CN103646591B - A kind of sensor zero point learning method and system - Google Patents
A kind of sensor zero point learning method and system Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of sensor zero point learning method and a kind of sensor zero point learning system, described sensor application is in electric power steering EPS, and described method comprises: judge whether described EPS receives the application information that request enters sensor zero point mode of learning; When described EPS receives described application information, control described EPS and enter described sensor zero point mode of learning, carry out sensor zero point study; After described sensor zero point has learnt, control described EPS and exited described sensor zero point mode of learning, to improve the automaticity of carrying out study at zero point for the sensor in EPS.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a zero learning method and a zero learning system of a sensor.
Background
An EPS (electric power steering) system is a servo system that generates and transmits a motor drive signal by comprehensively processing a steering wheel torque signal acquired by a torque sensor, a steering wheel angle signal acquired by an angle sensor, a vehicle speed signal acquired by a vehicle speed sensor, and the like when a driver manipulates a steering wheel, wherein the motor drive signal is used to drive an assist motor to provide a steering assist force required by a vehicle.
In practical applications, in order to avoid the influence of the zero drift condition on the measurement accuracy of the sensor, zero learning of the sensor in the EPS system is necessary. The existing zero learning method of the sensor mainly comprises the following steps: and an independent sensor calibration device is adopted to obtain the electric zero point of the sensor, and the obtained electric zero point value is manually calibrated into the EPS system, so that the degree of automation is low.
Disclosure of Invention
In view of the above, the present invention provides a zero point learning method and system for a sensor, where the sensor is applied to an Electric Power Steering (EPS) system to improve the automation degree of zero point learning for the sensor in the EPS system.
A sensor zero learning method, wherein the sensor is applied to an Electric Power Steering (EPS) system, and the method comprises the following steps:
judging whether the EPS system receives application information requesting to enter a sensor zero learning mode or not;
when the EPS system receives the application information, the EPS system is controlled to enter a zero learning mode of the sensor, and zero learning of the sensor is carried out;
and when the zero learning of the sensor is finished, controlling the EPS system to exit the zero learning mode of the sensor.
Wherein, the judging whether the EPS system receives the application information requesting to enter the zero learning mode of the sensor comprises:
sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to the set time length and whether the update time of the count value meets the update time requirement corresponding to the set time length in each set time length;
and if the count values all meet the ignition frequency requirement and the updating time all meet the updating time requirement, determining that the EPS system receives the application information.
Wherein the performing of sensor zero point learning includes:
acquiring an electrical zero point of a sensor applied to the EPS system;
and judging whether the electric zero meets a preset zero range, if so, storing the electric zero, and otherwise, setting the electric zero as an initial value and storing.
Optionally, before determining whether the EPS system receives application information requesting to enter the sensor zero point learning mode, the method further includes:
when the EPS system is detected to be in a fault state, controlling the EPS system to enter a sleep mode;
and when the detected vehicle speed is not zero, controlling the EPS system to enter a power-assisted mode.
Optionally, after the sensor zero learning is completed and before the EPS system is controlled to exit the sensor zero learning mode, the method further includes:
and if the EPS system is detected to be in a fault state, controlling the EPS system in a sensor zero learning state to enter the sleep mode.
If the detected vehicle speed is not zero, controlling the EPS system in a zero learning state of a sensor to enter the power-assisted mode;
optionally, after the controlling the EPS system to exit the sensor zero learning mode after the sensor zero learning is completed, the method further includes:
and controlling the EPS system to enter the sleep mode.
Optionally, the method further comprises:
after the EPS system is controlled to enter and/or exit the zero learning mode, generating and outputting a first control instruction, wherein the first control instruction is used for controlling and outputting corresponding first prompt information;
and after sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to the set time length and whether the update time of the count value meets the update time requirement corresponding to the set time length in each set time length, generating and outputting a second control instruction corresponding to the judgment result obtained under the current set time length, wherein the second control instruction is used for controlling and outputting corresponding second prompt information.
