| 摘要 |
<p>A control device for a vehicular opening/closing body, comprising an actual speed detecting unit for detecting an actual opening/closing body speed which is an actual opening/closing speed of the vehicular opening/closing body provided in a vehicle; a target speed generating unit for generating a target opening/closing body speed which is a target opening/closing speed of the vehicular opening/closing body; a duty ratio calculating unit for obtaining a speed difference between the target opening/closing body speed generated by the target speed generating unit and the actual opening/closing body speed detected by the actual speed detecting unit, and for calculating, by use of the obtained speed difference, a duty ratio when power supplied to a motor driving to open/close the vehicular opening/closing body is subjected to duty control; and a gain setting unit for setting a gain for use in calculating the duty ratio by the duty ratio setting unit, wherein the duty ratio calculating unit calculates the duty ratio based on an addition result obtained by adding a first multiplication value in which the speed difference is multiplied by a proportional gain, a second multiplication value in which an integral value of the speed difference is multiplied by an integral gain, and a third multiplication value in which the actual opening/closing body speed is multiplied by a positive feedback gain.</p> |
