CN102236075A - Motor anti-pinch parameter regulating method - Google Patents

Abstract

The invention provides a motor anti-pinch parameter regulating method. An operator inputs the parameters of a motor into a function computation module of a regulator through a data input module of the regulator, wherein the parameters of the motor include the maximum value (n0max) and the minimum value (n0min) of no-load speed, the maximum value (n1max) and the minimum value (n1min) of rated speed and rated point torque T1; the regulator automatically outputs a regulating success result or regulating failure prompt and stores and outputs the crucial parameters of motor anti-pinch design when regulating is successful. According to the motor anti-pinch parameter regulating method provided by the invention, the parameters of any motor are input to the regulator manually, and then the situation whether the motor has an anti-pinch function can be judged and crucial parameters which need to be written in a motor anti-pinch module can be obtained. Compared with the prior art, the method provided by the invention has the advantages that the parameters of the motor do not need to be tested by a small batch of motors, therefore, time of relevant personnel can be saved; in addition, the anti-pinch capability of the motor does not need to be tested in a way of manual drafting, therefore, design flow is simplified.

Description

Anti-pinch parameter setting method for motor

Technical Field

The invention relates to a method for setting anti-pinch parameters of a motor.

Background

Due to safety considerations and requirements of relevant laws and regulations, a plurality of opening and closing parts on the automobile need to have an anti-pinch function, such as a power window, a power sunroof, a power lifting door and the like; the motors currently used in these systems are all permanent magnet dc motors. Because the permanent magnet direct current motor is a component with higher requirements on manufacturing, the performance of the motor manufactured by any motor manufacturer can not be completely consistent with that of a theoretical design, so that the actual parameters of the motor have certain tolerance, namely the parameters of the motor in actual use are a range.

In the anti-pinch of switching piece, because the performance curve of current motor can't be known to the controller, and the tolerance of motor performance plays key effect to the size of preventing the clamp power, if motor performance tolerance is very big, will directly make the anti-pinch system take place the mistake and prevent pressing from both sides or not prevent pressing from both sides, the system also can't satisfy the regulation requirement simultaneously, this kind of problem because of the motor performance deviation arouses will directly lead to the development failure of system.

For judging whether a motor can be used for preventing pressing from both sides the module, traditional way is:

1) taking a small batch of motors to carry out experiments (for example, 20), detecting the performance data of each motor, and fitting a performance curve of each motor according to the experimental data;

2) summarizing and comparing performance curves of all motors, and taking an average value to prepare a pre-stored standard curve in a program;

3) and drawing a standard curve, comparing the standard curve with curves of the motor in the batch (for example, 20), and estimating the error value of the anti-clamping force by a drawing method so as to judge whether the motor can be used for preventing clamping.

The disadvantage of this method is that it takes a long time, is inconvenient to operate, and has high labor cost.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a motor anti-pinch parameter setting method aiming at the defects of long time consumption, inconvenient operation, high labor cost and the like of the existing motor anti-pinch function test method.

The invention is realized by the following technical scheme: a motor anti-pinch parameter setting method comprises the following steps:

(1) the operator inputs the function calculation module of the setter through the data input module of the setterThe parameters of the machine, i.e. the maximum and minimum n of the idling speed_0maxAnd n_0minMaximum and minimum values n of the nominal rotational speed_1maxAnd n_1minRated point torque T₁；

(2) The function calculation module of the setter carries out assignment to the maximum anti-clamping force (t)_max0) Minimum anti-pinch force (t)_min0) All initial values of (a) are assigned to 0; defining a counting variable (i) to store the calculation result; defining a design value (t) for anti-pinch force₁) The minimum allowable value of (d) is t'; defining a counting variable (n) of the slope adjustment times and giving an initial value of 0;

