JPH06141574A - Power seat motor control method and motor control device - Google Patents

Abstract

PURPOSE:To provide a motor controller for power seat in which impact is suppressed at the time of starting/stopping a motor. CONSTITUTION:A predetermined limit resistor, having such resistance as the required motor torque can be ensured at the time of forward or reverse start of a motor M1, is inserted in series with the winding resistance of the motor M1 through a torque switching means 16 for a predetermined time after provision of a specific operational command. The motor M1 is started at low speed with the applied voltage restricted by the specific limit resistor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power seat motor control method in which the position of a movable member of a seating posture control device can be arbitrarily adjusted and set in accordance with the seated person's body shape, preferences, etc. by motor drive control. And a motor control device.

[0002]

2. Description of the Related Art For example, in a vehicle or the like, a so-called power seat equipped with various seating attitude control devices such as a seat slide device, a seat lifter, and a reclining device that are movable by drive control of a motor is known. Are known.

As such a power seat motor,
Generally, a DC geared motor (DC motor) is used. The motor is connected to the motor control device, for example, and is configured to be drive-controllable by turning on / off the switch means of the motor control device or switching the relay contact of the motor control relay.

Here, in the configuration using the DC motor,
Generally, regenerative braking caused by a short circuit between winding terminals of a motor is used to stop the motor, that is, the movable member. According to such a configuration, the holding force at the time of stoppage, which is a characteristic of the DC motor, can be effectively used, and the stopped state of the motor is reliably held under regenerative braking, so that the stopping accuracy of the movable member is improved. Is improved.

[0005]

By the way, in a seating posture control device having a movable member having a relatively wide movement range, such as a seat in a seat slide device, rapid movement of the movable member is required. Therefore, in recent years, in the power seat, the rotation speed of the motor is increased,
The high speed rotation of the motor ensures quick movement of the movable member.

However, in the known configuration, the start or stop of the motor is controlled by the application or interruption of the supply voltage to the motor due to the on / off of the switch means and the switching of the relay contact, so that the motor is suddenly stopped. Starting and stopping is inevitable.

In particular, in a movable member that directly supports the load of a seated person, such as a seat in a seat slide device, shocks at the time of starting and stopping the motor are easily transmitted to the seated person through the movable member. . When starting the motor,
The shock at the time of stopping gives discomfort and anxiety to the seated person,
This may impair the comfort of the seated person.

Here, as a measure for preventing a shock at the time of starting and stopping the motor, for example, a transistor or FET is used.
It is generally conceivable to control the speed of the motor by speed control means using (field effect transistor) or the like.

However, in such a speed control means, the structure is likely to be complicated, and since the transistors, FETs, etc. are expensive, the overall cost of the speed control means and the motor control device is increased.

Further, in such a speed control means, the voltage burden on the transistors, FETs, etc. is large, and the transistors, FETs, etc. are likely to have heat. Therefore, the transistors, FETs, and the like generate heat, which may adversely affect nearby electronic circuit elements and the like, which is not preferable.

It is an object of the present invention to provide a power seat motor control method and a motor control device for suppressing shocks when the motor is started and stopped.

[0012]

In order to achieve this object, according to the power seat motor control method of the present invention, it is possible to secure a motor torque required at the time of forward rotation start and reverse rotation start of the motor. The predetermined limiting resistance is set for a predetermined time from the generation of a predetermined operation command at motor startup,
It is inserted in series with the winding resistance of the motor. Then, the motor is started at a low speed under the corresponding applied voltage suppressed by the predetermined limiting resistance.

Further, after a lapse of a predetermined time from the generation of the corresponding operation command, the insertion of the limiting resistor is released, and the motor is steadily driven under the steady applied voltage supplied to the motor without passing through the limiting resistor. I am letting you.

[0014]

Embodiments of the present invention will now be described in detail with reference to the drawings.

As shown in FIGS. 1 and 2, a power seat motor control device 10 according to the present invention comprises a manual switch 12, an automatic switch 14, a torque switching means 16 and a central processing unit 18. The drive of the motors M1 to M3 can be controlled by operating a predetermined switch.

Normally, DC geared motors can be used as the motors M1 to M3, and each of the motors has a seating posture control device mounted on a seat (for example, an assistant seat) 19, such as a seat slide device 20 and a reclining device 22. Are provided as drive sources of the center folding mechanism 24, respectively.

As can be seen from FIG. 2, the motor
M1 to M3 are connected to a power source, for example, a vehicle battery (not shown) via relay contacts RL1a to RL6a of motor control relays RL1 to RL6, which will be described later, and drive control can be performed by switching the relay contacts. ing.

Then, the motors M1 to M3 are driven and controlled, and the seat slide device 20, the reclining device 22 and the center folding mechanism 24 are respectively operated, whereby the front and rear positions of the seat 19 and the overall inclination angle of the seat back 26 ( The reclining angle), the inclination angle (tilt angle) of the seat back upper end portion 26a, etc. can be adjusted. In addition, the seat slide device 20, the reclining device
22 and the center folding mechanism 24 have well-known configurations, and the configurations thereof are not the purpose of the present invention, and will not be described in detail.

As shown in FIGS. 1 and 2, the motors M1 to M3
Are formed, for example, each having position detecting means 28-1 to 28-3. Position detection means 28-1 to 28
-3, for example, as shown in FIG. 2, a disk-shaped permanent magnet 30 fixed to an output shaft (not shown) of the motor,
Reed switch 32 adjacent to the side of the permanent magnet
Rotation sensors configured with and can be used respectively.

In such a configuration, the motors M1 to M3
With the rotation of each output shaft of the, the permanent magnet 30 integrally rotates, and the reed switch opens and closes due to the fluctuation of the polarity of the permanent magnet passing through the side of the corresponding reed switch 32, generating a pulse. To be done.

As shown in FIGS. 1 and 2, the reed switches 32 of the rotation sensor (position detecting means) are connected to the central processing unit 18, respectively. The pulses from the rotation sensors 28-1 to 28-3 generated by driving the motors M1 to M3 are output to the central processing unit 18, and the number of each pulse is counted in the central processing unit,
Remembered.

Then, by the count numbers of the rotation sensors 28-1 to 28-3, the rotation numbers of the motors M1 to M3, that is, the front and rear positions of the seat 19, the reclining angle of the seat back 26 and the tilt angle of the seat back upper end portion 26a. Are detected respectively. The pulse count is, for example,
Counts up when the motors M1 to M3 rotate forward and counts down when they rotate in reverse.

The motors M1 to M3 are driven and controlled by operating the manual switch 12, for example. As shown in FIG. 2, the manual switch 12 includes a slide switch 12-1, a reclining switch 12-2, and a tilt switch 12-3. As shown in FIG. 1, the manual switch 12 is provided at a position where a seated person (assistant) can operate, for example, at a side of the seat cushion 34 of the seat 19.

As shown in FIG. 2, the manual switch 12
As each of the switches, for example, an automatic return type seesaw type switch having a neutral position and a contact of two positions, which can switch the rotation directions of the motors M1 to M3 depending on the operation direction, can be used. Each switch of the manual switch 12 is connected to the central processing unit 18, as shown in FIGS.

The central processing unit 18 is formed by including a microcomputer (microcomputer) 36, which is capable of processing an input according to a stored program and generating an appropriate control signal. As can be seen from FIGS. 1 and 2, the control signal is output to, for example, the relay driver 38, and the relay driver controls energization and deenergization of an appropriate one of the motor control relays RL1 to RL6. ing. Then, the motor control relays RL1 to RL
Of the six, the energized relay is the corresponding relay contact RL.
By switching 1a to RL6a respectively, the motor M1 to
Each M3 is driven and controlled.

For example, when the slide switch 12-1 of the manual switch is operated at any seat position, a corresponding signal is output to the central processing unit 18. Then, the control signal processed by the central processing unit 18 is output to the relay driver 38, and the signal from the relay driver is used to, for example, the motor control relay.
Either RL1 or RL2 is energized and the corresponding relay contact RL
1a, RL2a can be switched. And relay contacts RL1a, RL2
By switching a, the motor M1 is driven in the corresponding direction, the seat 19 slides in the front-rear direction, and the front-rear position of the seat is adjusted.

Incidentally, for example, by switching the relay contact RL1a associated with the energization of the motor control relay RL1, the motor M1
Is driven in the normal rotation direction, and the seat 19 is advanced. Also,
By switching the relay contact RL2a accompanying the energization of the motor control relay RL2, the motor M2 is driven in the reverse direction and the seat
19 is retreated.

Also, when the reclining switch 12-2 and the tilt switch 12-3 of the manual switch are operated, the corresponding signals are output to the central processing unit 18, and the processed signals are Relay driver 38
Is output to. Then, by a signal from the relay driver 38, for example, one of the motor control relays RL3 to RL6 is energized and the corresponding relay contacts RL3a to RL6a are switched to drive the motors M2 and M3 in the corresponding directions. . Then, as the motors M2 and M3 are driven, the seat back 26 and the seat back upper end portion 26a are respectively swung in the front-rear direction, and the respective positions are adjusted.