A sensor zero point learning system, the sensor being applied to an Electric Power Steering (EPS) system, the sensor zero point learning system comprising:
the application information judging module is used for judging whether application information requesting to enter a zero learning mode of the sensor is received or not;
the learning mode entering module is used for controlling the EPS system to enter the zero learning mode of the sensor when the application information is received;
the zero learning module is used for controlling the EPS system in the sensor zero learning mode to perform sensor zero learning;
and the learning mode exit module is used for controlling the EPS system to exit the sensor zero learning mode after the sensor zero learning is finished.
Wherein, the application information judgment module comprises:
the ignition frequency judging module is used for sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to each set time length in each set time length;
the updating time judging module is used for sequentially judging whether the updating time of the count value meets the updating time requirement corresponding to each set time length in each set time length;
and the comprehensive judgment module is used for determining that the EPS system receives the application information when the count values all meet the ignition frequency requirement and the updating time all meet the updating time requirement.
Wherein the zero point learning module comprises:
the electric zero acquisition module is used for acquiring an electric zero of a sensor applied to the EPS system;
and the zero point calibration module is used for judging whether the electric zero point meets a preset zero point range or not, storing the electric zero point if the electric zero point meets the zero point range, and otherwise, setting the electric zero point as an initial value and storing the initial value.
Optionally, the sensor zero learning system further includes: the device comprises a first control instruction generation module and a second control instruction generation module; wherein,
the first control instruction generation module is used for generating and outputting a first control instruction after the EPS system enters and/or exits the zero point learning mode; the first control instruction is used for controlling the indication module to output corresponding first prompt information;
the second control instruction generating module is used for generating and outputting a second control instruction according to the judgment results output by the ignition frequency judging module and the updating time judging module; the second control instruction is used for controlling the indication module to output corresponding second prompt information.
According to the technical scheme, after application information requesting to enter a zero point learning mode of the sensor is received, the EPS system is controlled to automatically enter the zero point learning mode of the sensor, and learning is started to realize zero point online calibration of the sensor; and after learning is finished, automatically controlling the EPS system to exit the zero learning mode of the sensor. Compared with the existing zero point learning method of the sensor, the zero point learning mode of the sensor with the zero point online calibration function is added into the working mode of the EPS system, and the specific entry and exit conditions are set for the learning mode, so that the aim of automatically performing zero point learning of the sensor by controlling the EPS system is fulfilled on the premise of not interfering the original working mode of the EPS system, and the automation degree of performing zero point learning of the sensor by the EPS system is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIGS. 1a-1b are a flow chart of a zero learning method for a sensor according to an embodiment of the present invention;
FIG. 2 is a flowchart of another zero learning method for a sensor according to the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a zero point learning system of a sensor according to a fourth embodiment of the present invention;
fig. 4 is a schematic structural diagram of another zero point learning system of a sensor disclosed in the fifth embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1a-1b, an embodiment of the present invention discloses a sensor zero learning method to improve an automation degree of zero learning for a sensor in an EPS system, where the method includes (see fig. 1 a):
step 100: judging whether the EPS system receives application information requesting to enter a zero learning mode of the sensor; when the EPS system receives the application information, step 200 is entered;
the working modes of the existing EPS system include: power-assisted mode, sleep mode, and the like;
specifically, in the power-assisted mode, the existing EPS system can provide a corresponding motor driving signal for a power-assisted motor of a vehicle according to the steering requirement of the vehicle to drive the power-assisted motor to provide the steering power-assisted required by the vehicle, so as to ensure the normal and safe running of the vehicle; in the sleep mode, the existing EPS system automatically stores all real-time running data of the system in a memory, and then stops the program from continuing running, so as to save electric energy to the maximum extent.
