Control device for electrically driven door

Abstract

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 outputted by the driving force instruction value producing unit.

Dependencies are inferred from the claim text.