As can be seen from FIGS. 1 and 2,
The central processing unit 18 and the relay driver 38 are, for example,
It is connected to a power supply via a regulated power supply 40 and each operates under a supply voltage which is regulated by the stabilized power supply.

Further, the power seat motor control device 10 of the present invention has an auto switch 14 including, for example, switches 14-1 to 14-3, as can be seen from FIG. Then, the motor control device 10 sets the seat position (existing memory position) of each switch that is preset and stored in the existing memory (not shown) of the central processing unit 18 to the auto switch 14 (14-1 to 14-3).
By the operation of, each is configured to be reproducible.

As the auto switch 14 (14-1 to 14-3),
For example, push-button switches of the automatic resetting type are available, and each switch is connected to the central processing unit 18.

As can be seen from FIG. 1, the auto switch 14 is arranged, for example, on the side of the seat cushion 34 or the like, like the manual switch 12.

As can be seen from Table 1, the existing memory position positions (1), (2), and (3) are, for example, the driver's assistance, the normal position for getting on and off, and the view through the window. The enjoyable position for enjoying, etc., the relax position for taking a rest, and taking a nap are set respectively corresponding to the auto switches 14-1 to 14-3.

[0034]

[Table 1]

Here, the positions of the seat 19, the seat back 26, etc. are set and stored in the memory of the central processing unit 18 as the movement amount from the setting reference detected by the number of rotations of the motors M1 to M3, for example. There is.

As shown in FIG. 3, the seat slide device 20
The setting reference LSx is, for example, the rearmost of the sliding range, the forward distance from the rearmost is recognized as the sliding amount LS of the seat 19, and the current position of the seat is recognized as the current value LS1.

Further, as shown in FIG. 3, the setting reference θBx of the reclining device 22 is the foremost tilt position of the seat back 26, the rearward tilt angle from the foremost tilt position is the reclining angle θB of the seat back, and The current reclining angle of the seat back is recognized as the current value θB1. The reclining angle θB of the seat back 26 is normally set to 19 ° ≦ θB ≦ 85 °.

Further, in the center folding mechanism 24, as shown in FIG. 3, the last tilt position of the seat back upper end portion 26a is set as the reference θTx, and the forward tilt angle from the last tilt position is the tilt of the seat back upper end portion. As the angle θT, the current tilt angle of the upper end of the seat back is the current value θT.
Recognized as T1. The tilt angle θT of the seat back upper end portion 26a is normally set to 0 ° ≦ θT ≦ 30 °.

For example, when the auto switch 14-1 is operated, the memory value at position (1) (normal position) is read and compared with the current count number (current value) of the motors M1 to M3. Then, each motor is driven in the corresponding direction until the count number of the motors M1 to M3 matches the corresponding memory value, and the normal position of the seat 19 is automatically and provisionally set.

Under the operation of the auto switches 14-2 and 14-3, the seat 19 is temporarily set to the corresponding position (2) (enjoy position) or position (3) (relax position). To be done.

With such a structure, the preset seat position can be easily set by operating the auto switch 14, and the operation labor at the time of setting the seat position is sufficiently reduced.

The power seat motor control device 10 of the present invention is embodied as a structure in which the normal position, the enjoy position and the relax position are stored in advance, but the invention is not limited to this. For example, in the driver seat, a drive position suitable for driving, a ride position for getting on and off, and the like may be set by operating the auto switch 14.

Further, the motor control device 10 may be embodied as a structure having a setting memory which can be arbitrarily set and memorized by a seated person, without being limited to the preset existing memory.

Here, as shown in FIGS. 1 and 2, in the present invention, the torque switching means 16 is, for example, a motor.
It is interposed between the winding terminal of M1 and the relay contact RL1a. The torque switching means 16 is provided with, for example, limiting resistors R1 and R2 and switching contacts RL7a, which are connected in parallel, respectively, and the limiting resistors can be inserted into the winding terminals of the motor M1 by the operation of the switching contacts. .

As the limiting resistances R1 and R2, for example, general low resistances can be used respectively. As the switching contact RL7a, for example, a control relay RL7 connected to the central processing unit 18 via the relay driver 38 can be used, and the switching contact causes both terminals of the limiting resistors R1 and R2 to be short-circuited by the switching operation. It is formed and connected so that the short circuit can be released.

As shown in FIG. 2, in a normal state, that is, when the control relay RL7 is deenergized, the terminals of the limiting resistors R1 and R2 are short-circuited by the switching contact RL7a, and the winding terminal of the motor M1 limits the current. The resistance is released.

Further, for example, as shown in FIGS. 4 and 5, when the motor M1 is started and stopped, the switching contact RL7a is switched in accordance with the energization of the control relay RL7 so that the limiting resistors R1 and R2 are connected between the terminals. The short circuit of the control relay is released
The limiting resistor is inserted in the winding terminal of the motor M1 only for a predetermined time when RL7 is energized.

The predetermined time for inserting the limiting resistors R1 and R2 differs depending on whether the motor M1 is started or stopped. For example, at start-up, as shown in FIGS. 6 and 7, during manual control and automatic control. In both cases, it is said to be about 0.3 s from the generation of an operation command associated with switch operation.

In the manual control, an operation command for starting the motor is generated by operating the manual switch (slide switch) 12-1. In the auto control, one of the auto switches 14 is operated. An operation command is generated by the operation of.

As shown in FIG. 6, when the motor M1 is stopped by manual control, the manual switch
When the operation of 12-1 is released, an operation command when the motor is stopped is generated, and after the operation command is generated, the limiting resistors R1 and R2 are inserted into the winding terminals of the motor M1 for a predetermined time, for example, 0.5 s.

Here, when the motor M1 is stopped by the automatic control, the stop position of the seat 19 can be recognized in advance. Therefore, as shown in FIG. 7, the limiting resistance of about 0.5 s is reached before the stop position is reached. The motor M1 is decelerated by inserting R1 and R2, and it is configured to stop at the stop position from the decelerated state. With such a configuration, the stop accuracy of the motor M1 can be ensured during the automatic control, and the stop error of the seat position can be sufficiently suppressed.

As can be seen from FIGS. 6 and 7,
The motor M1 is started and stopped by energizing and deenergizing the motor control relays RL1 and RL2 after a time lag of 20 msec from the generation of the operation command at the time of starting and stopping the motor.

By the way, as can be seen from FIG. 1, as the seat 19, for example, the seat slide device 20 is tilted backward by about 6 ° so as to prevent the forward slip of the seated person (submarine phenomenon). It is known that the above-mentioned structure is attached. That is, in such a configuration, the seat 19 slides in the direction of climbing the slope when moving forward, and slides in the direction of descending the slope when moving backward, so that different loads are applied to the motor M1 during normal rotation and during reverse rotation. .

Therefore, in the present invention, limiting resistors having different resistance values can be inserted into the winding terminals of the motor M1 according to the forward rotation and the reverse rotation of the motor M1, for example, the limiting resistor R2.
A diode D1 is provided on the side. And the motor M1
Either the parallel circuit of limiting resistors R1 and R2 or limiting resistor R1 can be inserted depending on the direction of the current flowing through.

According to such a configuration, as shown in FIG. 4, when the motor M1 starts to rotate in the normal direction when the relay contact RL1a is switched, a forward current flows through the diode D1. Parallel circuit is formed and inserted into the winding terminal of the motor M1. Then, the motor M1 is started in the forward rotation direction under the applied voltage VMf calculated by the mathematical formula shown in Formula 1.

[0056]

[Equation 1]

Here, VB indicates a steady applied voltage (battery voltage), and IMf indicates a motor current at the time of sliding forward.

Further, as shown in FIG. 8, the relay contact RL2a
At the time of reverse rotation start of the motor M1 due to the switching of the
Since it is in the opposite direction, the limiting resistance R1
Only is inserted in series with the winding ends of the motor M1. Then, the motor M1 is started in the reverse rotation direction under the voltage VMr calculated by the mathematical formula shown in Formula 2.

[0059]

[Equation 2]

Here, limiting resistance R1 = 2 Ω, limiting resistance R2 =
It has been confirmed by experiments that by selecting 0.56Ω, almost the same slide speed can be obtained when moving forward and backward.

In such a configuration, the manual switch 12, the auto switch 14, the relay contact RL1a shown in FIG.
~ RL6a, and from the initial state of the switching contact RL7a, for example, if the slide switch 12-1 is operated in the forward direction,
First, the signal from the slide switch 12-1 is output to the central processing unit 18. Then, by the signal from the central processing unit 18, as shown in part a of FIGS. 4 and 6,
After a 20 msec time lag, the motor control relay RL1 is energized and the relay contact RL1a is switched.

By operating the manual switch 12-1, the control relay RL7 is energized for a predetermined time, for example, 0.3 s, and the switching contact RL7a is switched.