Compared with the existing EPS system, the working modes of the EPS system described in this embodiment further include: a sensor zero point learning mode with a zero point online calibration function; the sensors are applied to a torque sensor, a rotation angle sensor, a vehicle speed sensor and the like in the existing EPS system, and in the zero point learning mode of the sensors, the EPS system can automatically perform zero point learning on the sensors in the system;
in order not to interfere with the normal execution of the original working mode of the EPS system described in this embodiment, a special entry mechanism is provided in this embodiment for the zero point learning mode of the sensor, that is, the EPS system described in this embodiment can successfully enter this working mode to perform corresponding work only after receiving application information requesting to enter the zero point learning mode of the sensor; before the application information is received, the EPS system described in this embodiment is not different from the existing EPS system, and switches between different working modes and executes work in the corresponding mode in the original modes, such as the power-assisted mode and the sleep mode, according to a preset control program.
Step 200: controlling the EPS system to enter a zero learning mode of the sensor, and performing zero learning of the sensor, namely automatically performing zero online calibration of the sensor;
the sensor zero point learning specifically includes the following steps 201 and 204 (see fig. 1 b):
step 201: acquiring an electrical zero point of a sensor applied to the EPS system;
step 202: judging whether the electrical zero point meets a preset zero point range, and if so, entering a step 203; otherwise, go to step 204;
the preset zero point range is a zero point drift range within an error allowable range;
step 203: storing the electric zero point, wherein the zero point learning of the sensor is completed and the learning is successful;
step 204: setting the electric zero as an initial value and storing, wherein the zero learning of the sensor is completed but the learning fails;
the initial value is an electric zero value set by the sensor in factory settings.
The step 201 and 204 are the whole process of automatically realizing zero point online calibration after the EPS system enters the sensor zero point learning mode, that is, the complete sensor zero point learning process, so that the automation degree of zero point learning is improved.
Step 300: after the zero learning of the sensor is finished, controlling the EPS system to exit the zero learning mode of the sensor;
after the sensor zero learning mode is exited, the EPS system can switch between different working modes in the original mode and execute the work in the corresponding mode, and the original working mode is not interfered.
As can be seen from the above description, in the first embodiment, after receiving the application information requesting to enter the zero point learning mode of the sensor, the EPS system is controlled to automatically enter the zero point learning mode of the sensor, and starts to learn to implement zero point online calibration of the sensor; and after learning is finished, automatically controlling the EPS system to exit the zero learning mode of the sensor. Compared with the existing zero point learning method of the sensor, the zero point learning mode of the sensor with the zero point online calibration function is added into the working mode of the EPS system, and the specific entry and exit conditions are set for the learning mode, so that the aim of automatically performing zero point learning of the sensor by controlling the EPS system is fulfilled on the premise of not interfering the original working mode of the EPS system, and the automation degree of performing zero point learning of the sensor by the EPS system is further improved.
In addition, in the step 100 of the first embodiment,
the step of judging whether the EPS system receives the application information requesting to enter the sensor zero point learning mode specifically includes:
sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to the set time length and whether the update time of the count value meets the update time requirement corresponding to the set time length in each set time length;
and if the count values all meet the ignition frequency requirement and the updating time all meet the updating time requirement, determining that the EPS system receives the application information.
Specifically, a plurality of sections of set time lengths are preset in the EPS system, the number of the sections of the set time lengths is not less than 1, and for any section of the set time lengths, the requirements for the ignition times and the requirements for the updating time, which correspond to the section of the set time lengths, can be specifically set according to the actual situation, without limitation; the counting value is the ignition frequency of the worker, and the updating time is the interval duration between two adjacent ignition operations of the worker;
in the whole process from the first set time to the end of the last set time, if the ignition times and the updating time of each set time both meet the ignition time requirements and the updating time requirements respectively corresponding to each set time, the determination result of the EPS system receiving the application information can be obtained. On the contrary, when the ignition frequency of the ignition switch completed in a certain set time length is judged to be obtained, the ignition frequency requirement corresponding to the set time length is not met, and/or the updating time of the ignition switch does not meet the corresponding updating time requirement, the obtained count value of the ignition counter and the updating time of the count value belong to invalid information, and the obtaining and the judging are needed again.