(3) the function calculation module calculates a standard slope value (k)₀) Or after manual calculation, the data is input into the function calculation module through the data input module of the setter, and the calculation method is any one of a slope average value method, an angle bisector method and a median connecting line method, wherein,

the calculation method of the slope average value method comprises the following steps: ${\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">k</figure-callout>}}_0=\frac{k_{\min }+k_{\max }}{2};$

the calculation method of the angular bisector method comprises the following steps: ${\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">k</figure-callout>}}_0=\frac{{(1+k_{\min }^2+k_{\max }^2+k_{\max }^2{k}_{\min }^2)}^{0.5}+k_{\max }{k}_{\min }-1}{k_{\max }+k_{\min }};$

the calculation method of the median connecting line method comprises the following steps: ${\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">k</figure-callout>}}_0=\frac{(-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })+({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }+{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min })}{2{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$

wherein, $k_{\min }=\frac{(n_{0\max }-10)*(n_{1\min }-n_{0\min })}{(n_{0\min }-10)*T_1};$ $k_{\max }=\frac{(n_{0\min }-10)*(n_{1\max }-n_{0\max })}{(n_{0\max }-10)*T_1};$

setting an initial design value (t) of the anti-pinching force to t^//(ii) a Setting a maximum allowable value (t ') of anti-pinching force'_max) Is A and a minimum allowable value (t'_min) Is B; setting the slope increment (delta K) as delta K;

(4) calculating the maximum anti-pinch force (t)_max) With a minimum anti-pinch force (t)_min) The calculation method comprises the following steps:

$t_{\max }=\frac{k_0}{k_{\max }}t;$ $t_{\min }=\frac{k_0}{k_{\min }}t;$

(5) determining the minimum anti-pinch force (t)_min) Whether or not it is greater than the minimum allowable value (t ') of anti-pinching force'_min) If yes, judging the maximum anti-clamping force (t)_max) Whether or not it is less than the maximum allowable value (t ') of anti-jamming force'_max) (ii) a If not, adjusting the slope in the increasing direction according to a preset increment delta K when the adjustment times are smaller than a preset upper limit (N) of allowable times, and judging the calculated value of the maximum clamping-resistant force again after the adjustment is finished;

(6) the maximum anti-clamping force (t) is judged_max) Less than the maximum allowable value (t'_max) And if so, indicating that the setting is successful, wherein the group of data can be used for anti-pinch, and a data storage module of the setting device stores the following data: minimum anti-pinch force (t)_mini) Maximum anti-pinch force (t)_maxi) Slope value (k)_0i) Designed anti-pinch force (t)_i) (ii) a If the maximum clamping-resistant force (t) is judged_max) Greater than the maximum allowable value (t'_max) If so, the setting is failed, and in this case, whether the anti-clamping force design value (t) is minimum to the allowable value t is continuously judged₁If not, reducing the anti-pinch force design value according to the set reduction delta t, and then returning to the step (4) to calculate the anti-pinch force;

(7) reaching a minimum allowable value t at a designed anti-pinch force value (t)₁Then, the setting result needs to be output, the size of the counting variable (i) needs to be judged firstly, if the counting variable is still an initial value of 0, the situation that no available setting result is found after the program is finished is shown, the setting is failed, and under the condition, a data output module of the setter outputs prompt information of parameter setting failure; if the counting variable is not 0, the setting is successful, and in this case, the data output module outputs all available results in the data storage module.

Further, the method also includes calculating k_minAnd k_maxThe calculation process is as follows:

(1) calculating two speed-torque performance curves under idle and rated conditions, wherein the two speed-torque performance curves are respectively as follows:

$n_{01}={\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }+\frac{{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }}{T_1}T;$ $n_{02}={\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }+\frac{{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }}{T_1}T;$

(2) calculating the torque range when the rotating speed is 10r/min, wherein the calculated range is as follows:

$(\frac{{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10}{-{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }+{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\mathrm{<figure-callout\; id="1"\; label="min\; T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">min</figure-callout>}}}{T}_{}{}_1,\frac{{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10}{-{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }+{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }}{T}_1);$

(3) calculating the curve range of the motor speed-torque slope, wherein the calculated range is as follows:

$(\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1},\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*T_1});$

thus obtaining:

$k_{\min }=\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$ $k_{\max }=\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$

further, the setter is a computer, the data input module is a keyboard, the function calculation module is a C language program or an Excel function in the computer, calculation is realized through a CPU in the computer, the data storage module is a RAM or a ROM in the computer, and the data output module is a C language program interface or an Excel table or other documents of the computer except for the Excel table.