As can be seen clearly from FIG. 4, when the switching contact RL7a is switched with the energization of the control relay RL7, the short circuit between the terminals of the limiting resistors R1 and R2 is released, and the motor
Parallel limiting resistors R1 and R2 are inserted at the winding terminals of M1. That is, as shown in part a of FIG. 6, limiting resistors R1 and R2 in parallel are connected.
The applied voltage VMf suppressed by is applied to the motor M1, and the motor M1 is started at a low speed in the forward rotation direction under the applied voltage VMf.

Then, as shown in part a of FIG. 6 and FIG. 9, for example, 0.3 seconds from the operation of the slide switch 12-1.
After a certain time, the switching relay RL7 is deenergized and the switching contact
RL7a is switched, and the terminals of the limiting resistors R1 and R2 are short-circuited. Then, the motor current IMf flows to the motor M1 via the relay contact RL7a without passing through the limiting resistors R1 and R2, and the motor M1 is normally driven under the steady battery voltage VB, so that the seat 19 is rotated. It is slid forward.

According to such a configuration, the parallel limiting resistors are
Under the applied voltage VMf suppressed by R1 and R2, the motor
M1 is started at a low speed in the forward rotation direction, so-called soft start, and after a lapse of a predetermined time, under the steady drive of the motor M1,
The seat 19 is slid forward. Therefore, the shock at the time of starting the motor is sufficiently suppressed, and the comfort of the seated person is improved without giving the seated person the discomfort and anxiety caused by the shock.

Since the parallel circuit of the limiting resistors R1 and R2 activates the motor M1 under a large motor torque, it is necessary when the seat 19 is moved forward, that is, when the seat slide device 20 is climbed up. Sufficient motor torque can be secured.

Further, for example, when the seated person recognizes the desired seat position and releases the operating force of the slide switch 12-1, as shown in part a of FIG.
7 is re-energized, and the switching contact RL7a is switched. Then, for example, only during the time lag of 20 msec, as shown in FIG. 4, the limiting resistors R1 and R2 in parallel are inserted in the winding terminals of the motor M1, the applied voltage is suppressed, and the motor M1 is driven at a low speed, that is, Is slowed down.

After a lapse of time lag, the central processing unit 18
When the motor control relay RL1 is deenergized and the relay contact RL1a is switched by the signal from, the winding terminal of the motor M1 is short-circuited via the limiting resistance R1.R2, as shown in FIG. The motor M1 is further decelerated under the regenerative braking force suppressed by the limiting resistance.

When 0.5 s has passed since the slide switch 12-1 was released, the switching of the switching contact RL7a caused by the energization of the control relay RL7 caused the switching between the terminals of the limiting resistors R1 and R2 as shown in FIG. Are short-circuited together, and the motor is
M1 is stopped.

According to this structure, the motor M1 is decelerated under the applied voltage VMf and the regenerative braking force suppressed by the insertion of the parallel limiting resistors R1 and R2, and stopped from the decelerated state. It Therefore, the so-called soft stop of the motor M1 can be performed, the shock when the motor is stopped can be sufficiently suppressed, and the occupant does not feel discomfort or anxiety caused by the shock.

Then, after 0.5 s has elapsed since the operation of the slide switch 12-1 was released, the terminals of the limiting resistors R1 and R2 were short-circuited by the switching of the switching contact RL7a accompanying the energization of the control relay RL7. Normal regenerative braking force acts on the motor M1. Therefore, under the regenerative braking of the motor M1, the seat
The stopping accuracy of 19 can be sufficiently ensured, and the seat is held at the stop position by a sufficient holding force.

On the contrary, the slide switch
When 12-1 is operated in the backward direction, a signal from the central processing unit 18 causes
The control relay RL7 is energized to switch the switching contact RL7a, and the motor control relay RL2 is energized to switch the relay contact RL2a. Then, the limiting resistor R1 is inserted into the winding terminal of the motor M1, and the motor current IMr at the time of reverse rotation flows through the motor M1, and the motor M1 is started at a low speed in the reverse rotation direction under the applied voltage VMr.

Then, as shown in part b of FIG. 6 and FIG. 10, for example, from the operation of the slide switch 12-1 to 0.
After 3 seconds, the control relay RL7 is deenergized and the relay contacts
When RL7a is switched, the terminals of limiting resistor R1 are short-circuited. Then, the motor current IMf is as shown in FIG.
The current flows to the motor M1 via the switching contact RL7a without passing through the limiting resistor R1.
The seat 19 is slid rearward by being driven in the reverse direction.

That is, even when the motor M1 rotates in the reverse direction, the motor M1 is so-called soft-started as in the case of the normal rotation, so that the shock at the time of starting the motor can be sufficiently suppressed.

Then, when the motor M1 is started in reverse rotation, only the limiting resistor R1 is inserted in the motor M1, so that the motor M1 is started under a smaller motor torque compared to when starting in normal rotation. Therefore, when the seat 19 is retracted, that is, the motor torque necessary for descending the inclination of the seat slide device 20 can be sufficiently secured.

Further, for example, when the seated person recognizes the desired seat position and releases the operating force of the slide switch 12-1, as shown in part b of FIG.
7 is reenergized to switch the switching contact RL7a, and the motor control relay RL1 is deenergized to relay contact RL1a.
Can be switched. Then, as shown in FIG. 5, the motor M1
The winding ends of the motor are short-circuited via the limiting resistances R1 and R2, and the motor is controlled by the regenerative braking force suppressed by the limiting resistance.
M1 is further decelerated.

When 0.5 s has elapsed from the release of the operation of the slide switch 12-1, the switching contact RL7a is switched by the energization of the control relay RL7, and as shown in FIG. Are short-circuited together, and the motor is
M1 is stopped.

That is, since the motor M1 is so-called soft-stopped as in the normal rotation, the shock when the motor is stopped can be sufficiently suppressed.

Further, for example, when the auto switch 16-1 is operated, first, the signal from the switch 16-1 is output to the central processing unit 18, and the corresponding processing command is generated from the central processing unit 18.

Here, if, for example, an operation command for normal rotation start is generated as the operation command, the control relay RL7 is energized as shown in part a of FIG.
After the time lag of 20 msec, the motor control relay RL1 is energized, and as shown in FIG. 4, the relay contact RL1a, the switching contact
RL7a is switched respectively.

Then, by releasing the short circuit between the terminals of the limiting resistors R1 and R2, the limiting resistors R1 and R in parallel with the winding terminals of the motor M1 are released.
2 is inserted, and as shown in part a of FIG. 7, the motor M1 is started at a low speed in the forward direction under the applied voltage VMf suppressed by the parallel limiting resistors R1 and R2.

Then, as shown in part a of FIG. 7 and FIG. 9, as in the case of the manual control, for example, after 0.3 s has elapsed from the generation of the operation command, the control relay RL7 is deenergized,
When the relay contact RL7a is switched, the terminals of the limiting resistors R1 and R2 are short-circuited. Then, the motor current IMf flows to the motor M1 via the relay contact RL7a without passing through the limiting resistances R1 and R2, and the motor M1 receives the steady battery voltage VB.
The seat 19 is slid forward by being driven to rotate in the normal direction.

Here, as shown in part a of FIG.
In the automatic control of M1, 0.5 s before the seat 19 reaches the memory position, the control relay RL7 is first re-energized to switch the switching contact RL7a, and as shown in FIG. The resistors R1 and R2 are inserted in the winding terminals of the motor M1, the applied voltage is suppressed, and the motor M1 is driven at low speed.
In other words, the speed is reduced.

And the seat 19 to the memory position
When the operation command is generated at the time of the stop, the motor control relay RL1 is released as shown in part a of FIG.
, The control relay RL7 is deenergized, and the motor M1 is stopped under the steady regenerative braking force by the loop without the limiting resistors R1 and R2, as shown in FIG.

That is, since the motor M1 is so-called soft-started even during the automatic control of the motor M1,
Shock at motor startup can be sufficiently suppressed.

During the automatic control, the motor M1 is decelerated before reaching the memory position, and the motor M1 is stopped under regenerative braking almost at the same time when the memory position is reached. Therefore, a large error may occur. Without
The memory position of the seat 19 can be set under the soft stop of the motor M1, and the seat stop accuracy is further improved.

Similarly to this, the auto switch 16-1
Even when the motor M1 is started in reverse due to the operation of
When a corresponding operation command is generated, as shown in part b of
The control relay RL7 is energized, and after a time lag of 20 msec, the motor control relay RL2 is energized, and the relay contact RL2a and the switching contact RL7a are switched as shown in FIG. Then, when the short circuit between the terminals of the limiting resistor R1 is released, the limiting resistor R1 is inserted in the winding terminal of the motor M1, and the motor current IMr at the time of reverse rotation flows through the motor M1, and under the applied voltage VMr, the motor M1 Is started at low speed in the reverse direction.

As in the case of the manual control, as shown in part b of FIG. 7 and FIG. 10, for example, when 0.3 s has elapsed from the generation of the operation command, the relay contact RL7a is switched by deactivating the control relay RL7. , The terminals of limiting resistors R1 and R2 are short-circuited. Then, as shown in FIG. 10, the motor current IMf does not pass through the limiting resistor R1 but the relay contact RL7a.
To the motor M1, the motor M1 is reversely driven under the steady battery voltage VB, and the seat 19 is slid backward.