As can be seen from the above description, in the step 100 of the first embodiment, the application information may be manually input by a human (for example, by manually performing an ignition operation), so that after the EPS is powered on, if the EPS system receives the application information, it indicates that the EPS system wants to start the zero-point learning operation of the sensor immediately, so that the EPS may determine the time when the EPS enters the zero-point learning mode according to the intention of the operator, thereby implementing human-machine interaction. In addition, the present embodiment also strictly defines the determination process of the application information, so that the situation that the EPS system mistakenly enters the zero point learning mode due to misoperation (i.e., mis-ignition) of a worker can be avoided as much as possible.
Example two:
based on the first embodiment, the second embodiment of the present invention discloses another zero point learning method for a sensor, so as to improve the degree of automation of zero point learning for the sensor in the EPS system, which is shown in fig. 2 and includes:
step 101: judging whether the EPS system is detected to be in a fault state; when the EPS system is not detected to be in a fault state, entering step 102, otherwise, entering step 108;
before entering the zero point learning mode of the sensor, firstly, judging whether the EPS system is in a fault state at present according to a fault self-diagnosis result of the EPS system, and if the EPS system fails, forbidding the EPS system to enter the zero point learning mode of the sensor, so as to avoid the EPS system from performing meaningless zero point learning work in the fault state;
step 102: judging whether the vehicle speed is detected to be zero or not, entering step 103 when the vehicle speed is detected to be zero, and entering step 109 if the vehicle speed is not detected to be zero;
in the driving process, the mechanical position of a sensor in the EPS system is changed at any moment, and at this moment, the electrical zero point of the sensor cannot be accurately measured and zero point learning is carried out, so that before the EPS system enters a zero point learning mode of the sensor, whether the vehicle speed is zero or not is judged, and therefore the EPS system is prevented from carrying out meaningless zero point learning work in a driving state;
step 103: judging whether the EPS system receives application information requesting to enter a sensor zero learning mode or not; when the EPS system receives the application information, step 104 is entered;
step 104: controlling the EPS system to enter a sensor zero learning mode to perform sensor zero learning;
when the EPS system which is positioned on a zero-speed vehicle and is in a normal state receives the application information, the EPS system can successfully enter a zero-point learning mode of the sensor, so that zero-point learning of the sensor is automatically carried out under the environment without interference of adverse factors, and an accurate learning result is obtained;
step 105: judging whether the EPS system is detected to be in a fault state, if not, entering a step 106, otherwise, entering a step 108;
step 106: judging whether the vehicle speed is detected to be zero or not, if so, entering step 107, and otherwise, entering step 109;
in the zero-point learning process of the sensor, whether the EPS system has a fault and/or whether the vehicle speed is zero needs to be continuously detected, so that the EPS system is prevented from continuously performing meaningless zero-point learning work in a fault state and/or a driving state;
step 107: after the zero learning of the sensor is finished, controlling the EPS system to exit the zero learning mode of the sensor;
step 108: controlling the EPS system to enter a sleep mode; ending the program control process;
the entry condition of the sleep mode includes: detecting that the EPS system is in a fault state.
Therefore, before entering the zero-point learning mode of the sensor and in the zero-point learning process of the sensor, the EPS system with faults is switched to the sleep mode, so that the EPS system can automatically store the real-time information of the system, then waits for the system to be powered off, and is subjected to fault maintenance by a worker;
after the zero learning of the sensor is finished, the EPS system is controlled to be switched to the sleep mode, so that the EPS system can save electric energy to the maximum extent.
Step 109: controlling the EPS system to enter a power-assisted mode; ending the program control process;
the entry conditions of the assist mode include: detecting that the vehicle speed is not zero;
thus, before entering the sensor zero point learning mode and during the sensor zero point learning, the EPS system can drive the assist motor to provide the steering assist force required for steering the vehicle by switching the EPS system mounted on the vehicle in a running state to the assist mode.
