Control device for vehicular opening/closing body

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.

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 target opening/closing body speed is multiplied by a positive feedback gain.

A control device for a vehicular opening/closing body, comprising:

• actual speed detecting means 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;
• target speed generating means for generating a target opening/closing body speed which is a target opening/closing speed of the vehicular opening/closing body;
• duty ratio calculating means for obtaining a speed difference between the target opening/closing body speed generated by the target speed generating means and the actual opening/closing body speed detected by the actual speed detecting means, 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
• gain setting means for setting a gain for use in calculating the duty ratio by the duty ratio setting means,
• wherein the duty ratio calculating means 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 negative proportional gain, and a second multiplication value in which an integral value of the speed difference is multiplied by an integral gain.