Then, as shown in part b of FIG. 7, 0.5 s before the seat 19 reaches the memory position, the control relay RL7 is re-energized, and the limiting resistor R1 is inserted into the winding terminal of the motor M1. Thus, the motor M1 is driven at a low speed under the suppressed applied voltage VMr.

After that, the seat 19 to the memory position
When the operation command is generated at the time of stop due to the arrival of the motor control relay RL2, as shown in part b of FIG.
, Both control relays RL7 are de-energized. Then, Figure 2
As shown in, a loop not formed with the limiting resistors R1 and R2 is formed between the winding terminals of the motor M1, and the motor M1 is stopped under the constant regenerative braking force due to the short circuit of the winding terminals.

Reference numerals 42 and 43 and reference numerals 46 and 47 in the drawing indicate limit switches for the motor M1 and the motor M3. Such limit switches 42, 43 and 46, 47 are respectively provided so as to be able to detect the movement limit positions of the movable members such as the seat 19 and the seat back 26a. When the movable members reach the movement limit positions, the limit switches 42, 43 and 46, 47 It is configured to cut off current.

In such a configuration, the limit switch 4
2,43 and 46,47 reliably define the moving range of the movable members such as the seat 19 and the seat back upper end portion 26a, so that excessive movement of the movable members, that is, excessive driving of the motors M1 and M3 is prevented. It can be sufficiently prevented and the safety of the motor etc. is secured,

Here, the limit switches 42, 43 and 46, 47 are respectively embodied in the motors M1, M3, but the present invention is not limited to this. In addition to this, the limit switches 42, 43 and 46 are also provided in the motor M2. May be provided.

Motor control device for power seat having the above structure
The motor control method according to 10 will be described in detail with reference to the flowcharts of FIGS.

As can be seen from FIG. 11, first, when the power is turned on, for example, the ignition switch is turned on, an initialization operation such as setting an initial value is performed.
(102).

After completion of the initialization operation,
First, it is determined whether the manual switch 12 has been operated and turned on (104). Here, if the manual switch 12 is operated and it is determined to be YES, it is appropriately processed in the manual operation routine of FIG. 12 (106).

In the manual operation routine as shown in FIG. 12, first, of the manual switches 12, a slide switch 12-1 and a reclining switch 12-.
2. Which switch of the tilt switch 12-3 is operated is sequentially determined (202), (204), (206).

For example, when the slide switch 12-1 is operated, YES is determined in (202), and
In the manual slide driving routine of (208), it is appropriately processed (208).

As can be seen from FIG. 13A, in the manual slide drive routine, first, it is judged whether or not the slide switch 12-1 has been operated in the forward direction (302).

For example, if YES is determined in (302) by operating the slide switch 12-1 in the forward direction, then the forward operation flag FSf of the slide switch 12-1 is set (1). Is determined (30
Four) . Here, the switch 12-1 for sliding in the forward direction
The flag FSf is set (1) by the operation of, so Y
It is determined to be ES, and then it is determined whether the operation flag FSL of the limit switches 42 and 43 is set (1), that is, whether the seat 19 is within the sliding range (30).
6).

Within the sliding range of the seat 19, normally, the limit switches 42 and 43 are in the conductive state, and the operation flag FSL of the limit switch is set (1). Therefore, YES is determined in (306). , Then the motor
It is judged whether the normal rotation drive flag N of M1 is set (1) (308). If NO is determined by the stopped state of the motor M1, for example, the central processing unit
The timer T1 of 18 is started (310), the control relay RL7 is energized, and the switching contact RL7 is switched.
(312) (See FIGS. 4 and 6a).

Here, when the motor M1 is driven in the normal direction,
If the slide switch 12-1 is operated by mistake, the motor
Since the forward rotation drive flag N of M1 has already been set (1), YES is determined in (308), and FIG.
It is returned as shown in FIG.

Then, in (312) of FIG.
When the control relay RL7 is energized, as shown in FIG. 13B, it is judged by the timer T1 whether or not 20 msec has been measured (314). Here, until the timer T1 passes 20 msec, it is judged as NO and the manual switch
When a time lag from the operation of 12-1 is formed and 20 msec elapses, it is determined as YES, the motor control relay RL1 is energized (316), and the motor M1 is positive under the suppressed applied voltage VMf. It is started at a low speed in the rolling direction (see FIG. 6a).

Then, it is judged whether or not the timer T1 measures 0.3 s (318). When it is determined that 0.3 s has elapsed from the operation of the slide switch 12-1 by the measurement by the timer T1, the control relay RL7 is deenergized (320).
, The terminals of limiting resistors R1 and R2 are short-circuited, and motor M1
Is driven steadily under the steady battery voltage VB, and the seat 19 is advanced (see FIG. 9).

When the control relay RL7 is deenergized, the timer T1 is reset (322), and the forward rotation drive flag N of the motor M1 is set (1).
The procedure returns to step 2 of the manual operation routine.

Then, as shown in the manual operation routine of FIG. 12, the forward operation flag FSf of the slide switch 12-1, the backward operation flag FSr, the forward tilt operation flag FRf of the reclining switch 12-2, and the backward tilt operation flag. FRr, and the tilting operation flag FTf and the tilting operation flag FTr of the tilt switch 12-3 are all reset (210), as shown in FIG.
The main routine of No. 1 is once returned.

Then, for example, if the manual switch 12-1 is released after the desired seat position is recognized, it is determined as NO in (302) of FIG. 13A,
Next, it is judged whether the forward operation flag FSf of the slide switch 12-1 is set (1) (304). Here, since the flag FSf is reset (0) by the operation release of the manual switch 12-1, it is judged as NO,
Next, it is judged whether the forward rotation drive flag N of the motor M1 is set (326).

[0108] If the motor M1 is driven in the normal direction and the answer in (326) is YES, the timer T2 is started (328), the control relay RL7 is energized (330), and the motor M1 is suppressed. It is driven at a low speed under the applied voltage VMf (see FIG. 4 and FIG. 6a). Then, FIG. 13 (B)
As shown in Fig. 3, first, the timer T2 determines whether or not a time lag of 20 msec is formed (332), 20 msec.
If YES is determined in accordance with the above, the motor control relay RL1 is deenergized (334), the winding terminal of the motor M1 is short-circuited, and the motor M1 is stopped from the decelerated state (Fig. 5, Fig. 6a part). reference).

Then, it is judged whether or not the timer T2 has measured 0.5 s (336), and if the judgment is YES, the switching of the switching contact RL7a accompanying the deenergization of the control relay RL7 causes the motor M1 to be switched. The stationary regenerative braking force acts on the winding end of the seat 19 to arbitrarily set the position of the seat 19 (338).

At this time, as shown in FIG. 13B, the timer T2 is reset (340) as the control relay RL7 is deenergized, and the forward operation flag FSf of the slide switch 12-1 is set. Is reset (0) (342). Then, by stopping the motor M1, the forward rotation drive flag N of the motor M1 is reset (0), and the process returns to the manual operation routine of FIG.

Then, in (210) of FIG. 12, for example, the operation flags FSf and FSr of the slide switch 12-1 are reset (0), and the process is returned to the main routine of FIG. The manual control of the motor M1 is completed with the operation of -1.

Further, for example, when the slide switch 12-1 is operated in the backward direction in an attempt to move the seat 19 backward, it is determined as YES in (104) of FIG. 11 and at (202) of FIG. , YES,
Similar to the forward operation, it is appropriately processed according to the manual slide driving routine of FIG.

As shown in FIG. 13A, first, (302)
In S1, it is determined whether or not the slide switch 12-1 has been operated in the forward direction. Here, it is determined as NO, and then the forward operation flag F of the manual switch 12-1.
It is determined whether Sf is set (1). Then, by operating the manual switch 12-1 in the backward direction,
If NO is determined in (304), then the motor M1
It is judged whether the normal rotation drive flag N is set (1) (326).

Here, since the motor M1 is stopped, it is determined to be NO, and as shown in FIG. 13C, it is next determined whether or not the slide switch 12-1 has been operated in the backward direction. To be done (346). Then, by operating the slide switch 12-1 in the backward direction, YE is set at (346).
If it is determined to be S, then it is determined whether the backward operation flag FSr of the slide switch 12-1 is set (1) (348).

By setting (1) of the backward operation flag FSr following the operation of the sliding switch 12-1 in the backward direction, (3
When it is determined to be YES in 48), it is then determined whether the operation flag FSL of the limit switches 42 and 43 is set (1), that is, whether the seat 19 is within the slide range. (350).

If the seat 19 is within the sliding range and the operation flag FSL of the limit switch is set (1), YES is determined in (350), and then the motor
It is determined whether the reverse rotation drive flag M of M1 is set (1) (352). If NO is determined by the stopped state of the motor M1, for example, the central processing unit
When the timer T1 of 18 starts (354), the control relay RL7 is energized and the switching contact RL7a is switched (3
56) (See Fig. 6b, Fig. 8).