As can be seen from the above description, in the third embodiment, before determining whether the application information is received, it is first determined whether the EPS system satisfies the entry conditions for entering the original sleep mode and the assist mode, and if yes, even if the application information is received, the EPS system is not controlled to enter the zero point learning mode of the sensor; in addition, after entering the zero learning mode of the sensor, whether the EPS system meets the entering conditions of entering the original sleep mode and the original power-assisted mode is judged at the same time, if yes, the EPS system is immediately switched to the corresponding original working mode to work, and therefore the EPS system is controlled to carry out zero learning of the sensor under the condition that the normal execution of the original working mode of the EPS system is not interfered;
in addition, in the third embodiment, after the zero point learning is completed and the sensor zero point learning mode is successfully exited, the EPS system is further controlled to enter the original sleep mode, so that the electric energy is saved to the maximum extent.
Based on the first embodiment or the second embodiment, the third embodiment of the present invention discloses another zero point learning method for a sensor, so as to improve the automation degree of zero point learning for the sensor in the EPS system, where the method further includes:
after the EPS system is controlled to enter and/or exit the zero learning mode, generating and outputting a first control instruction, wherein the first control instruction is used for controlling and outputting corresponding first prompt information;
for example, after the EPS system successfully enters the zero point learning mode, a control instruction for controlling an LED (light emitting diode) to flash for 2 times is generated and sent out, and after the EPS system successfully exits the zero point learning mode, a control instruction for controlling the LED to flash for 4 times is generated and sent out, so that a worker can conveniently know the starting and stopping time of the EPS system for zero point learning of the sensor through the number of times of flashing of the LED.
Furthermore, the method further comprises:
and after sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to the set time length and whether the update time of the count value meets the update time requirement corresponding to the set time length in each set time length, generating and outputting a second control instruction corresponding to the judgment result obtained under the current set time length, wherein the second control instruction is used for controlling and outputting corresponding second prompt information.
For example, assuming that multiple sections of set time lengths are preset in the EPS system, when the ignition operation completed by the operator in the first section of the set time length meets the ignition frequency requirement corresponding to the section of the set time length and the interval time length between every two adjacent ignition operations meets the update time requirement corresponding to the section of the set time length, the LED may be controlled to flash for 1 time to prompt the operator that the ignition is successful at this time, and the next section of the set time length may be entered for the re-ignition operation; otherwise, the LED can be controlled to flash for 3 times to prompt the worker that the ignition fails, the ignition needs to be carried out again, and the prompting process is repeated under the set time length of each subsequent section until the LED prompts that the ignition is successful under the set time length of the last section.
It should be noted that the device for sending out the first prompt message and the second prompt message is not limited to the LED mentioned in the example, and may also be a buzzer or other voice prompt devices.
Example four:
referring to fig. 3, a fourth embodiment of the present invention provides a zero point learning system for a sensor, so as to improve an automation degree of zero point learning for the sensor in an EPS system, where the zero point learning system includes:
the learning system comprises an application information judging module 100, a learning mode entering module 200, a zero point learning module 300 and a learning mode exiting module 400;
the application information determining module 100 is configured to determine whether application information requesting to enter a sensor zero point learning mode is received;
a learning mode entering module 200, configured to, when the application information is received, control the EPS system to enter the sensor zero learning mode;
the zero learning module 300 is configured to control the EPS system in the sensor zero learning mode to perform sensor zero learning;
and a learning mode exit module 400, configured to control the EPS system to exit the sensor zero learning mode after the sensor zero learning is completed.
The application information determining module 100 may include: the ignition frequency judging module 101, the update time judging module 102 and the comprehensive judging module 103, specifically,
the ignition frequency judging module 101 is configured to sequentially judge whether the count value of the acquired ignition counter meets the ignition frequency requirement corresponding to each set time period within each set time period;
the update time judgment module 102 is configured to sequentially judge whether the update time of the count value meets the update time requirement corresponding to each set time period within each set time period;
and the comprehensive judgment module 103 is configured to determine that the EPS system receives the application information when the count values all satisfy the requirement on the number of times of ignition and the update time all satisfy the requirement on the update time.
