| 摘要 |
PROBLEM TO BE SOLVED: To provide a pinching prevention control method for an opening/ closing body, which quickly carries out determination as to pinching even at the start of motor driving. SOLUTION: According to the method, an angular velocity ω and an angular acceleration dω of the motor are calculated, and the angular acceleration dω is compared with a pinching detecting threshold value with respect to an angular velocity obtained from a table data. If it is determined that pinching is detected, then a pinching determining threshold value is calculated, and the pinching determining threshold value is corrected so as to bring about slack determination provided that a past angular acceleration value dω(N-m) assumes a positive value. As a result, an erroneous determination that a large change in the angular acceleration from a positive value to a negative value under an influence of wire sagging is erroneously determined as pinching, can be prevented, and therefore pinching determination can be carried out from the start of the motor driving. Further, large increase in load over a period up to the pinching determination can be prevented. |