Here, at the time of normal rotation driving of the motor M1,
When the slide switch 12-1 is operated, the motor forward drive flag M has already been set (1).
In, it is determined to be YES, and the process is returned as shown in FIGS. 13 (D) and 13 (B).

Then, as shown in FIG. 13D, it is judged by the timer T1 whether or not 20 msec has been measured (358). Here, until the timer T1 has passed 20 msec, it is determined as NO and the slide switch 12
When a time lag from the operation of -1 is formed and 20 msec has elapsed, YES is determined, the motor control relay RL2 is energized (360), and the motor M1 rotates in the reverse direction under the suppressed applied voltage VMr. At low speed (see FIG. 6b, FIG. 8).

Then, it is judged whether or not the timer T1 measures 0.3 s (362). When it is determined that 0.3 s has elapsed from the operation of the slide switch 12-1 by the measurement by the timer T1, the control relay RL7 is deactivated (364).
, The terminals of the limiting resistor R1 are short-circuited, the motor M1 is constantly driven under the constant battery voltage VB, and the seat
19 is retracted (see FIG. 6b, FIG. 10).

When the control relay RL7 is deenergized, the timer T1 is reset (366) and the reverse rotation drive flag M of the motor M1 is set (1).
The procedure returns to step 2 of the manual operation routine.

Then, as shown in FIG. 12, next, for example, the operation flags FSf and FSr of the slide switch 12-1.
Is reset (208) and returns to the main routine of FIG.

Then, for example, when the operation of the slide switch 12-1 is canceled after the desired seat position is recognized, the NO in (302), (304) and (326) of FIG. 13 (A).
Then, it is determined whether or not the slide switch 12-1 is operated in the backward direction (346). Here, by releasing the operation of the slide switch 12-1, (346)
If it is determined to be NO at step 370, then it is determined whether the reverse drive flag M of the motor M1 is set (1) (370).

At this time, since the motor M1 is driven in the reverse rotation direction, depending on the set state (1) of the flag M, YE
When it is judged as S, the timer T2 starts and (3
72), the control relay RL7 is energized (374), and the motor M1
Deceleration drive is performed under the suppressed applied voltage VMf (see FIG. 6b and FIG. 8).

Then, as shown in FIG. 13D, first, it is judged by the timer T2 whether or not a time lag of 20 msec is formed (376).
When it is determined to be ES, the winding end of the motor M1 is short-circuited by the deenergization of the motor control relay RL2 (378), and the motor M1 is stopped from the deceleration state (see FIGS. 5 and 6b).

Then, it is next judged whether or not the timer T2 has measured 0.5 s (380), and if the judgment is YES, then FIG.
Control relay RL7 is de-energized as shown in part b of (382).
The position of the seat 19 is arbitrarily set under the steady regenerative braking force acting on the motor M1.

As shown in FIG. 13D, the timer T2 is reset (384) as the control relay RL7 is deenergized, and the reverse operation flag FSr of the slide switch 12-1 is reset ( 0) Yes (386). And the motor
When M1 is stopped, the reverse rotation drive flag M of the motor M1 is reset (0), and the process returns to the manual operation routine of FIG.

Then, in (208) of FIG. 12, for example, the operation flags FSf and FSr of the slide switch 12-1 are reset (0), and the process is returned to the main routine of FIG. The manual control of the motor M1 is completed due to the operation of 12-1.

When the other manual switch 12, for example, the reclining switch 12-2 is operated, it is determined to be NO in (202) and YES in (204) of the manual operation routine of FIG. Then, it is appropriately processed according to a manual reclining drive routine (not shown) (212), and the seat back
26 reclining angles can be adjusted arbitrarily.

Further, when the tilt switch 12-3 is operated, NO is determined in (202) and (204) of FIG. 12, and YES is determined in (206) of FIG. 12, and a manual / tilt drive routine (not shown) is executed. Then, the tilt angle of the seat back upper end portion 26a is arbitrarily adjusted (214).

When the auto switch 16 is operated at any position on the seat 19, it is determined as NO in (104) of FIG. Then, next, it is determined whether or not the auto switch 16 is operated (108), and if YES is determined, the processing is appropriately performed according to the memory reproducing operation routine of FIG. 14 (110).

As shown in FIG. 14, in the memory reproducing operation routine, first, it is sequentially determined which one of the auto switches 14-1 to 14-3 has been operated (302), (304). , (306).

Here, for example, if it is determined that the auto switch 14-1 has been operated, YES is determined in (302), and appropriate processing is performed in accordance with the position (1) reproduction operation routine of FIG. 15 (308). ).

As shown in FIG. 15, in the position (1) reproduction operation routine, first, the operation flag FP1 of the auto switch 14-1 is set (1) (402). Then, next, for example, it is determined whether the current reclining angle θB1 of the seatback 26 is smaller than the memory value θB0, that is, whether the seatback is tilted forward from the memory position (404).

For example, when the seat back 26 is tilted forward from the memory position, at (404), YE
Judged as S. Then, first, appropriate processing is performed in the automatic slide drive routine of FIG. 16 to set the front and rear positions of the seat 19 (406).

As shown in FIG. 16A, in the automatic slide drive routine, first, the limit switch
It is judged whether the operation flags FSL of 42 and 43 are set (1) (502). If the seat 19 is within the slide range and the operation flag FSL is set (1), (502)
Is determined to be YES, and then it is determined whether or not the current value LS1 of the seat 19 is larger than the memory value LS0 here, that is, whether or not the seat is positioned in front of the memory position ( 504).

For example, assuming that the seat 19 is located behind the memory position, it is determined as NO in (504), and then the present value LS1 and the memory value L
It is determined whether S0 and S0 match (506). Here, because the current value LS1 and the memory value LS0 do not match,
It is determined to be NO, and then the difference between the current value LS1 and the memory value LS0 is a predetermined reference value when the slide is advanced, for example, 28 mm.
It is determined whether it is greater than (508).

Here, for example, the difference between the current value LS1 and the memory value LS0 is larger than 28 mm, and at (508), YE
When it is judged to be S, the timer T2 is started (510), the control relay RL7 is energized, and the switching contact RL7a is activated.
Are switched (512). Then, the timer T2 determines whether or not 20 msec has been measured (514), 20
If YES is determined after the time lag of msec is formed, the motor control relay RL1 is energized (516), and the motor M1 is started at a low speed in the forward rotation direction under the suppressed applied voltage VMf (Fig. 4, see FIG. 7a).

After the motor M1 is started, the operation shown in FIG.
As shown in (B), it is determined whether or not the timer T2 measures 0.3 s (518). When the timer T2 measures 0.3 s from the generation of the operation command accompanying the operation of the auto switch 16-1, it is determined as YES in (518), and the small movement flag S is set (1). It is determined whether or not (520).

Since it is assumed here that the difference between the current value LS1 and the memory value LS0 is larger than 28 mm, the small movement flag S is in the reset (0) state, and it is judged as NO,
Control relay RL7 is deactivated (522). Then, by switching the switching contact RL7a with the deactivation of the control relay RL7,
As shown in part a of FIG. 7 and FIG. 9, the motor M1 is steadily driven in the forward direction under the steady battery voltage VB, and the seat 19 is slid in the forward direction.

Then, as shown in FIG. 16B, the normal value L of the slide is driven by the forward rotation of the motor M1.
Whether the difference between S1 and the memory value LS0 has reached 17.5 mm,
The next decision is made (524).

Here, 17.5 mm, which is the difference between the current value LS1 and the memory value LS0, is a value obtained by converting the amount of movement for 0.5 s during the slide forward movement into the distance, and the current value LS1 and the memory value L
NO at (524) until the difference with S0 reaches 17.5mm.
Therefore, the motor M1 is continuously driven in the forward rotation direction.

Then, when the difference between the current value LS1 and the memory value LS0 reaches 17.5 mm and it is judged YES at (524), first, the control relay RL7 is energized to switch the switching contact RL7a, Limiting resistors R1, R2 in parallel with winding terminals of motor M1
Under the suppressed applied voltage VMf.
The M1 is driven at a low speed (526) (see FIGS. 4 and 7a).

Then, it is judged whether or not the operation flag FSL of the limit switches 42, 43 is set (1) (528), and if the seat 19 is within the sliding range, it is judged as YES. Then, it is further determined whether or not the current value LS1 matches the memory value LS0, that is, whether or not the seat 19 has reached the memory position (530).

Now, seat 19 to the memory position
Is not reached, it is judged as NO, and (528), (530)
In, it is repeatedly judged.

When the current value LS1 matches the memory value LS0 and it is judged as YES in (530), both the motor control relay RL1 and the control relay RL7 are deenergized, and the motor M1 is stopped from the deceleration state. (532) (see Figure 7a). After that, the small movement flag S is reset (0) ((5)
34), and returns to the position (1) reproduction operation routine of FIG.

Here, for example, when the difference between the current value LS1 and the memory value LS0 is smaller than the predetermined value of 28 mm, it is determined as NO in (508) of FIG. 16A,
The small movement flag S is set (1) (536).