Among them, the zero point learning module 300 may include: an electrical zero point acquisition module 301 and a zero point calibration module 302; in particular, the method comprises the following steps of,
an electrical zero point acquisition module 301, configured to acquire an electrical zero point applied to a sensor in the EPS system;
and a zero point calibration module 302, configured to determine whether the electrical zero point meets a preset zero point range, store the electrical zero point if the electrical zero point meets the zero point range, and set the electrical zero point as an initial value and store the initial value if the electrical zero point does not meet the zero point range.
As can be seen from the above description, the EPS system is controlled to automatically enter the sensor zero point learning mode for learning after receiving the application information requesting to enter the sensor zero point learning mode, and is automatically controlled to exit the learning mode after learning is completed. Compared with the existing zero point learning method of the sensor, the zero point learning mode of the sensor is added into the working mode of the EPS system, and a specific entering and exiting mechanism is set for the learning mode, so that the aim of automatically performing zero point learning of the sensor by controlling the EPS system is fulfilled on the premise of not interfering the original working mode of the EPS system, and the automation degree of performing zero point learning of the sensor by the EPS system is improved.
Referring to fig. 4, a fifth embodiment of the present invention provides another zero point learning system for a sensor to improve the automation degree of zero point learning for the sensor in an EPS system, including:
the learning system comprises an application information judging module 100, a learning mode entering module 200, a zero point learning module 300, a learning mode exiting module 400, a first control instruction generating module 500 and a second control instruction generating module 600; the application information determining module 100 includes: an ignition frequency judging module 101, an updating time judging module 102 and a comprehensive judging module 103;
the first control instruction generating module 500 is configured to generate and output a first control instruction after the EPS system enters and/or exits the zero point learning mode; the first control instruction is used for controlling and outputting corresponding first prompt information;
a second control instruction generating module 600, configured to generate and output a second control instruction according to the determination results output by the ignition frequency determining module 101 and the update time determining module 102; and the second control instruction is used for controlling and outputting corresponding second prompt information.
As can be seen from the above description, in the fifth embodiment, after the EPS system enters and/or exits the zero point learning mode, and after the judgment result of the ignition frequency and/or the count value update time is obtained, corresponding prompt information is sent, so that the worker can know the current operation state of the zero point learning system of the sensor in time.
It should be noted that, for the sensor zero point learning system disclosed in the embodiment of the present invention, since it corresponds to the sensor zero point learning method disclosed in the embodiment of the present invention, the description is relatively simple, and relevant parts can be referred to the relevant description of the sensor zero point learning method part.
In summary, after receiving application information requesting to enter a sensor zero point learning mode, the EPS system is controlled to automatically enter the sensor zero point learning mode, and starts to learn to realize zero point online calibration of the sensor; and after learning is finished, automatically controlling the EPS system to exit the zero learning mode of the sensor. Compared with the existing zero point learning method of the sensor, the zero point learning mode of the sensor with the zero point online calibration function is added into the working mode of the EPS system, and the specific entry and exit conditions are set for the learning mode, so that the aim of automatically performing zero point learning of the sensor by controlling the EPS system is fulfilled on the premise of not interfering the original working mode of the EPS system, and the automation degree of performing zero point learning of the sensor by the EPS system is further improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the embodiments. Thus, the present embodiments are not intended to be limited to the embodiments shown herein but are to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A sensor zero learning method, wherein the sensor is applied to an Electric Power Steering (EPS) system, and the method comprises the following steps:
judging whether the EPS system receives application information requesting to enter a sensor zero learning mode, wherein the method comprises the following steps: sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to the set time length and whether the update time of the count value meets the update time requirement corresponding to the set time length in each set time length; if the count values all meet the ignition frequency requirement and the updating time all meet the updating time requirement, determining that the EPS system receives the application information;
when the EPS system receives the application information, the EPS system is controlled to enter a zero learning mode of the sensor, and zero learning of the sensor is carried out;
and when the zero learning of the sensor is finished, controlling the EPS system to exit the zero learning mode of the sensor.
