Control device for electrically driven door

摘要

A control device for an electrically driven door is provided that can enhance the sensitivity of detection of a door pinch state and that can prevent a passenger from being pressed when the door pinch state occurs. The control device includes a driving force instruction value producing unit that outputs a driving force instruction value of the electrically driven door, a state observing unit that estimates a mechanical resistant force to a door driving system, a reference model that determines a dynamic characteristic of the electrically driven door to the mechanical resistant force estimated by the state observing unit, a gain compensator that computes a control compensation value that makes an output of the reference model coincide with an actual speed of the electrically driven door; and an adder that adds the control compensation value computed by the gain compensator to the driving force instruction value.

主权项

1. A control device of an electrically driven door opened or closed by an electric motor, the control device comprising:
a driving force instruction value producing unit that outputs a driving force instruction value of the electrically driven door; a state observing unit that estimates a mechanical resistant force to a door driving system of the electrically driven door; a reference model that determines a dynamic characteristic of the electrically driven door to the mechanical resistant force estimated by the state observing unit; a subtractor that calculates a difference between the output of the reference model and an actual speed of the door; a gain compensator that computes, using the calculated difference, a thrust compensation value for making an output of the reference model coincide with the actual speed of the electrically driven door; and an adder that adds the thrust compensation value computed by the gain compensator to the driving force instruction value outputted by the driving force instruction value producing unit; wherein the reference model includes a model related to at least one of a lighter door model and a soft edged door model.