Then, according to (510) to (516), the motor
M1 is started in the normal rotation direction under the suppressed applied voltage VMf, and the timer T2 measures 0.3 s.
If YES is determined in (518), it is determined whether the small movement flag S is set (1) (520).

Here, since the small movement flag S is set, YES is determined in (520), and next,
At (528), it is determined whether or not the operation flag FSL of the limit switches 42, 43 is set (1). For example, when the determination is YES, the current value LS1 and the memory value LS0 further match. It is determined whether or not (530). Then, the seat 19 reaches the memory position and the current value L
If S1 matches the memory value LS0, at (530),
When YES is determined and the motor control relays RL1 and RL7 are deenergized (532), the motor M1 is stopped from the low speed drive state.

That is, in such a configuration, the current value LS1 is compared with the memory value LS0, and the difference, that is,
When it is determined that the movement amount of the sheet 19 is a small movement range that is less than the predetermined reference value, the motor M1 controls the applied voltage V suppressed.
It is driven at low speed all the time with Mf. Therefore, when the seat 19 is moved for a short distance, the driving speed of the motor M1 is not frequently changed, and the comfort of the seated person is secured.

Since the switching operation of the relay contact RL1a, the switching contact RL7a, etc. can be prevented, the life of the relay contact etc. is not adversely affected.

Although it is assumed here that the seat 19 is slid from the seat position behind the memory position, that is, when the seat is slid forward, conversely, when the seat is slid backward, FIG.
It is determined to be YES in (504) of (A). Then, next, the distance required to slide the sheet 19, that is,
It is determined whether the difference between the current value LS1 and the memory value LS0 is larger than a predetermined reference value when sliding backward, for example, 36 mm (538).

Here, for example, the difference between the current value LS1 and the memory value LS0 is larger than 36 mm, and at (538), YE
When it is judged as S, the timer T1 starts and
(540) The control relay RL7 is energized to switch the switching contact RL7a (542) (see FIG. 7b).

Then, by the timer T1, 20 ms
It is determined whether or not ec is measured (544), and if the determination is YES after the formation of the time lag of 20 msec, the motor control relay RL2 is energized (546) and the applied voltage VMr is suppressed. , The motor M1 is started at low speed in the reverse rotation direction (Fig. 7b).
Part, see FIG. 8).

Then, as shown in FIG. 16B, it is judged whether or not the timer T1 has measured 0.3 s (5
48). Auto switch 16 by measuring with timer T1
When it is determined that 0.3 s has elapsed from the generation of the operation command associated with the operation of -1, it is determined whether the small movement flag S is set (1) (550). Here, since it is assumed that the difference between the current value LS1 and the memory value LS0 is larger than the reference value of 36 mm, the small movement flag S is reset (0), so it is determined as NO in (550). , Control relay RL
7 is deenergized (522), and the seat 19 is slid in the backward direction by the steady drive of the motor M1 (see FIG. 7b portion, FIG. 10).

Thereafter, it is judged whether or not the difference between the current value LS1 and the memory value LS0 has reached a predetermined value, for example, 22.5 mm by the reverse driving of the motor M1 (554). Here, the difference of 22.5 mm between the current value LS1 and the memory value LS0 is
It is a value converted from the movement amount for 0.5 s when the slide is retracted, and the difference between the current value LS1 and the memory value LS0 is 22.5.
Until it reaches mm, it is determined to be NO at (554), and the motor M1 is continuously driven in the reverse rotation direction.

The difference between the current value LS1 and the memory value LS0 is 22.5.
mm, and if the answer in (554) is YES, the control relay RL7 is first energized (526), and the switching contact RL7a is switched to limit the limiting resistance R1, R2 in parallel with the winding terminal of the motor M1. Under the suppressed applied voltage VMr, the motor M1
Is driven at a low speed, that is, decelerated (see FIG. 4 and FIG. 7b).

Then, it is judged whether the operation flag FSL of the limit switches 42, 43 is set (1) (558), and if the seat 19 is within the sliding range, it is judged as YES. Then, it is further determined whether or not the current value LS1 matches the memory value LS0, that is, whether or not the seat 19 has reached the memory position (560).

Here, the seat to the memory position
If 19 is not reached, it is judged as NO, and (558), (56
In 0), the judgment is repeated. And the current value LS
1 matches the memory value LS0, and at (560) YES
Motor control relay RL2, control relay RL
Both 7 are deenergized, and the motor M1 is stopped from the decelerated state under regenerative braking (562) (see FIGS. 2 and 7b).
After that, the small movement flag S is reset (0) (564),
The process returns to the position (1) reproduction operation routine of FIG.

Also, for example, when the difference between the current value LS1 and the memory value LS0 is smaller than the reference value of 36 mm, it is determined as NO in (538) of FIG. Is set (1).

Then, according to (540) to (546), the motor
When M1 is started at a low speed in the reverse rotation direction under the suppressed applied voltage VMr and 0.3 s has elapsed in timer T1,
When it is determined to be YES in (548) of (B), it is determined whether the small movement flag S is set (1).
(550).

Here, since the small movement flag S is set, it is judged as YES in (550), and then
At (558), it is judged if the operation flag FSL of the limit switches 42, 43 is set (1). (55
In 8), for example, if YES is determined, it is further determined whether or not the current value LS1 and the memory value LS0 match (560), and low speed driving of the motor M1 is continued until YES is determined. To be done.

When the seat 19 reaches the memory position and the current value LS1 and the memory value LS0 match,
At (560), it is determined as YES, and by deactivating the motor control relay RL2 and control relay RL7 (562), the motor M1
Is stopped from the low speed drive state.

In any case, when the driving operation of the motor M1 under the automatic slide driving routine of FIG. 16 is completed, the process is returned to the position (1) reproducing operation routine of FIG.

As shown in FIG. 15, when the slide operation under the automatic slide drive routine of (406) is completed, for example, after a time delay of about 0.5 s (408),
Next, it is appropriately processed in a predetermined reclining drive routine (not shown) (410), and the reclining angle of the seat back 26 is set to the memory position of the position (1) by a predetermined driving operation of the motor M2.

After setting the reclining angle, 0.5s
After a certain time delay (412), it is appropriately processed in a predetermined tilt drive routine (not shown) (412).
14), the tilt angle of the seat back upper end portion 26a is set to the memory position of the position (1) by the predetermined driving operation of the motor M3.

After setting the memory position of the seat back upper end portion 26a, whether the current values LS1, θB1, θT1 of the slide, reclining and tilt respectively match all the memory values LS0, θB0, θT0 of the position (1). It is determined whether or not (416). Then, the motors M1 to M3 are driven under the corresponding subroutines, and the position
When the memory position stored in (1) is reproduced, YES is determined in (416) and the process returns to the memory position reproducing operation routine of FIG.

Then, as shown in FIG. 14, the operation flags FP1, FP2, FP3 of the auto switches 16-1 to 16-3, and the overload detection flags FSL, F corresponding to the motors M1, M3.
Each TI is reset (0) (308) and returns to the main routine of FIG.

In the position (1) reproduction operation routine of FIG. 15, if the motor is stopped before reaching the memory position due to overload of the motors M1 and M3, the current value LS1 or θT1 of the slide or tilt is changed. , And the corresponding memory values LS1 and θT1 do not match, and it is determined as NO in (416).

Then, next, the overload detection flags FSL, FSL
It is judged whether or not all of TI are set (1).
(418) If either of them is in the reset (0) state, it is judged as NO and the motors M1 and M3 are driven again under the corresponding subroutine of either (406) or (414). Then, the seat position corresponding to the position (1) is set.

Although it is assumed here that the current reclining angle θB1 is smaller than the memory value θB0, on the contrary, when the current angle θB1 is larger than the memory value θB0, that is, the seat position is reproduced. When the seat back 26 is sometimes tilted backward, first, as shown in FIG.
In (404) of No, it is determined to be NO. Then, in this case, first, appropriate processing is performed in a predetermined tilt driving routine (420), and the tilt angle of the seat back upper end portion 26a is set to the memory position of the position (1) by the predetermined driving operation of the motor M3. To be done.

After setting the memory position of the upper end 26a of the seat back, a time delay of about 0.5 s is used (424) to appropriately process in a predetermined reclining drive routine (426), and a predetermined drive of the motor M2 is performed. By the operation, the reclining angle of the seat back 26 is set to the memory position of the position (1).

Further, after that, a time delay of about 0.5 s is again performed (428), and in the automatic slide drive routine of FIG. 16, it is appropriately processed (430) and the predetermined drive operation of the motor M1 causes the position (1 The front and rear positions of seat 19 corresponding to the memory position of) are set.

Also in this case, the current values LS1, θB1, and θT1 of the slide, reclining, and tilt respectively.
14 is judged whether or not all match the memory value of the position (1) (432), and it is judged as YES, and FIG.
Return to the memory position reproducing operation routine of.

Further, for example, the motor is stopped before reaching the memory position due to overload of the motors M1 and M3, and the current value LS1 or θT1 of slide and tilt does not match the corresponding memory value LS1 and θT1. Then, (432)
Is determined to be NO. Then, next, it is determined whether or not both of the overload detection flags FSL and FTL are set (1) (434), and it is determined as NO, and again (4
Under one of the corresponding subroutines of 06) and (414), the motors M1 and M3 are driven to set the seat position corresponding to the position (1).