2. The sensor zero point learning method according to claim 1, wherein the performing sensor zero point learning includes:
acquiring an electrical zero point of a sensor applied to the EPS system;
and judging whether the electric zero meets a preset zero range, if so, storing the electric zero, and otherwise, setting the electric zero as an initial value and storing.
3. The sensor zero learning method according to claim 1, wherein before determining whether the EPS system receives application information requesting entry into the sensor zero learning mode, the method further comprises:
when the EPS system is detected to be in a fault state, controlling the EPS system to enter a sleep mode;
and when the detected vehicle speed is not zero, controlling the EPS system to enter a power-assisted mode.
4. The sensor zero point learning method according to claim 1,
after the sensor zero learning is completed and before the EPS system is controlled to exit the sensor zero learning mode, the method further includes:
if the EPS system is detected to be in a fault state, controlling the EPS system in a sensor zero learning state to enter a sleep mode;
if the detected vehicle speed is not zero, controlling the EPS system in a zero learning state of a sensor to enter a power-assisted mode;
after the sensor zero learning is completed and the EPS system is controlled to exit the sensor zero learning mode, the method further comprises the following steps:
and controlling the EPS system to enter the sleep mode.
5. The sensor zero learning method according to any one of claims 2 to 4, characterized in that the method further comprises:
after the EPS system is controlled to enter and/or exit the zero learning mode, generating and outputting a first control instruction, wherein the first control instruction is used for controlling and outputting corresponding first prompt information;
and after sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to the set time length and whether the update time of the count value meets the update time requirement corresponding to the set time length in each set time length, generating and outputting a second control instruction corresponding to the judgment result obtained under the current set time length, wherein the second control instruction is used for controlling and outputting corresponding second prompt information.
6. A zero-point learning system for a sensor, wherein the sensor is applied to an Electric Power Steering (EPS) system, and the zero-point learning system for the sensor comprises:
the application information judging module is used for judging whether application information requesting to enter a zero learning mode of the sensor is received or not;
the learning mode entering module is used for controlling the EPS system to enter the zero learning mode of the sensor when the application information is received;
the zero learning module is used for controlling the EPS system in the sensor zero learning mode to perform sensor zero learning;
the learning mode exit module is used for controlling the EPS system to exit the sensor zero learning mode after the sensor zero learning is finished;
the application information judgment module comprises:
the ignition frequency judging module is used for sequentially judging whether the obtained count value of the ignition counter meets the ignition frequency requirement corresponding to each set time length in each set time length;
the updating time judging module is used for sequentially judging whether the updating time of the count value meets the updating time requirement corresponding to each set time length in each set time length;
and the comprehensive judgment module is used for determining that the EPS system receives the application information when the count values all meet the ignition frequency requirement and the updating time all meet the updating time requirement.
7. The sensor zero learning system of claim 6, wherein the zero learning module comprises:
the electric zero acquisition module is used for acquiring an electric zero of a sensor applied to the EPS system;
and the zero point calibration module is used for judging whether the electric zero point meets a preset zero point range or not, storing the electric zero point if the electric zero point meets the zero point range, and otherwise, setting the electric zero point as an initial value and storing the initial value.
8. The sensor zero point learning system according to claim 6 or 7, characterized by further comprising: the device comprises a first control instruction generation module and a second control instruction generation module; wherein,
the first control instruction generation module is used for generating and outputting a first control instruction after the EPS system enters and/or exits the zero point learning mode; the first control instruction is used for controlling and outputting corresponding first prompt information;
the second control instruction generating module is used for generating and outputting a second control instruction according to the judgment results output by the ignition frequency judging module and the updating time judging module; and the second control instruction is used for controlling and outputting corresponding second prompt information.
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| CN110320328A (en) * | 2019-06-21 | 2019-10-11 | 珠海格力电器股份有限公司 | Formaldehyde concentration detection method and device and air purifier |
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