Furthermore, the computer is also connected with a display to display the result output by the data output module.

Further, the setting device is a single chip microcomputer.

Further, the design value of anti-pinching force (t)₁) The maximum allowable value t' is 85-100N.

Further, the design value of anti-pinching force (t)₁) Is t' is 95N.

Further, the initial design value t of the anti-pinching force^//Is 60 to 95N.

Further, the initial design value t of the anti-pinching force^//Is 70 to 85N.

Further, the initial design value t of the anti-pinching force^//Is 70N.

Further, the slope increment Δ K is 0.01-0.5.

Further, the slope increment Δ K is 0.1.

Further, the decrease amount Δ t is 1 to 10N.

Further, the decrease amount Δ t is 5N.

According to the motor anti-pinch parameter setting method, the maximum value and the minimum value n of the no-load rotating speed of any motor are manually input_0maxAnd n_0minMaximum and minimum values n of the nominal rotational speed_1maxAnd n_1minRated point torque T₁And (4) giving a setting device, namely knowing whether the motor can be used for preventing clamping and obtaining key parameters to be written in the motor anti-clamping module. Compared with the prior art, the method has the following advantages:

1) small batches of motors are not required to be taken to test the motor parameters, so that the time of related personnel is saved;

2) the anti-pinch force of the motor is inspected without using a method of a hand working diagram, and the design flow is simplified.

Drawings

FIG. 1 is a schematic diagram of a motor parameter tuning process of the present invention;

FIG. 2 is a schematic diagram of a motor anti-pinch parameter setting method provided by the present invention;

FIG. 3 is a graphical representation of two speed-torque performance curves calculated for the present invention at idle and rated conditions;

FIG. 4 is a graphical representation of the calculated motor speed-torque slope range calculated by the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

After extensive analysis and verification, the technician finds whether a motor can be used in an anti-pinch system and the key parameters required to be stored in the program when the motor can be used in the anti-pinch system are only related to the following parameters of the motor:

1) maximum and minimum n of idling speed_0maxAnd n_0min；

2) Maximum and minimum values n of the nominal rotational speed_1maxAnd n_1min；

3) Rated point torque of T₁；

FIG. 1 is a schematic diagram of a motor parameter setting process provided by the present invention, in which a setting device 100 provided by the present invention has a data input module 10, a function calculation module 20, a data storage module 30 and a data output module 40, the data input module 10 is used for inputting relevant parameters of a motor, i.e. a maximum value and a minimum value n of an idling rotation speed_0maxAnd n_0minMaximum and minimum values n of the nominal rotational speed_1maxAnd n_1minRated point torque of T₁(ii) a The function calculation module 20 is mainly used for function calculation, the data storage module 30 is used for storing the calculation result of the function calculation module, and the data output module 40 is used for outputting the calculation result of the function calculation module 30; the working process of the invention is that firstly, the operator inputs the following parameters of the motor, namely the maximum value and the minimum value n of the no-load rotating speed, into the function calculation module 20 of the setter through the data input module 10 of the setter_0maxAnd n_0minMaximum and minimum values n of the nominal rotational speed_1maxAnd n_1minRated point torque T₁(ii) a The setting device 100 automatically calculates and outputs a setting result, and when the setting fails, a parameter setting failure information prompt is output, and specific prompt contents can be set at will, for example, the parameter range of the motor is not suitable for an anti-pinch system; when the tuning is successful, the data storage module 30 stores the tuning result of each time, and finally, the data is outputThe output module 40 outputs all data sets available for anti-pinch design, i.e., the minimum anti-pinch force (t)_minj) Maximum anti-pinch force (t)_maxj) Slope value (k)_0j) Designed anti-pinch force (t)_j). Since the calculation result may contain many available values, there may be many sets of output results, and in order to make the display more intuitive, the output result is distinguished by an index j, which is a natural number for counting. Under the condition that the setting is successful, an operator can select a group of anti-pinch modules for the motor from the output result of the setting device, wherein the group of anti-pinch modules are written in a program of the motor control module; in the case of setting failure, the operator can easily know the result of the failure.

