tucking even if a movable body and an object have flexibility and suppress wrong detection due to a disturbance.SOLUTION: The movable body control device comprises: a tucking detection part that detects tucking of an object on the basis of change in motor currents; and a control part that controls operation of a motor on the basis of the detected result by the tucking detection part. The tucking detection part calculates as a first difference ΔI a difference (a current difference) between motor currents at the beginning and the end of a first time period T, and calculates as a second difference ΔIs (m) a difference (a trend difference) between the motor currents at the beginning and the end of each of a plurality of second time periods W1-W6 obtained by dividing the first time period T. When the first difference ΔI is equal to or greater than a first threshold and when the second differences ΔIs (m) equal to or greater than a second threshold account for a ratio equal to or greater than a third threshold, of the plurality of second differences ΔIs (m), the tucking detection part determines that tucking of the object occurs.SELECTED DRAWING: Figure 4
【課題】移動体や物体が柔軟性を有していても挟み込みを確実に検出でき、かつ外乱による誤検出を抑制できる移動体制御装置を提供する。【解決手段】移動体制御装置は、モータ電流の変化に基づいて物体の挟み込みを検出する挟み込み検出部と、この挟み込み検出部の検出結果に基づいてモータの動作を制御する制御部とを備えている。挟み込み検出部は、第１期間Ｔの最初と最後における各モータ電流の差（電流差分）を第１差分ΔＩとして算出し、第１期間Ｔを分割して得られる複数の第２期間Ｗ１～Ｗ６のそれぞれにつき、当該第２期間の最初と最後における各モータ電流の差（傾向差分）を第２差分ΔＩs(m)として算出する。そして、第１差分ΔＩが第１閾値以上であって、かつ、複数の第２差分ΔＩs(m)のうち、第２閾値以上の第２差分ΔＩs(m) の割合が第３閾値以上である場合に、挟み込み検出部は、物体の挟み込みが発生したと判定する。【選択図】図４
MOVABLE BODY CONTROL DEVICE
移動体制御装置
MACHII NORIYOSHI (author) / OZAWA AKISHI (author) / KATAYAMA YOTA (author)
2022-09-26
Patent
Electronic Resource
Japanese
IPC:
B60N
SEATS SPECIALLY ADAPTED FOR VEHICLES
,
Sitze besonders für Fahrzeuge ausgebildet
/
B60J
WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES
,
Fenster, Windschutzscheiben und bewegbare Dächer, Türen oder Ähnliches für Fahrzeuge
/
E05F
DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION
,
Vorrichtungen zum Bewegen der Flügel in die Offen- oder Schließstellung
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