Here, the reproducing operation at the position (1) accompanying the operation of the auto switch 14-1 will be described in detail. However, other switches of the auto switch 14-2,14-
As shown in FIG. 12, the position (1) reproduction operation routine similar to the position (2) reproduction operation routine or position shown in FIG.
(3) The seat positions corresponding to the respective memory positions are set (312) and (314) by appropriately performing processing according to the reproduction operation routine.

As described above, according to the motor control method for a power seat of the present invention, under the applied voltage VMf or VMr suppressed by inserting the limiting resistors R1 and R2 into the winding terminals of the motor M1, The motor M1 is started at low speed, so-called soft start. Therefore, the shock at the time of starting the motor is sufficiently suppressed, and the comfort of the seated person is improved without giving the seated person the discomfort and anxiety caused by the shock.

Further, since the shock at the time of starting the motor is difficult to be transmitted to the seated person, the posture collapse of the seated person can be sufficiently suppressed. Therefore, the sitting posture is stabilized, and the comfort of the seated person is improved also from this point.

Further, after 0.3 s has passed since the motor control relay RL1 was energized by the operation of the manual switch 12,
The terminals of the limiting resistors R1 and R2 are short-circuited, and the motor M1 is driven under the steady battery voltage VB. for that reason,
Voltage loss due to the limiting resistors R1 and R2 during driving is prevented, and the rated characteristics of the motor M1 are not impaired. Therefore, the movable member such as the seat 19 can be sufficiently swiftly moved, and the speedup of the motor M1 is not impaired.

Further, the motor M1 is decelerated and driven under the applied voltage VMf or VMr suppressed by the limiting resistors R1 and R2 for a predetermined time from the generation of a predetermined stop command, and then stopped by regenerative braking from the decelerated state. To be done. Therefore, the so-called soft stop of the motor M1 becomes possible, and the motor
The shock when M1 is stopped can be sufficiently suppressed, and the occupant does not feel discomfort or anxiety caused by the shock.

Since the shock when the motor is stopped is difficult to be transmitted to the seated person, the posture of the seated person can be sufficiently prevented from collapsing. Therefore, the sitting posture is stabilized, and the comfort of the seated person is improved also from this point.

Further, when the motor M1 is stopped, the limiting resistance R
The regenerative braking is activated by the short circuit of the winding terminals where the insertion of 1, R2 is canceled. Therefore, the stopping accuracy of the seat 19 can be sufficiently ensured, and the seat is held at the stop position by a sufficient holding force.

Further, according to the power seat motor control device 10 of the present invention, the above-mentioned motor control method can be appropriately performed, and soft start and soft stop in which a shock is suppressed when the motor M1 is started and stopped can be performed. It is definitely obtained.
Therefore, the comfort of the seated person is sufficiently improved.

Then, since the current does not flow through the limiting resistors R1 and R2 except the respective predetermined times from the generation of the operation command,
Even if small and inexpensive resistors are used as limiting resistors R1 and R2,
Limiting resistors R1 and R2 will not overheat or burn. Therefore, complication of the configuration of the motor control device 10 and increase in cost can be sufficiently prevented.

Here, in the embodiment, the control relay RL is used.
Predetermined limiting resistances R1 and R2 associated with the switching of switching contact RL7a
The release of the short circuit between the terminals and the insertion and release of the limiting resistors R1 and R2 to the winding terminals of the motor M1 are performed. However, it is sufficient to switch between insertion and removal of the limiting resistors R1 and R2 to the winding terminals of the motor M1 for a predetermined time when the motor M1 is started and stopped, so it is limited to the switching contact RL7a of the control relay RL7. Alternatively, the limiting resistor may be inserted or released by another means.

However, if the switching contact RL7a of the control relay RL7 is used as in the embodiment, the limiting resistances R1 and R2 interlocked with the start and stop of the motor M1 despite the simple structure.
It is possible to reliably switch between insertion and cancellation of insertion.

Further, in the embodiment, for example, the limiting resistors R1 and R2 having different values are inserted into the winding terminals of the motor M1 depending on whether the motor M1 is started in the normal direction or in the reverse direction, and the applied voltage, that is, Changing the motor torque. However, the present invention is not limited to this, and the motor M1 may be driven under the same torque due to the insertion of the limiting resistor having the same value at both the forward rotation start and the reverse rotation start of the motor M1.

However, if the motor torque can be switched according to the forward rotation start and the reverse rotation start of the motor M1, the seating posture control device in which different loads act on the motor M1 depending on the forward rotation and the reverse rotation. Also in the above, the shock at the time of starting and stopping the motor can be sufficiently suppressed. for that reason,
As shown in FIG. 1, even in the seat slide device 20 which is mounted so as to be inclined rearward as a countermeasure against the submarine phenomenon of the seated person, shocks at the time of starting and stopping the motor can be suppressed without difficulty, and particularly in such a configuration. It can be used effectively.

Further, during the manual control of the motor M1 and the automatic control, the limiting resistances R1 and R
Although the timing of insertion of 2 is different, the configuration may be such that the motor M1 is stopped from the decelerated state when the memory position is reached even during automatic control.

However, as in the embodiment, the motor M1
In the automatic control of, the motor M1 is decelerated for a predetermined time until the seat 19 reaches the memory position, and if the motor M1 is stopped from the deceleration state immediately after reaching the memory position, the seat 19 in the automatic control is
The stop error of can be suppressed sufficiently.

The motor control device 10 of this embodiment is
Torque switching means only for the motor M1 of the seat slide device 20
It is embodied as 16 provided configurations. But,
Not limited to this, other seating posture control device in addition to the seat slide device 20, for example, the reclining device 22,
The center switching mechanism 24 and the like may be provided with the torque switching means 16.

Then, as a structure provided with the seat slide device 20, the reclining device 22 and the center folding mechanism 24,
Sheet 19 is embodied. However, the present invention is not limited to this, and it goes without saying that the motor control device 10 of the present invention can be applied to a power seat further including another seating posture control device such as a seat lifter and a headrest.

Although the power seat motor control device 10 suitable for the assistant seat is embodied here, the present invention is not limited to this, and the present invention may be applied to a driver seat motor control device.

Incidentally, the embodiment is embodied as a motor control device for a power seat for automobiles. However, if the seat that can adjust the position of the movable member of the seating posture control device by the drive control of the motor is sufficient,
The present invention is not limited to power seats for automobiles, and the motor control device of the present invention may be applied to seats for trains, airplanes, ships, etc., and seats for bean jam, hairdressing, etc.

The above-mentioned embodiments are for explaining the present invention and do not limit the present invention in any way.
It goes without saying that the present invention includes all those which are modified or modified within the technical scope of the present invention.

[0195]

As described above, according to the power seat motor control method of the present invention, under the applied voltage suppressed by the insertion of the limiting resistor into the winding terminal of the motor,
The motor is started at low speed. Therefore, the shock at the time of starting the motor is sufficiently suppressed, and the discomfort caused by the shock,
The comfort of the seated person is improved without giving the seated person anxiety.

Then, after a lapse of a predetermined time from the generation of a predetermined operation command by a switch operation or the like, the motor is steadily driven by releasing the insertion of the limiting resistor. Therefore, the voltage loss due to the limiting resistance during driving is prevented, and the rated characteristics of the motor are not impaired. Therefore, the rapid movement of the movable member can be sufficiently ensured, and the speeding up of the motor is not impaired.

Further, the motor is driven at a low speed and decelerated for a predetermined time from the generation of the predetermined stop command, or for the predetermined time until the generation of the predetermined stop command, under the applied voltage suppressed by the limiting resistance. The so-called soft stop of the motor is possible with the configuration in which the state is stopped by regenerative braking. Therefore, the shock when the motor is stopped can be sufficiently suppressed, and the seated person does not feel discomfort or anxiety caused by the shock.

Then, the regenerative braking acts on the motor at the time of stoppage due to the short-circuiting of the winding terminals in which the insertion of the limiting resistor is released. Therefore, the stopping accuracy of the movable member and the holding force of the movable member at the stop position are sufficiently ensured.

In the automatic control of the motor, if the motor is driven at a low speed for a predetermined time until a predetermined stop command is generated, and the motor is immediately stopped from the low speed drive state when the memory position is reached, the automatic control is performed. At this time, the stop error of the movable member can be sufficiently suppressed, and the stop accuracy is improved.

Further, when the amount of movement of the movable member is smaller than a predetermined reference value, the motor is driven at a low speed all the time, so that frequent fluctuations in the driving speed of the motor during short distance movement can be prevented. Therefore, the comfort of the seated person can be ensured, and the small switching operation of the relay contacts and the like can be sufficiently suppressed, and the adverse effect on the life of the relay contacts and the like can be prevented.

Further, according to the power seat motor control device of the present invention, the motor control method described above can be properly performed despite the simple structure, and the shock at the time of starting and stopping the motor can be suppressed. A soft start and soft stop can be reliably obtained. Therefore, the comfort of the seated person is sufficiently improved.