As shown in fig. 2, the method for tuning the anti-pinch parameter of the motor provided by the present invention includes the following steps:

(1) the operator inputs the following parameters of the motor, namely the maximum value and the minimum value n of the no-load rotating speed, into the function calculation module 20 of the setter through the data input module 10 of the setter_0maxAnd n_0minMaximum and minimum values n of the nominal rotational speed_1maxAnd n_1minRated point torque T₁；

(2) The function calculation module 20 of the setter assigns a value to the correlation value to give the maximum anti-pinch force (t)_max0) Minimum anti-pinch force (t)_min0) All initial values of (a) are assigned to 0; defining a counting variable (i) to store the calculation result; defining a design value (t) for anti-pinch force₁) The minimum allowable value of (d) is t'; defining a counting variable (n) of the slope adjustment times and giving an initial value of 0;

(3) the function calculation module 20 calculates a standard slope value (k)₀) Or after manual calculation, the data is input into the function calculation module 20 through the data input module 10 of the setter, and the calculation method is any one of a slope average value method, an angle bisector method and a median connecting line method, wherein,

the calculation method of the slope average value method comprises the following steps: ${\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">k</figure-callout>}}_0=\frac{k_{\min }+k_{\max }}{2};$

the calculation method of the angular bisector method comprises the following steps: ${\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">k</figure-callout>}}_0=\frac{{(1+k_{\min }^2+k_{\max }^2+k_{\max }^2{k}_{\min }^2)}^{0.5}+k_{\max }{k}_{\min }-1}{k_{\max }+k_{\min }};$

the calculation method of the median connecting line method comprises the following steps: ${\mathrm{<figure-callout\; id="0"\; label="k"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">k</figure-callout>}}_0=\frac{({-\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })+({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }+{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min })}{2{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$

wherein, $k_{\min }=\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$ $k_{\max }=\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$

setting an initial design value (t) of the anti-pinching force to t^//(ii) a Setting a maximum allowable value (t ') of anti-pinching force'_max) Is A and a minimum allowable value (t'_min) Is B; setting the slope increment (delta K) as delta K;

k₀it is possible to perform manual calculation in advance and then to input the calculated k through the data input module 10₀Storing the value in the data storage module 30 of the setter, and calculating the function when neededThe module 20 is called; or may be directly calculated by the function calculation module 20.

(4) Calculating the maximum anti-pinch force (t)_max) With a minimum anti-pinch force (t)_min) The calculation method comprises the following steps:

$t_{\max }=\frac{k_0}{k_{\max }}t;$ $t_{\min }=\frac{k_0}{k_{\min }}t;$

(5) determining the minimum anti-pinch force (t)_min) Whether or not it is greater than the minimum allowable value (t ') of anti-pinching force'_min) If yes, judging the maximum anti-clamping force (t)_max) Whether or not it is less than the maximum allowable value (t ') of anti-jamming force'_max) (ii) a If not, adjusting the slope in the increasing direction according to a preset increment delta K when the adjustment times are smaller than a preset upper limit (N) of allowable times, and judging the calculated value of the maximum clamping-resistant force again after the adjustment is finished;

(6) the maximum anti-clamping force (t) is judged_max) Less than the maximum allowable value (t'_max) If so, it indicates that the tuning is successful, and the set of data can be used for anti-pinch, and the data storage module 30 of the tuner stores the following data: minimum anti-pinch force (t)_mini) Maximum anti-pinch force (t)_maxi) Slope value (k)_0i) Designed anti-pinch force (t)_i) (ii) a If the maximum clamping-resistant force (t) is judged_max) Greater than the maximum allowable value (t'_max) A setting failure is indicated, such thatIn case of the above situation, it is continuously determined whether the design clamping force (t) is less than the allowable value t₁If not, reducing the anti-pinch force design value according to the set reduction delta t, and then returning to the step (4) to calculate the anti-pinch force;

