| 摘要 |
PROBLEM TO BE SOLVED: To enhance safety by surely switching manual drive to automatic drive, precisely changing controlling requirements and controlled variables depending on the position of a sliding door, and discriminating promptly whether or not anything is caught in the door. SOLUTION: To open or close a sliding door 2 using an opening/closing motor 14, the load of the motor 14 is detected by a current detecting part 50. The positions of the door 2 from fully open to fully closed positions are detected by a position detecting part 43, and the moving speed of the door 2 is measured by a speed detecting part 42. The values detected by the detecting parts 43, 50 are associated with each other, and the motor load when an automotive body 1 is in a normal position is stored as the motor load characteristic of the door position. Based on the motor load stored corresponding to the door position and on the deviation of the motor load at that position, the power applied to the motor 14 is controlled as the motor speed is detected. Thus even if the automotive body 1 is inclined longitudinally and the weight of the door is exerted in the opening or closing direction, the door can be automatically opened and closed with safety, and anything caught therein can be surely recognized. |
