Open/close control device, open/close control system, open/close control method, and program

An open/close control device which detects pinching by an open/close body due to driving of a motor, comprising;

• a storage device configured to store a program;
• and
• a processor configured to execute the program stored in the storage device, the program which, when executed by the processor, causing the processor to perform a process including
• computing an acceleration term based on a change in a rotational period of the motor, and a load applied to the motor based on the acceleration term, based on a signal indicating the rotation period of the motor,
• determining that the pinching by the open/close body occurred, when the load computed by the computing exceeds a predetermined determination value, and
• adjusting the determination value by increasing the determination value when a local maximum value of the acceleration term exceeds a predetermined threshold value during a certain period immediately after starting the motor,
• wherein the computing includes
• computing the acceleration term, and a torque term based on a voltage applied to the motor and the rotational period of the motor, to compute the load applied to the motor by adding the torque term to the acceleration term.

An open/close control device which detects pinching by an open/close body due to driving of a motor, comprising:

• a storage device configured to store a program;
• and
• a processor configured to execute the program stored in the storage device, the program which, when executed by the processor, causing the processor to perform a process including
• computing an acceleration term based on a change in a rotational period of the motor, and a load applied to the motor based on the acceleration term, based on a signal indicating the rotation period of the motor,
• determining that the pinching by the open/close body occurred, when the load computed by the computing exceeds a predetermined determination value, and
• adjusting the determination value by increasing the determination value when a local maximum value of the acceleration term exceeds a predetermined threshold value during a certain period immediately after starting the motor,
• wherein the adjusting includes
• further increasing the determination value for a fourth period from a timing when an amount of decrease of the acceleration term per predetermined unit time exceeds a predetermined threshold value, during the certain period immediately after starting the motor.

An open/close control method which detects pinching by an open/close body due to driving of a motor, comprising:

• computing an acceleration term based on a change in a rotational period of the motor, and a load applied to the motor based on the acceleration term, based on a signal indicating the rotation period of the motor;
• determining that the pinching by the open/close body occurred, when the load computed by the computing exceeds a predetermined determination value;
• and
• adjusting the determination value by increasing the determination value when a local maximum value of the acceleration term exceeds a predetermined threshold value during a certain period immediately after starting the motor,
• wherein the adjusting includes
• increasing the determination value for a third period from a timing when the acceleration term becomes less than or equal to a predetermined reference value for determining that an acceleration of the motor switched from deceleration to acceleration.