(7) reaching a minimum allowable value t at a designed anti-pinch force value (t)₁Then, the setting result needs to be output, the size of the counting variable (i) needs to be judged firstly, if the counting variable is still the initial value 0, the situation that no available setting result is found after the program is finished is shown, the setting is failed, and under the condition, the data output module 40 of the setter outputs prompt information of parameter setting failure; if the counting variable is not 0, the setting is successful, in which case the data output module 40 outputs all available results in the data storage module 30, i.e. the following data stored in the data storage module of the setter in step (6): minimum anti-pinch force (t)_mini) Maximum anti-pinch force (t)_maxi) Slope value (k)_0i) Designed anti-pinch force (t)_i) Since the calculation result may contain many available values, there may be many sets of output results, and in order to make the display more intuitive, the output result is distinguished by a subscript j, where j is a natural number for counting, that is, the following data is output: minimum anti-pinch force (t)_minj) Maximum anti-pinch force (t)_maxj) Slope value (k)_0j) Designed anti-pinch force (t)_j)。

The method further comprises calculating k_minAnd k_maxThe calculation process is as follows:

(1) as shown in fig. 3, two speed-torque performance curves for the idle and rated conditions are calculated, respectively:

$n_{01}={\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }+\frac{{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }}{T_1}T;$ $n_{02}={\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }+\frac{{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }}{T_1}T;$

(2) calculating the torque range when the rotating speed is 10r/min, wherein the calculated range is as follows:

$(\frac{{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10}{-{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }+{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\mathrm{<figure-callout\; id="1"\; label="min\; T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">min</figure-callout>}}}{T}_{}{}_1,\frac{{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10}{-{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }+{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }}{T}_1);$

(3) as shown in fig. 4, the range of the motor speed-torque slope curve is calculated as follows:

$(\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1},\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*T_1});$

thus obtaining:

$k_{\min }=\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\min }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$ $k_{\max }=\frac{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\min }-10)*({\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">n</figure-callout>}}_{1\max }-{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max })}{({\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HSA00000097484700021.png,HSA00000097484700031.png"\; state="\{\{state\}\}">n</figure-callout>}}_{0\max }-10)*{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000097484700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_1};$

k_minand k_maxManual calculation can be performed in advance, and then the calculated value is stored in the data storage module 30 of the setter through the data input module 10, and the function calculation module 20 is called when needed; or may be directly calculated by the function calculation module 20.

Since the measured motor stall data is often different from that calculated from the performance curve due to heat generation, etc., the stall data is not used in the calculation, but is replaced with data (the stall data) obtained when the rotation speed is low (10 r/min).

In this embodiment, the setter 100 is a computer, the data input module 10 is a keyboard, the function calculation module 20 is a C language program or an Excel function in the computer, and the calculation is realized by a CPU in the computer, the data storage module 30 is a RAM or a ROM in the computer, and the data output module 40 is a C language program interface or an Excel table or other documents (such as TXT files, WORD documents, etc.) of the computer except for the Excel table. Preferably, in this embodiment, the computer is further connected to a display to display the result output by the data output module. Of course, the setter may also be a single chip microcomputer having the above functions.

In this embodiment, the anti-pinching force design value (t)₁) Has a maximum allowable value t' of 85 to 100N, and preferably has a design value (t) of the anti-pinching force₁) Is t' is 95N.

In this embodiment, the initial design value t of the clamping prevention force^//Is 60 to 95N. Preferably, the initial design value t of the anti-pinch force^//Is 70 to 85N. Furthermore, the utility modelPreferably, the initial design value t of the anti-pinch force^//Is 70N.

