High-efficiency FPGA Fully-Based Implementation of the Conjugate Gradient Method

An apparatus for detecting the pinching of an object of a power window which stops the detection of the pinching when a normal pulse edge interval of a two-phase pulse is not obtained is disclosed. The apparatus comprises a motor 4 for opening/closing a window, a motor driving unit 3, a pulse generating unit 5 for generating a two-phase pulse, an MCU 2, and a switching arrangement 1. The MCU 2 detects a motor torque from an interval between pulse edges of the two-phase pulse at the time of opening and closing the window and compares the motor torque with a preset addition value. When the motor torque exceeds the addition value, the MCU 2 determines the occurrence of the pinching of an object and stops or reverses the driving of the motor 4. A timer 14 for resetting time each time the pulse edge in the two-phase pulse arrives is disposed in the MCU 2. When a pulse edge in the two-phase pulse arrives and the next pulse edge does not arrive within the set time of the timer 14, the MCU 2 stops the determination of the presence or absence of the pinching of an object in the window.