Further, since the current does not flow through the limiting resistance except for each predetermined time from the generation of the operation command, the size is small.
Even if an inexpensive resistor is used as the limiting resistor, the limiting resistor does not overheat or burn. Therefore, it is possible to sufficiently prevent the configuration of the motor control device from becoming complicated and the cost from increasing.

[Brief description of drawings]

FIG. 1 is a schematic block diagram of a motor control device for a power seat according to the present invention.

FIG. 2 is a detailed block diagram centering on a central processing unit of the power seat motor control device.

FIG. 3 is a schematic diagram of a power sheet.

FIG. 4 is a partially broken circuit operation diagram at the time of starting the normal rotation of the motor.

FIG. 5 is a partially broken circuit operation diagram when the motor is stopped.

FIG. 6 is a time chart of a power seat motor control method of the present invention during manual control.

FIG. 7 is a time chart of a power seat motor control method of the present invention during automatic control.

FIG. 8 is a partially broken circuit operation diagram at the time of reverse rotation start of the motor.

FIG. 9 is a partially broken circuit operation diagram when the motor is driven in the normal direction.

FIG. 10 is a partially broken circuit operation diagram when the motor is driven in the reverse direction.

FIG. 11 is a main routine of a flowchart of a power seat motor control method of the present invention.

FIG. 12 is a manual operation routine of a flowchart of a motor control method for a power seat according to the present invention.

FIG. 13 is a manual slide drive routine of a flowchart of a motor control method for a power seat of the present invention.

FIG. 14 is a memory position reproducing operation routine of a flowchart of the power seat motor control method of the invention.

FIG. 15 is a position (1) reproduction operation routine of a flowchart of a motor control method for a power seat of the present invention.

FIG. 16 is an automatic slide drive routine of a flowchart of the motor control method for the power seat of the present invention.

[Explanation of symbols]

 10 Power seat motor controller 12 (12-1 to 12-3) Manual switch 14 (14-1 to 14-3) Auto switch 16 Torque switching means 18 Central processing unit 19 Seat (assistant seat) 26 Seat back 26a Seat Back top edge 42 Microcomputer (microcomputer) M1 to M3 Motor R1, R2 Limiting resistance RL7a Switching contact D1 Diode

[Procedure amendment]

[Submission date] May 28, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Correction content]

[Brief description of drawings]

FIG. 1 is a schematic block diagram of a motor control device for a power seat according to the present invention.

FIG. 2 is a detailed block diagram centering on a central processing unit of the power seat motor control device.

FIG. 3 is a schematic diagram of a power sheet.

FIG. 4 is a partially broken circuit operation diagram at the time of starting the normal rotation of the motor.

FIG. 5 is a partially broken circuit operation diagram when the motor is stopped.

FIG. 6 is a time chart of a power seat motor control method of the present invention during manual control.

FIG. 7 is a time chart of a power seat motor control method of the present invention during automatic control.

FIG. 8 is a partially broken circuit operation diagram at the time of reverse rotation start of the motor.

FIG. 9 is a partially broken circuit operation diagram when the motor is driven in the normal direction.

FIG. 10 is a partially broken circuit operation diagram when the motor is driven in the reverse direction.

FIG. 11 is a main routine of a flowchart of a power seat motor control method of the present invention.

FIG. 12 is a manual operation routine of a flowchart of a motor control method for a power seat according to the present invention.

FIG. 13 is a manual slide drive routine of a flowchart of a motor control method for a power seat of the present invention.

FIG. 14 is a manual slide drive routine of a flowchart of a motor control method for a power seat of the present invention.

FIG. 15 is a manual slide drive routine of a flowchart of a motor control method for a power seat of the present invention.

FIG. 16 is a manual slide drive routine of a flowchart of a motor control method for a power seat of the present invention.

FIG. 17 is a memory position reproducing operation routine of a flowchart of the power seat motor control method of the invention.

FIG. 18 is a position (1) reproduction operation routine of the flowchart of the power seat motor control method of the invention.

FIG. 19 is an auto-slide driving routine of a flowchart of the power seat motor control method of the invention.

FIG. 20 is an auto-slide driving routine of a flowchart of a motor control method for a power seat of the present invention.

[Explanation of symbols] 10 Power seat motor controller 12 (12-1 to 12-3) Manual switch 14 (14-1 to 14-3) Auto switch 16 Torque switching means 18 Central processing unit 19 Seat (assistant seat) 26 Seat back 26a Upper end of seat back 42 Microcomputer (microcomputer) M1 to M3 Motor R1, R2 Limiting resistance RL7a Switching contact D1 Diode

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Fig. 2]

[Figure 3]

[Figure 4]

[Figure 5]

[Figure 6]

[Figure 7]

[Figure 8]

[Figure 9]

[Figure 10]

FIG. 11

[Fig. 12]

[Fig. 13]

FIG. 14

FIG. 15

FIG. 16

FIG. 17

FIG. 18

FIG. 19

FIG. 20

Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H02P 1/22 2116-5H

Claims (9)

[Claims] 1. A motor having a predetermined limiting resistance at least capable of securing a motor torque necessary for starting the motor in forward rotation and in rotating in reverse rotation for at least a predetermined time from the generation of a predetermined operation command at motor startup. The motor is started at a low speed under the corresponding applied voltage that is inserted in series with the winding terminal and suppressed by the predetermined limiting resistance, and after a predetermined time has elapsed from the generation of the predetermined motor start command,
A motor control method for a power seat, in which insertion of a predetermined limiting resistor is canceled, and the motor is steadily driven under a constant applied voltage supplied to the motor without passing through the predetermined limiting resistor. 2. When the motor is stopped, a predetermined limiting resistance corresponding to forward rotation driving and reverse rotation driving is inserted in series to a winding terminal of the motor for a predetermined time from the generation of a predetermined operation command, and a predetermined limiting is performed. Under the corresponding applied voltage suppressed by the resistance, the motor is driven at a low speed, and after the lapse of a predetermined time from the generation of the predetermined operation command, the insertion of the predetermined limiting resistance is released and the motor winding terminal The power seat motor control method according to claim 1, wherein the motor is stopped from a decelerating state under regenerative braking caused by a short circuit. 3. In manual control of a motor, a predetermined limiting resistance according to forward rotation driving and reverse rotation driving is inserted in series with a winding terminal of the motor for a predetermined time from the generation of a predetermined operation command. 2. A power seat motor control method according to 2. 4. When the motor is stopped, a position where a predetermined operation command is generated is recognized in advance, and a predetermined limit is set for a predetermined time until the position where the operation command is generated according to forward rotation driving and reverse rotation driving. Insert a resistor in series with the winding terminal of the motor, drive the motor at a low speed under the corresponding applied voltage suppressed by the limiting resistor, and release the insertion of the prescribed limiting resistor when a prescribed operation command is generated. In addition, the motor is stopped from the decelerating state under regenerative braking caused by a short circuit of the winding terminal of the motor.
A power seat motor control method as described. 5. When the motor is automatically controlled, a predetermined limiting resistance according to the forward rotation driving and the reverse rotation driving is inserted in series to the winding terminal of the motor for a predetermined time until the generation of a predetermined operation command. Item 4. A motor control method for a power seat according to item 4. 6. In the automatic control of the motor, before the movable member reaches the memory position, the moving amount of the movable member is recognized in advance and compared with a predetermined reference value, and the moving amount of the movable member is greater than the reference value. The power seat motor control method according to claim 1, wherein the motor is driven at a low speed all the time when it is small. 7. A motor for moving a movable member, a manual switch for manually controlling the drive of the motor to adjust and correct a seat position, and an automatic control of the drive of the motor, which are set in advance. An auto switch that can automatically set a predetermined seat position, a torque switching device that switches the motor torque by selecting insertion and removal of a predetermined limiting resistor at the winding end of the motor, and a motor drive Position detection means for detecting the position of the movable member that moves with it, and processing the input information according to a predetermined program,
A central processing unit for controlling at least the drive of the motor and the operation of the torque switching means, and a predetermined limiting resistance for a predetermined time corresponding to a predetermined command generated by the operation of the manual switch or the auto switch. Is a motor control device for a power seat, which is inserted in series with the winding end of the motor. 8. The torque switching means is formed with a switching contact that can be switched at least for a predetermined time corresponding to starting and stopping of the motor, and a short circuit between terminals of a predetermined limiting resistance by the switching contact causes the motor to change. The predetermined limiting resistance is released from the winding end of the motor and the short-circuit between the terminals of the predetermined limiting resistance is released by switching the switching contact. The motor control device for the power seat according to claim 7, which is inserted. 9. A parallel circuit is formed by at least two limiting resistors, and a diode is arranged in series with one of the limiting resistors. When a current flows in the forward direction of the diode, the limiting resistors are connected in parallel. The applied voltage suppressed by the circuit is applied to the motor, and when the current flows in the reverse direction of the diode, the applied voltage suppressed by the limiting resistor on the side having no diode is applied to the motor. A motor control device for the power seat described.