In this embodiment, the slope increment Δ K is 0.01 to 0.5. Preferably, the slope increment Δ K is 0.1.

In this embodiment, the decrease amount Δ t is 1 to 10N. Preferably, the reduction Δ t is 5N.

According to the motor anti-pinch parameter setting method, whether the motor can be used for anti-pinch can be known and key parameters to be written in the motor anti-pinch module can be obtained by manually inputting parameters of any motor into the setting device. Compared with the prior art, the method has the following advantages:

1) small batches of motors are not required to be taken to test the motor parameters, so that the time of related personnel is saved;

2) the anti-pinch force of the motor is inspected without using a method of a hand working diagram, and the design flow is simplified.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (14)

1. A motor anti-pinch parameter setting method is characterized by comprising the following steps:

(1) an operator inputs the following parameters of the motor, namely the maximum value and the minimum value n of the no-load rotating speed, into a function calculation module of the setter through a data input module of the setter_0maxAnd n_0minMaximum and minimum values n of the nominal rotational speed_1maxAnd n_1minRated point torque T₁；

(2) The function calculation module of the setter carries out assignment to the maximum anti-clamping force (t)_max0) Minimum anti-pinchForce (t)_min0) All initial values of (a) are assigned to 0; defining a counting variable (i) to store the calculation result; defining a design value (t) for anti-pinch force₁) The minimum allowable value of (d) is t'; defining a counting variable (n) of the slope adjustment times and giving an initial value of 0;

(3) the function calculation module calculates a standard slope value (k)₀) Or after manual calculation, the data is input into the function calculation module through the data input module of the setter, and the calculation method is any one of a slope average value method, an angle bisector method and a median connecting line method, wherein,

the calculation method of the slope average value method comprises the following steps: $k_0=\frac{k_{\min }+k_{\max }}{2};$

the calculation method of the angular bisector method comprises the following steps: $k_0=\frac{{(1+k_{\min }^2+k_{\max }^2+k_{\max }^2{k}_{\min }^2)}^{0.5}+k_{\max }{k}_{\min }-1}{k_{\max }+k_{\min }};$

the calculation method of the median connecting line method comprises the following steps: $k_0=\frac{({-n}_{0\max }-n_{0\min })+(n_{1\max }+n_{1\min })}{{2T}_1};$

wherein, $k_{\min }=\frac{(n_{0\max }-{10}_{})*(n_{1\min }-n_{0\min })}{(n_{0\min }-10)*T_1};$ $k_{\max }=\frac{(n_{0\min }-{10}_{})*(n_{1\max }-n_{0\max })}{(n_{0\max }-10)*T_1};$

setting an initial design value (t) of the anti-pinching force to t^//(ii) a Setting a maximum allowable value (t ') of anti-pinching force'_max) Is A and a minimum allowable value (t'_min) Is B; setting the slope increment (delta K) as delta K;

(4) calculating the maximum anti-pinch force (t)_max) With a minimum anti-pinch force (t)_min) The calculation method comprises the following steps:

$t_{\max }=\frac{k_0}{k_{\max }}t;$ $t_{\min }=\frac{k_0}{k_{\min }}t;$

(5) determining the minimum anti-pinch force (t)_min) Whether or not it is greater than the minimum allowable value (t ') of anti-pinching force'_min) If yes, judging the maximum anti-clamping force (t)_max) Whether or not it is less than the maximum allowable value (t ') of anti-jamming force'_max) (ii) a If not, adjusting the slope in the increasing direction according to a preset increment delta K when the adjustment times are smaller than a preset upper limit (N) of allowable times, and judging the calculated value of the maximum clamping-resistant force again after the adjustment is finished;

(6) the maximum anti-clamping force (t) is judged_max) Less than the maximum allowable value (t'_max) And if so, indicating that the setting is successful, wherein the group of data can be used for anti-pinch, and a data storage module of the setting device stores the following data: minimum anti-pinch force(t_mini) Maximum anti-pinch force (t)_maxi) Slope value (k)_0i) Designed anti-pinch force (t)_i) (ii) a If the maximum clamping-resistant force (t) is judged_max) Greater than the maximum allowable value (t'_max) If so, the setting is failed, and in this case, whether the anti-clamping force design value (t) is minimum to the allowable value t is continuously judged₁If not, reducing the anti-pinch force design value according to the set reduction delta t, and then returning to the step (4) to calculate the anti-pinch force;

(7) reaching a minimum allowable value t at a designed anti-pinch force value (t)₁Then, the setting result needs to be output, the size of the counting variable (i) needs to be judged firstly, if the counting variable is still an initial value of 0, the situation that no available setting result is found after the program is finished is shown, the setting is failed, and under the condition, a data output module of the setter outputs prompt information of parameter setting failure; if the counting variable is not 0, the setting is successful, and in this case, the data output module outputs all available results in the data storage module.

2. The motor anti-pinch parameter tuning method of claim 1, further comprising calculating k_minAnd k_maxThe calculation process is as follows:

(1) calculating two speed-torque performance curves under idle and rated conditions, wherein the two speed-torque performance curves are respectively as follows:

$n_{01}=n_{0\max }+\frac{n_{1\max }-n_{0\max }}{T_1}T;$ $n_{02}=n_{0\min }+\frac{n_{1\min }-n_{0\min }}{T_1}T;$

(2) calculating the torque range when the rotating speed is 10r/min, wherein the calculated range is as follows:

$(\frac{n_{0\min }-10}{{-n}_{1\min }+n_{0\min }}{T}_1,\frac{n_{0\max }-10}{{-n}_{1\max }+n_{0\max }}{T}_1);$

(3) calculating the curve range of the motor speed-torque slope, wherein the calculated range is as follows:

$(\frac{(n_{0\max }-10)*(n_{1\min }-n_{0\min })}{(n_{0\min }-10)*T_1},\frac{(n_{0\min }-10)*(n_{1\max }-n_{0\max })}{(n_{0\max }-10)*T_1});$

thus obtaining:

$k_{\min }=\frac{(n_{0\max }-10)*(n_{1\min }-n_{0\min })}{(n_{0\min }-10)*T_1};$ $k_{\max }=\frac{(n_{0\min }-10)*(n_{1\max }-n_{0\max })}{(n_{0\max }-10)*T_1}.$

3. the motor anti-pinch parameter setting method according to claim 1, wherein the setter is a computer, the data input module is a keyboard, the function calculation module is a C language program or an Excel function in the computer, calculation is realized through a CPU in the computer, the data storage module is a RAM or a ROM in the computer, and the data output module is a C language program interface or an Excel table or other documents except the Excel table in the computer.

4. The motor anti-pinch parameter setting method according to claim 3, wherein the computer is further connected with a display to display the result output by the data output module.

5. The motor anti-pinch parameter setting method of claim 1, wherein the setting device is a single chip microcomputer.

6. The motor anti-pinch parameter tuning method of claim 1, wherein the anti-pinch design value (t) is₁) The maximum allowable value t' is 85-100N.

7. The motor anti-pinch parameter tuning method of claim 6, wherein the anti-pinch design value (t) is₁) Is t' is 95N.

8. The motor anti-pinch parameter tuning method of claim 1, wherein the initial design value t of the anti-pinch force^//Is 60 to 95N.

9. The motor anti-pinch parameter tuning method of claim 8, wherein the initial design value of the pinch force t is^//Is 70 to 85N.

10. The motor anti-pinch parameter tuning method of claim 9, wherein the initial design value of the pinch force t is^//Is 70N.

11. The motor anti-pinch parameter tuning method of claim 1, wherein the slope increment Δ K is 0.01-0.5.

12. The motor anti-pinch parameter tuning method of claim 11, wherein the slope increment Δ K is 0.1.

13. The motor anti-pinch parameter tuning method of claim 1, wherein the decrement Δ t is 1-10N.

14. The motor anti-pinch parameter tuning method of claim 13, wherein the decrement Δ t is 5N.

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